CN216189115U - Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam - Google Patents
Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam Download PDFInfo
- Publication number
- CN216189115U CN216189115U CN202122611965.2U CN202122611965U CN216189115U CN 216189115 U CN216189115 U CN 216189115U CN 202122611965 U CN202122611965 U CN 202122611965U CN 216189115 U CN216189115 U CN 216189115U
- Authority
- CN
- China
- Prior art keywords
- adjusting mechanism
- angle adjusting
- base
- driving piece
- vision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a manipulator positioning device for unstacking and distributing of a robot 3D vision guide system, which relates to the technical field of manipulators and comprises a base and is characterized in that: a vision device; a controller; the positioning and adjusting mechanism comprises a transverse angle adjusting mechanism, a distance adjusting mechanism and a longitudinal angle adjusting mechanism; and fixing the clamping mechanism. According to the utility model, the object is monitored by the vision device, the controller controls the transverse angle adjusting mechanism, the distance adjusting mechanism and the longitudinal angle adjusting mechanism to move, the manipulator is subjected to multi-directional positioning adjustment, and after the adjustment is completed, the controller controls the fixed clamping mechanism to clamp the object, so that the problems that most of the existing manipulator positioning devices position the object in one direction and the positioning effect is poor are solved.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a unstacking tray-matching manipulator positioning device for a robot 3D vision guide system.
Background
The manipulator is an automatic operating device which can imitate human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.
The manipulator needs to carry out the accurate positioning to it in the use, and current manipulator positioner is mostly fixed a position it in a direction, and positioning effect is not good, consequently, needs a robot 3D vision guidance system to solve above-mentioned problem with unstacking dish-matching manipulator positioner urgently.
SUMMERY OF THE UTILITY MODEL
An embodiment of the present invention provides a unstacking tray-matching manipulator positioning device for a robot 3D vision guidance system, so as to solve the problems in the background art.
In order to achieve the purpose, the utility model provides the following technical scheme:
the utility model provides a robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam, includes the base, still includes:
the vision device is connected with the base;
the controller is connected with the base;
one end of the positioning adjusting mechanism is connected with the base, the positioning adjusting mechanism comprises a transverse angle adjusting mechanism, a distance adjusting mechanism and a longitudinal angle adjusting mechanism, one end of the transverse angle adjusting mechanism is connected with the base, one end of the distance adjusting mechanism is connected with the other end of the transverse angle adjusting mechanism, and one end of the longitudinal angle adjusting mechanism is connected with the other end of the distance adjusting mechanism;
the fixed clamping mechanism is connected with the other end of the longitudinal angle adjusting mechanism;
the vision device monitors the object, the controller controls the transverse angle adjusting mechanism, the distance adjusting mechanism and the longitudinal angle adjusting mechanism to move, and after the adjustment is completed, the controller controls the fixed clamping mechanism to clamp the object.
As a further scheme of the utility model: the lateral angle adjusting mechanism includes:
the first driving piece is connected with the base;
and the rotating disc is connected with the output end of the first driving piece.
As a further scheme of the utility model: the distance adjustment mechanism includes:
the second driving piece is connected with the rotary disc;
the threaded rod is connected with the output end of the second driving piece;
the threaded sleeve is in threaded connection with the threaded rod;
and one end of the limiting component is connected with the base, and the other end of the limiting component is connected with the threaded sleeve and used for limiting the movement of the threaded sleeve.
As a further scheme of the utility model: the spacing subassembly includes:
the limiting rod is connected with the threaded sleeve;
the connecting rod penetrates through the limiting rod and is in sliding connection with the limiting rod;
the swivel is connected with the base in a rotating manner and is connected with the connecting rod.
As a further scheme of the utility model: the longitudinal angle adjustment mechanism includes:
the third driving piece is connected with the threaded sleeve;
and one end of the electric telescopic piece is connected with the output end of the third driving piece.
As a further scheme of the utility model: the fixed clamping mechanism comprises:
the connecting plate is connected with the other end of the electric telescopic piece;
the fourth driving piece is connected with the connecting plate;
the bidirectional threaded rod is connected with the output end of the fourth driving piece and is rotationally connected with the connecting plate;
a clamping plate in threaded connection with the bidirectional threaded rod and in sliding connection with the connecting plate
Compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the object is monitored by the vision device, the controller controls the transverse angle adjusting mechanism, the distance adjusting mechanism and the longitudinal angle adjusting mechanism to move, the manipulator is subjected to multi-directional positioning adjustment, and after the adjustment is completed, the controller controls the fixed clamping mechanism to clamp the object, so that the problems that most of the existing manipulator positioning devices position the object in one direction and the positioning effect is poor are solved.
Drawings
Fig. 1 is a schematic structural diagram of a unstacking tray-matching manipulator positioning device for a robot 3D vision guidance system in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a fixing and clamping mechanism according to an embodiment of the present invention.
Fig. 3 is a perspective view of a swivel in an embodiment of the present invention.
In the figure: 1. a base; 2. a first driving member; 3. a turntable; 4. a second driving member; 5. a threaded rod; 6. a threaded sleeve; 7. a limiting rod; 8. a connecting rod; 9. rotating the ring; 10. a third driving member; 11. an electric telescopic member; 12. a connecting plate; 13. a fourth drive; 14. a bidirectional threaded rod; 15. clamping a plate; 16. a vision device; 17. and a controller.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the present invention, referring to fig. 1 to 3, a destacking tray-matching manipulator positioning device for a robot 3D vision guiding system includes a base 1, and further includes:
a vision device 16 connected with the base 1;
a controller 17 connected to the base 1;
one end of the positioning adjusting mechanism is connected with the base 1, the positioning adjusting mechanism comprises a transverse angle adjusting mechanism, a distance adjusting mechanism and a longitudinal angle adjusting mechanism, one end of the transverse angle adjusting mechanism is connected with the base 1, one end of the distance adjusting mechanism is connected with the other end of the transverse angle adjusting mechanism, and one end of the longitudinal angle adjusting mechanism is connected with the other end of the distance adjusting mechanism;
the fixed clamping mechanism is connected with the other end of the longitudinal angle adjusting mechanism;
when the vision device 16 monitors an object, the controller 17 controls the transverse angle adjusting mechanism, the distance adjusting mechanism and the longitudinal angle adjusting mechanism to move, and after the adjustment is completed, the controller 17 controls the fixed clamping mechanism to clamp the object.
Referring to fig. 1 as an embodiment of the present invention, the lateral angle adjusting mechanism includes:
the first driving piece 2 is connected with the base 1;
and the rotary disc 3 is connected with the output end of the first driving piece 2.
The first driving part 2 drives the rotary table 3 to rotate, and then the transverse angle of the device is adjusted. The first driving member 2 can adopt a driving motor, a stepping motor and the like.
Referring to fig. 1 and 3, as an embodiment of the present invention, the distance adjusting mechanism includes:
the second driving piece 4 is connected with the rotary disc 3;
the threaded rod 5 is connected with the output end of the second driving piece 4;
the threaded sleeve 6 is in threaded connection with the threaded rod 5;
and one end of the limiting component is connected with the base 1, and the other end of the limiting component is connected with the threaded sleeve 6 and used for limiting the movement of the threaded sleeve 6.
The second driving piece 4 drives the threaded rod 5 to rotate, and under the cooperation of the limiting mechanism, the threaded rod 5 drives the threaded sleeve 6 to move, so that the horizontal distance of the device is adjusted. The second driving member 4 can adopt a driving motor, a stepping motor and the like.
Referring to fig. 1 and 3, as an embodiment of the present invention, the limiting assembly includes:
the limiting rod 7 is connected with the threaded sleeve 6;
the connecting rod 8 penetrates through the limiting rod 7 and is connected with the limiting rod in a sliding mode;
and the rotating ring 9 is rotatably connected with the base 1 and is connected with the connecting rod 8.
The threaded sleeve 6 drives the limiting rod 7 to move, the connecting rod 8 limits the limiting rod 7, and the rotating ring 9 can be matched with the rotating disc 3 to rotate.
Referring to fig. 1 as an embodiment of the present invention, the longitudinal angle adjusting mechanism includes:
a third driving member 10 connected with the threaded sleeve 6;
and one end of the electric telescopic piece 11 is connected with the output end of the third driving piece 10.
The third driving member 10 drives the electric telescopic member 11 to rotate, so as to adjust the longitudinal angle of the device, and the electric telescopic member 11 adjusts the height of the fixed clamping mechanism. The electric telescopic piece 11 can adopt an electric telescopic rod, an air cylinder and the like. The third driving member 10 may adopt a driving motor, a stepping motor, etc.
Referring to fig. 1 and 2, as an embodiment of the present invention, the fixing and clamping mechanism includes:
the connecting plate 12 is connected with the other end of the electric telescopic piece 11;
a fourth driving member 13 connected to the connecting plate 12;
the bidirectional threaded rod 14 is connected with the output end of the fourth driving piece 13 and is rotatably connected with the connecting plate 12;
and the clamping plate 15 is in threaded connection with the bidirectional threaded rod 14 and is in sliding connection with the connecting plate 12.
The fourth driving part 13 drives the bidirectional threaded rod 14 to rotate, and the bidirectional threaded rod 14 drives the clamping plate 15 to move, so that the clamping plate 15 fixes the object. The fourth driving member 13 may adopt a driving motor, a stepping motor, or the like.
The working principle of the utility model is as follows: the object is monitored by the vision device 16, the controller 17 controls the first driving part 2, the second driving part 4, the third driving part 10 and the fourth driving part 13 to work, the first driving part 2 drives the rotary table 3 to rotate, the rotary table 3 drives the second driving part 4 to rotate, the second driving part 4 drives the threaded rod 5 to rotate, under the cooperation of the limiting rod 7 and the connecting rod 8, the threaded rod 5 drives the threaded sleeve 6 to move, the threaded sleeve 6 drives the third driving part 10 to move, the third driving part 10 drives the electric telescopic part 11 to rotate, the electric telescopic part 11 drives the connecting plate 12 to move, the fourth driving part 13 drives the bidirectional threaded rod 14 to rotate, the bidirectional threaded rod 14 drives the clamping plate 15 to move, and the clamping plate 15 is enabled to fix the object.
Claims (6)
1. The utility model provides a robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam, includes the base, its characterized in that still includes:
the vision device is connected with the base;
the controller is connected with the base;
one end of the positioning adjusting mechanism is connected with the base, the positioning adjusting mechanism comprises a transverse angle adjusting mechanism, a distance adjusting mechanism and a longitudinal angle adjusting mechanism, one end of the transverse angle adjusting mechanism is connected with the base, one end of the distance adjusting mechanism is connected with the other end of the transverse angle adjusting mechanism, and one end of the longitudinal angle adjusting mechanism is connected with the other end of the distance adjusting mechanism;
the fixed clamping mechanism is connected with the other end of the longitudinal angle adjusting mechanism;
the vision device monitors the object, the controller controls the transverse angle adjusting mechanism, the distance adjusting mechanism and the longitudinal angle adjusting mechanism to move, and after the adjustment is completed, the controller controls the fixed clamping mechanism to clamp the object.
2. The de-stacking and tray-matching manipulator positioning device for the robotic 3D vision guiding system as recited in claim 1, wherein the lateral angle adjusting mechanism comprises:
the first driving piece is connected with the base;
and the rotating disc is connected with the output end of the first driving piece.
3. The de-stacking and tray-matching manipulator positioning device for the robotic 3D vision guiding system as recited in claim 2, wherein the distance adjusting mechanism comprises:
the second driving piece is connected with the rotary disc;
the threaded rod is connected with the output end of the second driving piece;
the threaded sleeve is in threaded connection with the threaded rod;
and one end of the limiting component is connected with the base, and the other end of the limiting component is connected with the threaded sleeve and used for limiting the movement of the threaded sleeve.
4. The de-stacking and tray-matching manipulator positioning device for the robot 3D vision guiding system according to claim 3, wherein the limiting assembly comprises:
the limiting rod is connected with the threaded sleeve;
the connecting rod penetrates through the limiting rod and is in sliding connection with the limiting rod;
the swivel is connected with the base in a rotating manner and is connected with the connecting rod.
5. The de-stacking and tray-matching manipulator positioning device for the robotic 3D vision guiding system according to claim 3, wherein the longitudinal angle adjusting mechanism comprises:
the third driving piece is connected with the threaded sleeve;
and one end of the electric telescopic piece is connected with the output end of the third driving piece.
6. The de-stacking and tray-matching manipulator positioning device for the robot 3D vision guiding system according to claim 5, wherein the fixed clamping mechanism comprises:
the connecting plate is connected with the other end of the electric telescopic piece;
the fourth driving piece is connected with the connecting plate;
the bidirectional threaded rod is connected with the output end of the fourth driving piece and is rotationally connected with the connecting plate;
the cardboard, with two-way threaded rod threaded connection, and with connecting plate sliding connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122611965.2U CN216189115U (en) | 2021-10-28 | 2021-10-28 | Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122611965.2U CN216189115U (en) | 2021-10-28 | 2021-10-28 | Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216189115U true CN216189115U (en) | 2022-04-05 |
Family
ID=80892491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122611965.2U Active CN216189115U (en) | 2021-10-28 | 2021-10-28 | Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216189115U (en) |
-
2021
- 2021-10-28 CN CN202122611965.2U patent/CN216189115U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108145733B (en) | Clamping device suitable for industrial robot | |
| CN203199561U (en) | Mechanical arm assembly | |
| CN104816113A (en) | Three-freedom-level welding robot and control system thereof | |
| CN204248574U (en) | A kind of self-acting grinding machine for processing sewing machine main shaft | |
| JP2019527149A (en) | Electric clamping device | |
| CN114211474A (en) | Mechanical arm with telescopic structure and capable of automatically grabbing | |
| CN211615632U (en) | Electric clamp is got industrial robot | |
| CN216189115U (en) | Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam | |
| CN205166918U (en) | Portable pneumatic manipulator | |
| CN110722343A (en) | Hydraulic pressure end cap pressure equipment machine with visual detection function | |
| CN207435348U (en) | Suitable for the robot clipping machine of detonator production | |
| WO2023130730A1 (en) | Rotating mechanism of manipulator | |
| CN204565466U (en) | A kind of Three Degree Of Freedom welding robot and control system thereof | |
| CN213439716U (en) | Workpiece feeding manipulator | |
| CN217019579U (en) | Automatic workpiece clamping and reversing device for manipulator | |
| CN110355606B (en) | Horizontal lathe calibration device and calibration process thereof | |
| CN209425472U (en) | A kind of automobile component processing electromagnetism profiling mechanism hand | |
| CN220903366U (en) | Clamping structure of mechanical arm of transfer robot | |
| CN214870661U (en) | Robot mechanical wrist | |
| CN214816214U (en) | Robot welding positioner | |
| CN111390599A (en) | Porous drill jig of preparation gold utensil convenient to adjust | |
| CN219837520U (en) | Spanner for machining longitudinal beam | |
| CN205928070U (en) | Full automatic processing machine of cooking utensils gas valve case | |
| CN216398557U (en) | Be applied to intelligent anchor clamps of welding machine | |
| CN213801870U (en) | Self-align tongs of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |