CN216301746U - Visual auxiliary precise grabbing end actuating mechanism and label pasting robot - Google Patents
Visual auxiliary precise grabbing end actuating mechanism and label pasting robot Download PDFInfo
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- CN216301746U CN216301746U CN202122436756.9U CN202122436756U CN216301746U CN 216301746 U CN216301746 U CN 216301746U CN 202122436756 U CN202122436756 U CN 202122436756U CN 216301746 U CN216301746 U CN 216301746U
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Abstract
The utility model discloses a vision-assisted precise grabbing tail end executing mechanism and a label pasting robot. The vision-assisted precision grabbing tail end executing mechanism comprises a mounting bracket, a vision positioning device, a supporting table and a plurality of suction nozzle devices, wherein the vision positioning device is mounted on the mounting bracket; the support table is provided with an avoidance hole, the visual positioning device penetrates through the avoidance hole, and the support table is connected with the mounting bracket; the plurality of suction nozzle devices are arranged on the support platform at intervals and are arranged in parallel; wherein, the image shooting direction of the visual positioning device is parallel to the length direction of the suction nozzle device. The visual auxiliary precise grabbing tail end executing device is simple and compact in structure, simple and easy to replace, and capable of achieving multiple scene applications. The visual positioning device provides accurate position coordinates for the suction nozzle device, and the requirements of high-precision tool scenes can be met.
Description
Technical Field
The utility model relates to the technical field of production lines, in particular to a visual auxiliary precise grabbing tail end executing mechanism and a labeling robot.
Background
With the development of the electronic industry, mass production becomes the mainstream. In a production line, a suction nozzle device is generally used to pick and place a material, pick up the material and place the material at a corresponding position for a corresponding operation, for example, after the material moves to a labeling station along with the production line, the suction nozzle device picks up the material on the production line and places the material at the labeling station for a labeling operation, and after the labeling operation is completed, the material is placed back to the production line to be conveyed to a next station for a next operation. The suction nozzle device is generally connected to a negative pressure device, which provides a negative pressure so that the suction nozzle device sucks the material, and after the material reaches a target position, the negative pressure is removed, and the material can be put down to the corresponding position. In the related art, after the material is placed at the labeling station, manual labeling is carried out, so that the production efficiency is low, and the labeling precision is low.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a visual auxiliary precise grabbing tail end executing mechanism and a labeling robot, and aims to improve labeling efficiency and labeling precision.
In order to achieve the above object, the present invention provides a visual auxiliary precise grabbing end actuator for a labeling robot, comprising:
mounting a bracket;
a visual positioning device mounted to the mounting bracket;
the supporting table is provided with an avoidance hole, the visual positioning device penetrates through the avoidance hole, and the supporting table is connected with the mounting bracket; and
a plurality of suction nozzle devices which are installed on the supporting table at intervals and are arranged in parallel;
the image shooting direction of the visual positioning device is parallel to the length direction of the suction nozzle device.
In an embodiment of the present invention, the visual positioning apparatus includes:
the camera is connected with the mounting bracket and penetrates through the avoidance hole; and
a light emitting member connected with the mounting bracket and disposed proximate to the camera to provide a light source.
In an embodiment of the present invention, the light emitting member includes:
the light-emitting piece is annular and arranged around one end, close to the support table, of the camera; and
and one end of the light source fixing frame is connected with the mounting bracket, and the other end of the light source fixing frame is connected with the light source piece.
In an embodiment of the utility model, the mounting bracket is located at one side of the supporting platform, and the light source device is located at one side of the supporting platform, which is far away from the mounting bracket.
In an embodiment of the present invention, the support base has a disk shape, and the plurality of suction nozzle devices are provided at intervals in a circumferential direction of the support base.
In an embodiment of the present invention, at least one of the nozzle devices includes:
the connecting assembly is provided with first mounting holes and first through holes which are arranged at intervals; the connecting assembly is detachably connected with the supporting table;
the adsorption seat is provided with a second mounting hole and a second through hole which are arranged at intervals, and the adsorption seat is attached to the connecting assembly so that the second mounting hole is correspondingly communicated with the first mounting hole, and the second through hole is communicated with the first through hole;
the locking piece penetrates through the first mounting hole and the second mounting hole to lock the adsorption seat and the connecting assembly; and
the suction nozzle body, the suction nozzle body is equipped with the absorption hole, the suction nozzle body is located the absorption seat deviates from one side of coupling assembling, just the absorption hole with the second through-hole intercommunication.
In an embodiment of the present invention, the connection assembly includes:
the joint is provided with a first accommodating cavity; the joint is detachably connected with the supporting platform;
the connecting rod is movably arranged in the first accommodating cavity in a penetrating mode and provided with a third through hole;
the fixed seat is provided with a second accommodating cavity, and one end of the connecting rod, which is far away from the joint, penetrates through the second accommodating cavity; the adsorption seat is attached to one side of the fixed seat, which is far away from the joint;
wherein the first accommodating cavity, the third through hole and the second accommodating cavity are communicated and form the first through hole.
In an embodiment of the utility model, the connecting assembly further includes a limiting rod,
the connecting rod is provided with a limiting hole, the limiting hole is long-strip-shaped, and the length direction of the limiting hole is parallel to the sliding direction of the connecting rod;
the joint is provided with a third mounting hole communicated with the first accommodating cavity, and the limiting rod penetrates through the third mounting hole and is inserted into the limiting hole.
The utility model also proposes a labeling robot comprising:
labeling the robot body; and
the visual auxiliary precise grabbing end actuating mechanism is connected with the labeling robot body.
In an embodiment of the present invention, the labeling robot body includes:
a working platform;
the labeling table is arranged on the working platform;
the label supplying device is arranged on the working platform and is arranged at intervals with the labeling table; the label supplying device is used for supplying labels; and
the multi-shaft mechanical arm is arranged on the working platform, and a mounting bracket of the visual auxiliary precision grabbing tail end actuating mechanism is connected to one end, far away from the working platform, of the multi-shaft mechanical arm; the suction nozzle device of the visual auxiliary precise grabbing tail end actuating mechanism is used for transporting materials to the labeling table, transporting the label to the labeling table and attaching the label to the materials.
According to the technical scheme, the mounting base is provided through the mounting support, the support table provides the mounting base for the suction nozzle device, and the visual positioning device is used for carrying out visual positioning so as to control the suction nozzle device to accurately pick and place materials or labels. The suction nozzle devices are arranged in parallel, the image shooting direction of the visual positioning device is arranged in parallel with the length direction of the suction nozzle devices, the visual positioning device can provide accurate position coordinates conveniently, the accurate position coordinates are provided for the suction nozzle devices, and the scene requirement of high-precision tooling can be met. The visual auxiliary precise grabbing tail end executing device is simple and compact in structure, simple and easy to replace, and capable of achieving multiple scene applications.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a vision-assisted precision gripping end effector of the present invention;
FIG. 2 is a schematic view of an embodiment of the suction nozzle assembly of FIG. 1;
FIG. 3 is a schematic cross-sectional view of FIG. 2;
fig. 4 is a schematic structural diagram of an embodiment of the labeling robot of the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the present invention will be further explained with reference to the accompanying drawings.
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.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a visual auxiliary precise grabbing tail end executing mechanism which is applied to a labeling robot.
In an embodiment of the present invention, as shown in fig. 1, a vision-assisted precision grasping end effector includes:
a mounting bracket 210;
a visual positioning device 220, the visual positioning device 220 being mounted to the mounting bracket 210;
a support platform 230, wherein the support platform 230 is provided with an avoidance hole 230a, the visual positioning device 220 is inserted into the avoidance hole 230a, and the support platform 230 is connected with the mounting bracket 210; and
a plurality of nozzle devices 240, the nozzle devices 240 being mounted on the support table 230 at intervals, the nozzle devices 240 being arranged in parallel;
wherein, the image capturing direction of the visual positioning device 220 is parallel to the length direction of the nozzle device 240.
It can be understood that the mounting bracket 210 provides a mounting base, the support platform 230 provides a mounting base for the nozzle assembly 240, and the visual positioning device 220 performs visual positioning to control the nozzle assembly 240 to accurately pick and place the material or the label. The suction nozzle device 240 is arranged in parallel, and the image pickup direction of the vision positioning device 220 is arranged in parallel with the length direction of the suction nozzle device 240, so that the vision positioning device can provide accurate position coordinates for the suction nozzle device 240, and the scene requirement of high-precision tooling can be met. The visual auxiliary precise grabbing tail end executing device is simple and compact in structure, simple and easy to replace, and capable of achieving multiple scene applications. Through the design of the avoiding hole 230a, the visual auxiliary precision grabbing end actuating mechanism occupies a small space.
In an embodiment of the present invention, as shown in fig. 1, the visual positioning apparatus 220 includes:
the camera 221, the camera 221 is connected with the mounting bracket 210, and the camera 221 penetrates through the avoidance hole 230 a; and
a light emitting member 222, the light emitting member 222 being connected to the mounting bracket 210 and disposed adjacent to the camera 221 to provide a light source. It is understood that the light emitting member 222 provides a light source for the camera 221 to take an image.
In an embodiment of the present invention, as shown in fig. 1, the light emitting element 222 includes a light source 2221 and a light source fixing frame 2222, and the light emitting element 222 is annular and is disposed around one end of the camera 221 near the supporting stage 230; one end of the light source fixing frame 2222 is connected to the mounting bracket 210, and the other end is connected to the light source 2221.
It can be understood that the light source 2221 is provided with a mounting base by the light source fixing frame 2222. Meanwhile, the light emitting member 222 is annular and is disposed around one end of the camera 221 near the supporting platform 230, so that the light source 2221 provides a more uniform light source for the camera 221, and the image capturing resolution of the camera 221 is improved to obtain accurate position coordinates.
In an embodiment of the present invention, as shown in fig. 1, the mounting bracket 210 is located at a side of the supporting platform 230, and the light source 2221 is located at a side of the supporting platform 230 facing away from the mounting bracket 210. It will be appreciated that the structure is simple and compact by the above design.
In an embodiment of the present invention, as shown in fig. 1, the support table 230 has a disk shape, and the plurality of nozzle devices 240 are disposed at intervals along a circumferential direction of the support table 230.
In this embodiment, the avoiding hole 230a is located at the center of gravity of the supporting stage 230, that is, the avoiding hole 230a and the supporting stage 230 are coaxially disposed. The disk-shaped support table 230 can reduce interference between the support table 230 and peripheral components during movement of the visual assistance precision grasping end actuator.
In an embodiment of the present invention, as shown in fig. 2 and 3, the nozzle body 4 includes:
the connecting assembly 1 is provided with first mounting holes and first through holes 1b which are arranged at intervals; the connecting assembly 1 is detachably connected with the supporting table 230;
the adsorption base 2 is provided with a second mounting hole and a second through hole 2b which are arranged at intervals, the adsorption base 2 is attached to the connecting assembly 1, so that the second mounting hole is correspondingly communicated with the first mounting hole, and the second through hole 2b is communicated with the first through hole 1 b;
the locking piece 3 penetrates through the first mounting hole and the second mounting hole to lock the adsorption seat 2 and the connecting assembly 1; and
The connection assembly 1 can be connected with the support platform 230, and the connection assembly 1 provides a mounting base for the suction seat 2. Through the intercommunication of first through-hole 1b, second through-hole 2b and adsorption hole 4b, form air feed channel, realize the absorption function of suction nozzle body 4, suction nozzle body 4 absorbs the material through the negative pressure of adsorption hole 4 b. Adsorb seat 2 and realize dismantling the connection through retaining member 3 with coupling assembling 1, the installation and the dismantlement of the adsorption seat 2 of being convenient for. When the suction nozzle body 4 of locating the adsorption seat 2 needs to be changed, only need loosen retaining member 3 to make the unblock of adsorption seat 2 and coupling assembling 1, will adsorb seat 2 and dismantle from coupling assembling 1, removable suction nozzle body 4 on the adsorption seat 2, also can more renew have the adsorption seat 2 of suction nozzle body 4, realize convenient change suction nozzle body 4's purpose, the simplified operation realizes quick dismantlement and installation.
It is understood that the first through hole 1b may be connected to a vacuum apparatus to provide a negative pressure to perform a negative pressure adsorption function.
In an embodiment of the present invention, as shown in fig. 2 and 3, the connecting assembly 1 includes:
the joint 11 is provided with a first accommodating cavity 11 a; the joint 11 is detachably connected with the supporting table 230;
the connecting rod 12 is movably arranged in the first accommodating cavity 11a in a penetrating mode, and the connecting rod 12 is provided with a third through hole 12 b;
the fixed seat 13 is provided with a second accommodating cavity 13a, and one end of the connecting rod 12, which is far away from the joint 11, penetrates through the second accommodating cavity 13 a; the adsorption seat 2 is attached to one side of the fixed seat 13, which is far away from the joint 11;
the first accommodating cavity 11a, the third through hole 12b and the second accommodating cavity 13a are communicated to form the first through hole 1 b.
It can be understood that the connection rod 12 and the fixed seat 13 are fixedly connected by bolts, and the connection rod 12, the fixed seat 13, the suction seat 2 and the nozzle body 4 can move synchronously through the joint 11 and the support platform 230. Connecting rod 12 is movably worn to locate in first chamber 11a that holds, and when suction nozzle body 4 absorbs the material, suction nozzle body 4 receives outside extrusion, and suction nozzle body 4 drives connecting rod 12 and removes towards first chamber 11a that holds, provides the buffering for suction nozzle body 4's absorption work, avoids hard contact to lead to suction nozzle body 4 and material impaired.
Meanwhile, the two ends of the connecting rod 12 are respectively inserted into the first accommodating cavity 11a and the second accommodating cavity 13a, so that the connecting rod 12 can be conveniently installed and positioned, and the purpose of quick installation is realized.
In one embodiment, the connecting assembly 1 further includes a spring, the spring is sleeved on the connecting rod 12, and two ends of the spring are respectively connected with the joint 11 and the fixing seat 13. It can be understood that the spring can provide restoring force for the fixed seat 13, so as to realize the function of automatic reset of the fixed seat 13, the adsorption seat 2 and the suction nozzle body 4. That is, after the nozzle body 4 places the material at a desired position, the spring can restore the nozzle body 4.
In other embodiments, the connection assembly 1 further includes a spring, the spring is disposed in the first accommodating cavity 11a, and two ends of the spring are respectively connected to the cavity wall of the first accommodating cavity 11a and the end of the connection rod 12. It can be understood that the spring can provide restoring force for the connecting rod 12, so as to realize the function of automatic reset of the connecting rod 12, the fixed seat 13, the suction seat 2 and the suction nozzle body 4.
In an embodiment of the present invention, as shown in fig. 2 and 3, the connecting assembly 1 further includes a limiting rod 14,
the connecting rod 12 is provided with a limiting hole 12a, the limiting hole 12a is in a long strip shape, and the length direction of the limiting hole 12a is parallel to the sliding direction of the connecting rod 12;
the joint 11 is provided with a third mounting hole 11b communicated with the first accommodating cavity 11a, and the limiting rod 14 penetrates through the third mounting hole 11b and is inserted into the limiting hole 12 a.
It can be understood that, spacing hole 12a and spacing rod 14's cooperation setting can carry on spacingly to the displacement range of connecting rod 12 on the one hand, and on the other hand, spacing rod 14 can restrict connecting rod 12's circumferential direction for connecting rod 12 only has along axial's removal, improves stability and reliability, ensures the stability of suction nozzle body 4, and then the smooth of guarantee adsorption work goes on.
In an embodiment of the present invention, as shown in fig. 2 and 3, the limiting rod 14 includes:
a first connecting portion 141, wherein the first connecting portion 141 is inserted into the third mounting hole 11 b;
the first clamping portion 142, the first clamping portion 142 is arranged at one end of the first connecting portion 141, and is clamped on the outer wall of the joint 11;
the first matching portion 143, the first matching portion 143 is disposed at an end of the first connecting portion 141 departing from the first clamping portion 142, and movably penetrates through the limiting hole 12 a.
It can be understood that, after the first clamping portion 142 abuts against the outer wall of the joint 11, the installation of the limiting rod 14 is shown in place, and meanwhile, through the arrangement of the first clamping portion 142, the disassembly can be facilitated, and an acting point is provided for the disassembly. The first fitting portion 143 is fitted with the limiting hole 12a, so as to limit the connecting rod 12.
In some embodiments, the first connecting portion 141 is provided with an external thread, the third mounting hole 11b is provided with an internal thread, and the first connecting portion 141 and the third mounting hole 11b are in threaded fit, so as to achieve the purpose of stably connecting the limiting rod 14 to the joint 11. In other embodiments, the stopper rod 14 may be riveted to the third mounting hole 11b by a riveting process.
In an embodiment of the present invention, as shown in fig. 3, the second through hole 2b includes a positioning section 2c and a through section 2d that are communicated with each other, a step surface 21 is formed at a connection position of the positioning section 2c and the through section 2d, and the through section 2d is communicated with the adsorption hole 4 b; a positioning protrusion 131 is arranged on one side of the fixed seat 13 facing the adsorption seat 2, and the positioning protrusion 131 is provided with a fourth through hole 131a communicated with the second accommodating cavity 13 a; the positioning protrusion 131 is inserted into the positioning section 2c, and the fourth through hole 131a is communicated with the through section 2 d.
It can be understood that, the positioning protrusion 131 and the positioning section 2c are cooperatively disposed to provide positioning and installation for the installation of the fixing base 13, so as to facilitate the quick installation and positioning of the fixing base 13. A step surface 21 is formed at the joint of the positioning section 2c and the through section 2d, and the step surface 21 limits the connecting rod 12. The through section 2d and the fourth through hole 131a are provided to ensure the through of the entire gas supply passage.
In an embodiment of the present invention, as shown in fig. 3, a sealing groove 131b is disposed on a side of the fixing seat 13 facing the adsorption seat 2, the sealing groove 131b is disposed around the positioning protrusion 131, and a sealing ring 15 is disposed in the sealing groove 131 b.
It will be appreciated that the provision of seal groove 131b provides a location for the installation of seal ring 15, facilitating quick installation. Meanwhile, the sealing ring 15 can play a role in sealing, and the air tightness is improved.
In an embodiment of the present invention, as shown in fig. 2, two opposite sides of the fixing base 13 are respectively provided with a first ear portion 132 in a protruding manner, and each first ear portion 132 is respectively provided with the first mounting hole;
the relative both sides of adsorbing seat 2 are protruding second ear 22 that is equipped with respectively, each second ear 22 is equipped with respectively the second mounting hole.
It will be appreciated that the provision of first and second ears 132 and 22 provides a location for the provision of first and second mounting holes, while providing a mounting location for the attachment of retaining member 3, while facilitating manipulation of retaining member 3 to facilitate installation and removal. First ear 132 and second ear 22 are platelike or cubic, and behind retaining member 3 locking fixing base 13 and absorption seat 2, retaining member 3 can be the face contact with first ear 132 and second ear 22, improves connection stability and locking strength. By providing two first ears 132 and two second ears 22, the connection stability can be improved.
In an embodiment of the present invention, as shown in fig. 2, the locking member 3 includes:
the second connecting part 31 is arranged in the first mounting hole and the second mounting hole in a penetrating manner;
a second clamping portion 32, wherein the second clamping portion 32 is arranged at one end of the second connecting portion 31;
a second fitting portion 33, the second fitting portion 33 being screwed with the second connecting portion 31;
wherein, second joint portion 32 with second cooperation portion 33 respectively the joint in adsorb seat 2 and deviate from one side of fixing base 13 with fixing base 13 deviates from one side of adsorbing seat 2.
It can be understood that, after the second clamping portion 32 abuts on the fixing base 13 or the adsorption base 2, the installation of the locking member 3 is shown in place, and meanwhile, through the arrangement of the second clamping portion 32, the installation can be convenient to detach, and an acting point is provided for detachment. The second matching part 33 is in threaded connection with the second connecting part 31, and the locking and unlocking functions are realized. Can improve the connection stability of fixing base 13 and adsorption seat 2 through the above-mentioned design of retaining member 3, convenient to detach simultaneously.
In an embodiment of the present invention, a positioning rod is convexly disposed on a side of the suction nozzle body 4 facing the suction base 2, a positioning groove is disposed on a side of the suction base 2 facing the suction nozzle body 4, and the positioning rod is inserted into the positioning groove.
It can be understood that, through the arrangement of the positioning rod and the positioning groove, the quick positioning installation of the suction nozzle body 4 and the suction seat 2 is realized.
In some embodiments, the nozzle body 4 is integrally formed with the suction base 2. In other embodiments, the nozzle body 4 is adhered to the suction base 2.
In an embodiment of the present invention, as shown in fig. 3, a transition cavity 4a communicating with the second through hole 2b is disposed on a side of the suction nozzle body 4 facing the suction base 2, the number of the suction holes 4b is plural, each suction hole 4b communicates with the transition cavity 4a, and each suction hole 4b communicates with the second through hole 2b through the transition cavity 4 a.
It can be understood that, through the setting of a plurality of absorption holes 4b for when absorbing the material, the material has a plurality of stress points, and the material is absorbed more stably. Through the arrangement of the transition cavity 4a, the negative pressure entering the plurality of adsorption holes 4b can be more uniform.
The present invention also provides a labeling robot 1000, as shown in fig. 4, the labeling robot 1000 comprising:
labeling the robot body; and
the visual auxiliary precise grabbing end actuating mechanism is connected with the labeling robot body.
The specific structure of the visual auxiliary precise grabbing end actuator refers to the above embodiments, and since the labeling robot 1000 adopts all technical solutions of all the above embodiments, all beneficial effects brought by the technical solutions of the above embodiments are at least achieved, and are not repeated here.
In an embodiment of the present invention, as shown in fig. 4, the labeling robot body includes:
a work platform 100;
the labeling table 300, the labeling table 300 is arranged on the working platform 100;
the label supplying device 400 is arranged on the working platform 100 and is spaced from the labeling table 300; the label supplying device 400 is used for supplying labels; and
the multi-axis mechanical arm 200 is arranged on the working platform 100, and the mounting bracket 210 of the visual auxiliary precision grabbing end actuating mechanism is connected to one end, far away from the working platform 100, of the multi-axis mechanical arm 200; the nozzle device 240 of the visual assistance precision grasping end actuator is used for transporting the material to the labeling station 300, then transporting the label to the labeling station 300, and attaching the label to the material.
It can be understood that through the supplementary accurate terminal actuating mechanism's that snatchs setting of multiaxis arm and vision, can realize getting to put the material to subsides mark platform 300 after, absorb the label again to with the purpose of label subsides in the material, realize accurate target purpose, improve and paste mark efficiency and paste the mark precision.
It should be noted that the targeting device 400 can adopt the prior art boomerang, and will not be described herein again.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a supplementary accurate terminal actuating mechanism that snatchs of vision, is applied to the subsides mark robot, its characterized in that includes:
mounting a bracket;
a visual positioning device mounted to the mounting bracket;
the supporting table is provided with an avoidance hole, the visual positioning device penetrates through the avoidance hole, and the supporting table is connected with the mounting bracket; and
a plurality of suction nozzle devices which are installed on the supporting table at intervals and are arranged in parallel;
the image shooting direction of the visual positioning device is parallel to the length direction of the suction nozzle device.
2. The vision-assisted precision grasp end effector as claimed in claim 1, wherein said vision positioning means comprises:
the camera is connected with the mounting bracket and penetrates through the avoidance hole; and
a light emitting member connected with the mounting bracket and disposed proximate to the camera to provide a light source.
3. The vision-assisted precision grasp end effector as claimed in claim 2, wherein said glowing member comprises:
the light-emitting piece is annular and arranged around one end, close to the support table, of the camera; and
and one end of the light source fixing frame is connected with the mounting bracket, and the other end of the light source fixing frame is connected with the light source piece.
4. A vision assisted precision gripping end effector as claimed in claim 3, wherein the mounting bracket is located on a side of the support platform and the light source is located on a side of the support platform facing away from the mounting bracket.
5. The vision-assisted precision grasping end effector as claimed in claim 1, wherein said support base is disk-shaped, and a plurality of said suction nozzle devices are disposed at intervals along a circumferential direction of said support base.
6. A vision assisted precision grip end effector as claimed in any one of claims 1 to 5, wherein at least one of the nozzle arrangements comprises:
the connecting assembly is provided with first mounting holes and first through holes which are arranged at intervals; the connecting assembly is detachably connected with the supporting table;
the adsorption seat is provided with a second mounting hole and a second through hole which are arranged at intervals, and the adsorption seat is attached to the connecting assembly so that the second mounting hole is correspondingly communicated with the first mounting hole, and the second through hole is communicated with the first through hole;
the locking piece penetrates through the first mounting hole and the second mounting hole to lock the adsorption seat and the connecting assembly; and
the suction nozzle body, the suction nozzle body is equipped with the absorption hole, the suction nozzle body is located the absorption seat deviates from one side of coupling assembling, just the absorption hole with the second through-hole intercommunication.
7. The vision-assisted precision grip end effector of claim 6, wherein said attachment assembly comprises:
the joint is provided with a first accommodating cavity; the joint is detachably connected with the supporting platform;
the connecting rod is movably arranged in the first accommodating cavity in a penetrating mode and provided with a third through hole;
the fixed seat is provided with a second accommodating cavity, and one end of the connecting rod, which is far away from the joint, penetrates through the second accommodating cavity; the adsorption seat is attached to one side of the fixed seat, which is far away from the joint;
wherein the first accommodating cavity, the third through hole and the second accommodating cavity are communicated and form the first through hole.
8. The vision-assisted precision gripping end effector as claimed in claim 7, wherein the attachment assembly further includes a stop bar,
the connecting rod is provided with a limiting hole, the limiting hole is long-strip-shaped, and the length direction of the limiting hole is parallel to the sliding direction of the connecting rod;
the joint is provided with a third mounting hole communicated with the first accommodating cavity, and the limiting rod penetrates through the third mounting hole and is inserted into the limiting hole.
9. A labeling robot, comprising:
labeling the robot body; and
the vision-assisted precision gripping end effector of any one of claims 1 to 8, connected to the labeling robot body.
10. The labeling robot of claim 9, wherein said labeling robot body comprises:
a working platform;
the labeling table is arranged on the working platform;
the label supplying device is arranged on the working platform and is arranged at intervals with the labeling table; the label supplying device is used for supplying labels; and
the multi-shaft mechanical arm is arranged on the working platform, and a mounting bracket of the visual auxiliary precision grabbing tail end actuating mechanism is connected to one end, far away from the working platform, of the multi-shaft mechanical arm; the suction nozzle device of the visual auxiliary precise grabbing tail end actuating mechanism is used for transporting materials to the labeling table, transporting the label to the labeling table and attaching the label to the materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122436756.9U CN216301746U (en) | 2021-10-09 | 2021-10-09 | Visual auxiliary precise grabbing end actuating mechanism and label pasting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122436756.9U CN216301746U (en) | 2021-10-09 | 2021-10-09 | Visual auxiliary precise grabbing end actuating mechanism and label pasting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216301746U true CN216301746U (en) | 2022-04-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122436756.9U Active CN216301746U (en) | 2021-10-09 | 2021-10-09 | Visual auxiliary precise grabbing end actuating mechanism and label pasting robot |
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| Country | Link |
|---|---|
| CN (1) | CN216301746U (en) |
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2021
- 2021-10-09 CN CN202122436756.9U patent/CN216301746U/en active Active
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