CN215825336U

CN215825336U - Mechanical gripper with visual identification and positioning functions

Info

Publication number: CN215825336U
Application number: CN202122459529.8U
Authority: CN
Inventors: 张佳
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2022-02-15
Anticipated expiration: 2031-10-13

Abstract

The utility model discloses a mechanical gripper with a visual identification and positioning function, which relates to the field of manipulators and comprises a gripper and a camera, wherein the camera is arranged on one side of the gripper, a fixing ring is fixedly sleeved on the gripper, a connecting block is fixedly arranged on one side, close to the camera, of the fixing ring, a mounting hole is formed in the connecting block, a connecting rotating shaft is rotatably arranged in the mounting hole, the same connecting fixing seat is fixedly arranged at two ends of the connecting rotating shaft, and the camera is fixedly arranged on the connecting fixing seat. According to the utility model, the camera is fixed on the connecting fixing seat through the arrangement of structures such as the fixing ring, so that the camera can position an object on one side of the gripper, the observation sight of the camera can be ensured to be clear even if the manipulator grips, the operation process of the manipulator can be accurately grasped by an operator through the camera, and the gripping stability of the manipulator is improved.

Description

Mechanical gripper with visual identification and positioning functions

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical gripper with a visual identification and positioning function.

Background

Under the global automation development trend, more and more industrial robot bodies are put into the production line. Industrial robots can guarantee product quality, improve production efficiency, avoid a large amount of industrial accidents simultaneously, promote the process of enterprise modernization development, and in modern manufacturing industry, industrial robots are widely applied to various production demands.

The patent with the publication number of CN211541272U discloses a grabbing mechanical device with a visual identification function, which comprises a camera, wherein in the process that a clamping jaw grabs objects, the camera can be blocked by the objects, so that an operator cannot grasp the object through the accurate understanding of the camera, and then the grabbing failure is possibly caused, and therefore, the mechanical gripper with the visual identification and positioning function is required to meet the requirements of people.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a mechanical gripper with a visual identification and positioning function, and aims to solve the problem that an operator cannot accurately know information to be gripped through a camera due to the fact that the camera provided by the background technology is blocked by an article, and further gripping failure is possibly caused.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a mechanical tongs that possesses visual identification locate function, includes tongs and camera, one side at the tongs is installed to the camera, fixed cover has connect solid fixed ring on the tongs, and solid fixed ring is close to one side fixed mounting of camera and has the connecting block, has seted up the mounting hole on the connecting block, and the mounting hole rotates to install and connects the pivot, and the both ends fixed mounting who connects the pivot has same connection fixing base, and camera fixed mounting is on connecting the fixing base, flexible slide opening has been seted up on the inner wall of mounting hole, and slidable mounting has flexible sliding shaft in flexible slide opening evenly seted up a plurality of tooth's sockets in the connection pivot, flexible sliding shaft and tooth's socket looks adaptation.

Preferably, the inner wall of the telescopic sliding hole is provided with a movable groove, the inner wall of the top of the movable groove is symmetrically provided with two pressing sliding holes, one pressing sliding hole is internally and slidably provided with an L-shaped pressing sliding shaft, and the other pressing sliding hole is internally and slidably provided with a stable sliding rod.

Preferably, a positioning sliding groove is formed in the L-shaped pressing sliding shaft, a positioning sliding rod is slidably mounted in the positioning sliding groove, and the positioning sliding rod is fixedly mounted on the inner wall of the movable groove.

Preferably, the bottom of the L-shaped pressing sliding shaft is fixedly provided with a supporting plate, and an arc-shaped pushing block is fixedly arranged on the supporting plate.

Preferably, a driven spring is fixedly installed in the movable groove, one end of the driven spring is fixedly installed at the bottom of the supporting plate, and the other end of the driven spring is fixedly connected to the inner wall of the movable groove.

Preferably, the positioning slide rod is sleeved with an active spring in a sliding manner, one end of the active spring is fixedly connected to the supporting plate, and the other end of the active spring is fixedly connected to the inner wall of the bottom of the movable groove.

Preferably, one side of the telescopic sliding shaft is fixedly provided with an arc-shaped stressed block, and the arc-shaped stressed block is in contact with the arc-shaped push block.

Preferably, a mounting slide rod is fixedly mounted on one side of the fixing ring, a reset spring is sleeved on the mounting slide rod in a sliding manner, and a limiting ring is fixedly mounted on the mounting slide rod.

Preferably, the telescopic sliding shaft is provided with a convex sliding groove, and the limiting ring and the reset spring are both slidably sleeved in the convex sliding groove.

The utility model has the beneficial effects that:

according to the utility model, the camera is fixed on the connecting fixing seat through the arrangement of structures such as the fixing ring, so that the camera can position an article on one side of the gripper, the observation sight of the camera can be ensured to be clear even if the manipulator grips, the operating personnel can accurately grasp the operation process of the manipulator through the camera, and the gripping stability of the manipulator is improved.

According to the utility model, through the arrangement of the connecting rotating shaft, the connecting fixing seat and other structures, an operator can adjust the specific position of the camera through adjusting the connecting fixing seat and the fixing ring, the clear sight of the camera is further improved, and the operation stability of the operator on the manipulator is further ensured.

Drawings

Fig. 1 is a schematic structural diagram of a mechanical gripper with a visual identification and positioning function according to the present invention;

fig. 2 is a schematic view of a cross-sectional connection structure of a fixing ring, a connecting block and a connecting fixing seat in a mechanical gripper with a visual identification and positioning function according to the present invention;

fig. 3 is a schematic cross-sectional view of an L-shaped pressing sliding shaft in a mechanical gripper with visual identification and positioning functions according to the present invention;

fig. 4 is a schematic side sectional structural view of a connecting block in a mechanical gripper with a visual identification and positioning function according to the present invention;

fig. 5 is an enlarged schematic structural view of a portion a in fig. 4 of the mechanical gripper with the function of visual identification and positioning according to the present invention;

fig. 6 is a schematic view of a connection structure of an arc-shaped push block and an arc-shaped stressed block in the mechanical gripper with the visual identification and positioning functions.

In the figure: 1. a gripper; 2. a fixing ring; 3. connecting blocks; 4. mounting holes; 5. connecting the rotating shaft; 6. connecting a fixed seat; 7. a camera; 8. a telescopic slide hole; 9. a movable groove; 10. pressing the sliding hole; 11. an L-shaped pressing sliding shaft; 12. stabilizing the slide bar; 13. a support plate; 14. positioning the chute; 15. positioning the slide bar; 16. an active spring; 17. a driven spring; 18. an arc-shaped push block; 19. a telescopic sliding shaft; 20. an arc-shaped stress block; 21. a convex-shaped chute; 22. installing a sliding rod; 23. a return spring; 24. a limiting ring; 25. a tooth socket.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-6, a mechanical gripper with a visual identification and positioning function comprises a gripper 1 and a camera 7, wherein the camera 7 is installed on one side of the gripper 1, a fixing ring 2 is fixedly sleeved on the gripper 1, a connecting block 3 is fixedly installed on one side, close to the camera 7, of the fixing ring 2, a mounting hole 4 is formed in the connecting block 3, a connecting rotating shaft 5 is rotatably installed in the mounting hole 4, the same connecting and fixing seat 6 is fixedly installed at two ends of the connecting rotating shaft 5, the camera 7 is fixedly installed on the connecting and fixing seat 6, a telescopic sliding hole 8 is formed in the inner wall of the mounting hole 4, a telescopic sliding shaft 19 is slidably installed in the telescopic sliding hole 8, a plurality of tooth grooves 25 are uniformly formed in the connecting rotating shaft 5, the telescopic sliding shaft 19 is matched with the tooth grooves 25, in the process of gripping objects by the gripper 1, the camera 7 moves along with the movement of the gripper 1, and can stably shoot the objects to be gripped, guaranteed the stability of snatching, wherein, solid fixed ring 2 and connecting block 3 are used for supporting connection fixing base 6, and then through connecting 6 fixed cameras 7 of fixing base, guaranteed that the observation that camera 7 can be stable is snatched article, it is used for connecting fixing base 6 and connecting on connecting block 3 to connect pivot 5, connection stability between them has been guaranteed, mounting hole 4 is used for conveniently connecting pivot 5 and the rotation of connecting fixing base 6, the angle that operating personnel adjusted camera 7 has been made things convenient for, it can shoot and has been snatched article to further ensure camera 7.

Referring to fig. 3-6, the inner wall of the telescopic sliding hole 8 is provided with a movable groove 9, the inner wall of the top of the movable groove 9 is symmetrically provided with two pressing sliding holes 10, one pressing sliding hole 10 is internally and slidably provided with an L-shaped pressing sliding shaft 11, the other pressing sliding hole 10 is internally and slidably provided with a stabilizing sliding rod 12, the pressing sliding hole 10 is used for supporting the L-shaped pressing sliding shaft 11, the sliding stability of the L-shaped pressing sliding shaft 11 is ensured, and the stabilizing sliding rod 12 and the pressing sliding hole 10 interact with each other to further ensure the sliding stability of the L-shaped pressing sliding shaft 11.

Referring to fig. 3-6, the L-shaped pressing sliding shaft 11 is provided with a positioning sliding groove 14, a positioning sliding rod 15 is slidably mounted in the positioning sliding groove 14, the positioning sliding rod 15 is fixedly mounted on the inner wall of the movable groove 9, and the positioning sliding groove 14 and the positioning sliding rod 15 interact with each other to ensure the sliding stability of the L-shaped pressing sliding shaft 11, so that the L-shaped pressing sliding shaft cannot deviate in the sliding process.

Referring to fig. 3-6, a support plate 13 is fixedly mounted at the bottom of the L-shaped pressing sliding shaft 11, an arc-shaped push block 18 is fixedly mounted on the support plate 13, and the support plate 13 slides up and down in the movable groove 9 under the action of the L-shaped pressing sliding shaft 11, so as to drive the arc-shaped push block 18 to move up and down.

Referring to fig. 3 in the present invention, a driven spring 17 is fixedly installed in the movable groove 9, one end of the driven spring 17 is fixedly installed at the bottom of the supporting plate 13, the other end of the driven spring 17 is fixedly connected to the inner wall of the movable groove 9, and the driven spring 17 is used for supporting the supporting plate 13 to reset.

Referring to fig. 3-6, in the present invention, an active spring 16 is slidably sleeved on the positioning slide bar 15, one end of the active spring 16 is fixedly connected to the support plate 13, the other end of the active spring 16 is fixedly connected to the inner wall of the bottom of the movable groove 9, and the support plate 13 and the L-shaped pressing slide shaft 11 are pushed by the active spring 16 to slide upwards.

Referring to fig. 3-5, an arc-shaped stressed block 20 is fixedly mounted on one side of the telescopic sliding shaft 19, the arc-shaped stressed block 20 is in contact with the arc-shaped push block 18, and the telescopic sliding shaft 19 is driven to slide in the telescopic sliding hole 8 through the mutual contact of the arc-shaped stressed block 20 and the arc-shaped push block 18.

Referring to fig. 5, a mounting slide rod 22 is fixedly mounted on one side of the fixing ring 2, a return spring 23 is slidably sleeved on the mounting slide rod 22, a limiting ring 24 is fixedly mounted on the mounting slide rod 22, and the mounting slide rod 22 is used for supporting the telescopic slide shaft 19 to ensure the sliding stability of the telescopic slide shaft 19.

Referring to fig. 5, the telescopic sliding shaft 19 is provided with a convex sliding groove 21, the limiting ring 24 and the return spring 23 are both slidably sleeved in the convex sliding groove 21, the convex sliding groove 21 and the limiting ring 24 interact to ensure the installation stability of the telescopic sliding shaft 19, and the return spring 23 is used for pushing the telescopic sliding shaft 19 to reset.

To sum up, when an operator needs to adjust the angle of the camera 7, the L-shaped pressing sliding shaft 11 is pressed to drive the stable sliding rod 12 to slide in the two pressing sliding holes 10, and further the supporting plate 13 is pushed to slide downwards in the movable groove 9, so that the supporting plate drives the arc-shaped pushing block 18 to slide downwards, along with the descending of the arc-shaped pushing block 18, under the action of the return spring 23, the telescopic sliding shaft 19 slides in the telescopic sliding hole 8 towards the direction of the fixing ring 2, so that the telescopic sliding shaft 19 is separated from the tooth space 25, the unlocking of the connecting rotating shaft 5 is completed, so that the connecting rotating shaft 5 can rotate, after the angle adjustment of the connecting fixing seat 6 is completed, under the simultaneous action of the driving spring 16 and the driven spring 17, the supporting plate 13 is pushed to slide upwards, so that the arc-shaped pushing block 18 is driven to slide upwards to interact with the arc-shaped force receiving block 20, the telescopic sliding shaft 19 is pushed to slide outwards and be clamped with the tooth space 25, so that the connecting rotating shaft 5 cannot rotate, the fixing and locking of the connecting fixing seat 6 are completed, and the angle adjustment of the camera 7 is completed.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The utility model provides a mechanical tongs that possesses visual identification locate function, includes tongs (1) and camera (7), one side at tongs (1), its characterized in that are installed in camera (7): fixed cover has been gone up in tongs (1) and has been connect solid fixed ring (2), and solid fixed ring (2) are close to one side fixed mounting of camera (7) have connecting block (3), have seted up mounting hole (4) on connecting block (3), and connection pivot (5) are installed to mounting hole (4) internal rotation, and the both ends fixed mounting of connecting pivot (5) has same connection fixing base (6), and camera (7) fixed mounting is on connecting fixing base (6), flexible slide opening (8) have been seted up on the inner wall of mounting hole (4), and slidable mounting has flexible sliding shaft (19) in flexible slide opening (8) connect pivot (5) and go up evenly to have seted up a plurality of tooth's grooves (25), flexible sliding shaft (19) and tooth's groove (25) looks adaptation.

2. The mechanical gripper with the visual identification and positioning function according to claim 1, is characterized in that: the telescopic sliding hole is characterized in that a movable groove (9) is formed in the inner wall of the telescopic sliding hole (8), two pressing sliding holes (10) are symmetrically formed in the inner wall of the top of the movable groove (9), an L-shaped pressing sliding shaft (11) is arranged in one pressing sliding hole (10) in a sliding mode, and a stabilizing sliding rod (12) is arranged in the other pressing sliding hole (10) in a sliding mode.

3. The mechanical gripper with the visual identification and positioning function according to claim 2, is characterized in that: a positioning sliding groove (14) is formed in the L-shaped pressing sliding shaft (11), a positioning sliding rod (15) is arranged in the positioning sliding groove (14) in a sliding mode, and the positioning sliding rod (15) is fixedly installed on the inner wall of the movable groove (9).

4. The mechanical gripper with the visual identification and positioning function according to claim 2, is characterized in that: the bottom of the L-shaped pressing sliding shaft (11) is fixedly provided with a supporting plate (13), and an arc-shaped push block (18) is fixedly arranged on the supporting plate (13).

5. The mechanical gripper with the visual identification and positioning function according to claim 2, is characterized in that: the movable groove (9) is internally and fixedly provided with a driven spring (17), one end of the driven spring (17) is fixedly arranged at the bottom of the supporting plate (13), and the other end of the driven spring (17) is fixedly connected to the inner wall of the movable groove (9).

6. The mechanical gripper with the visual identification and positioning function according to claim 3, is characterized in that: the positioning slide rod (15) is sleeved with an active spring (16) in a sliding mode, one end of the active spring (16) is fixedly connected to the supporting plate (13), and the other end of the active spring (16) is fixedly connected to the inner wall of the bottom of the movable groove (9).

7. The mechanical gripper with the visual identification and positioning function according to claim 1, is characterized in that: one side of the telescopic sliding shaft (19) is fixedly provided with an arc-shaped stressed block (20), and the arc-shaped stressed block (20) is in contact with the arc-shaped push block (18).

8. The mechanical gripper with the visual identification and positioning function according to claim 1, is characterized in that: the fixing ring is characterized in that a mounting sliding rod (22) is fixedly mounted on one side of the fixing ring (2), a reset spring (23) is slidably sleeved on the mounting sliding rod (22), and a limiting ring (24) is fixedly mounted on the mounting sliding rod (22).

9. The mechanical gripper with the visual identification and positioning function according to claim 1, is characterized in that: a convex sliding groove (21) is formed in the telescopic sliding shaft (19), and the limiting ring (24) and the return spring (23) are sleeved in the convex sliding groove (21) in a sliding mode.