CN216913865U

CN216913865U - 3D camera guide wheel hub feeding and discharging robot gripper and robot adopting gripper

Info

Publication number: CN216913865U
Application number: CN202220412813.1U
Authority: CN
Inventors: 苗庆伟; 周航
Original assignee: Henan Alson Intelligent Technology Co ltd
Current assignee: Henan Alson Intelligent Technology Co ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-07-08
Anticipated expiration: 2032-02-28

Abstract

The utility model relates to a 3D camera guide hub feeding and discharging robot gripper and a robot adopting the gripper, which comprise a support frame; the two grabbing arms are oppositely arranged along the first direction, and one sides of the grabbing arms are assembled at the bottom of the supporting frame in a sliding mode; the gripper fingers are arranged on the corresponding gripper arms along a second direction, and the first direction and the second direction are mutually vertical horizontal directions; the matching connecting plate is arranged at the top of the supporting frame; the 3D camera is arranged on the upper side of the supporting frame or on the matching connecting plate; the driving clamping mechanism is arranged on the supporting frame or the gripper arms and used for driving the two gripper arms to mutually approach or depart from each other along a first direction; and a plurality of sensors for detecting the position of the driving clamping mechanism and whether the wheel hub is clamped on the gripper. The tongs have strong overload resistance, and the processes of carrying/unstacking/stacking and the like of the wheel hub are realized by driving the clamping mechanism, the 3D camera and the sensor to be matched with the industrial robot, so that the high-strength carrying of workers is avoided, the workers are prevented from being injured, and the working efficiency is improved.

Description

3D camera guide wheel hub feeding and discharging robot gripper and robot adopting gripper

Technical Field

The utility model belongs to the technical field of 3D camera disordered grabbing application, particularly relates to the procedures of wheel hub unstacking/stacking/carrying and the like in the industries of cars, automobiles, trains and the like, and particularly relates to a 3D camera guided wheel hub loading and unloading robot gripper and a robot adopting the gripper.

Background

In the industries of cars, automobiles, trains and the like at present, the process scene of hub carrying/unstacking/stacking is as follows: the worker manually guides the clamp on the lifting appliance to enter the inner hole and the outer ring of the hub, and then manually clamps the clamp; after the clamp clamps the hub, the lifting appliance is operated to place the hub into the tool clamp, and after the hub is placed in place, the clamp is loosened, and the lifting appliance is operated to return to the original position. Under the aforesaid scene, not only staff's working strength is big, work efficiency is low, has risk such as wheel hub drops, hoist misuse moreover.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problems in the conventional wheel hub grabbing process, the utility model aims to provide a 3D camera guide wheel hub feeding and discharging robot gripper.

The purpose of the utility model is realized by adopting the following technical scheme. The utility model provides a robot gripper for feeding and discharging a 3D camera guide hub, which comprises a support frame; the two grabbing arms 4 are oppositely arranged along a first direction, one side of each grabbing arm is assembled at the bottom of the supporting frame in a sliding mode, and therefore a grabbing hand avoiding area 5 is formed in the area of the other side of each grabbing arm; the gripper clamping fingers 1 are arranged on the corresponding gripper arms along a second direction, and the first direction and the second direction are mutually vertical horizontal directions; a matching connecting plate 2 arranged at the top of the supporting frame; the 3D camera 3 is arranged on the upper side of the supporting frame or on the matching connecting plate; the driving clamping mechanism is arranged on the supporting frame or the gripper arms and used for driving the two gripper arms to mutually approach or depart from each other along a first direction; and a plurality of sensors for detecting the position of the driving clamping mechanism and whether the hub 10 is clamped on the gripper.

The designed gripper is high in overload resistance, and through the driving of the clamping mechanism, the 3D camera and the sensor in cooperation with an industrial robot (not limited to robots in four-axis/six-axis/joint/cooperation/parallel/truss modes and the like), the processes of carrying/unstacking/stacking and the like of hubs of various types can be achieved, high-strength carrying of workers is avoided, the workers are prevented from being injured, and the working efficiency is improved.

In one embodiment, the supporting frame comprises two elongated connecting rods 601 extending in the vertical direction and arranged oppositely, a second connecting rod 602 bridged between the two elongated connecting rods, and a matching connecting body 603 arranged at the bottom of the two elongated connecting rods, wherein the matching connecting plate 2 is fixedly arranged at the top of the two elongated connecting rods 601; the length of the lengthened connecting rod is greater than the height of the on-site material frame 7.

In one embodiment, the grip fingers 1 are sleeved with a protective sleeve made of an elastic material.

In one embodiment, the supporting frame or the matching connecting plate is provided with a camera connecting plate in a protruding mode, and the 3D camera 3 is assembled at the end portion of the camera connecting plate.

In one embodiment, the side surface and the bottom surface of the matching connector are respectively provided with a linear slide rail 8 extending along the first direction, and each gripper arm 4 is provided with two slide blocks for sliding matching with the corresponding linear slide rail.

In one embodiment, the driving clamping mechanism is fixedly arranged on one of the gripper arms 4, the gripper arms are locked in sliding fit with the supporting frame, and the output end of the driving clamping mechanism is connected with the other gripper arm 4.

In one embodiment, the driven clamping mechanism is a pneumatic clamping mechanism 9.

In one embodiment, two position detection sensors and a hub detection sensor located between the two position detection sensors are arranged on a cylinder body of the pneumatic clamping mechanism, and the two position detection sensors are located at two ends of the cylinder body and used for being matched with a piston rod.

The purpose of the utility model is realized by adopting the following technical scheme. According to the utility model, the robot comprises a mechanical arm, and the mechanical arm is connected with the gripper.

In one embodiment, the robot arm is connected to the gripper by a flange structure.

The industrial robot adopting the gripper designed by the utility model (not limited to robots in four-axis/six-axis/joint/cooperation/parallel connection/truss forms and the like) automatically drives the gripper to grip/place the hub after acquiring information such as coordinates of the hub through the 3D camera, and the whole process is unmanned, so that the working efficiency is improved, and meanwhile, the safety risk is eliminated.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic perspective view of a 3D camera guide hub loading and unloading robot gripper according to this embodiment.

Fig. 2 is a perspective view of the gripper hub shown in fig. 1.

FIG. 3 is a schematic diagram of a robot in a process scenario employing the gripper of FIG. 1.

[ reference numerals ]

The method comprises the following steps of 1-gripper clamping fingers, 2-matching connecting plates, 3-3D cameras, 4-gripper arms, 5-gripper avoiding areas, 601-lengthened connecting rods, 602-second connecting rods, 603-matching connecting bodies, 7-material frames, 8-linear sliding rails, 9-pneumatic clamping mechanisms, 10-hubs and 11-robots.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

Referring to fig. 1 and 2, an embodiment of a 3D camera guiding hub loading and unloading robot gripper according to the present invention is shown, in which an "axial direction parallel to a central hole of a hub" is defined as a vertical direction. The device comprises a supporting frame, a driving clamping mechanism and a clamping mechanism, wherein the supporting frame is used for carrying a gripper clamping finger 1, a matching connecting plate 2, a 3D camera 3 and the driving clamping mechanism; the two grabbing arms 4 are oppositely arranged along a first direction, one side of each grabbing arm is assembled at the bottom of the supporting frame in a sliding mode, so that a grabbing hand avoiding area 5 is formed in the area on the other side of each grabbing arm, and interference collision is prevented by means of the grabbing hand avoiding area due to the fact that the area is provided with positioning mechanisms such as a tooling centering shaft/a material frame centering shaft and the like; the gripper comprises at least two gripper clamping fingers 1 arranged on corresponding gripper arms along a second direction, wherein the first direction and the second direction are horizontal directions which are vertical to each other, and one gripper clamping finger 1 is arranged at each of two ends of each gripper arm along the second direction; the matching connecting plate 2 is arranged at the top of the supporting frame and is used for realizing the connection between the gripper and the manipulator of the robot; the 3D camera 3 is arranged on the upper side of the supporting frame or matched with the connecting plate and used for recognizing information such as the position and the rotating angle of the hub and sending coordinates to the robot; and the driving clamping mechanism is arranged on the supporting frame or the gripper arms and is used for driving the two gripper arms to mutually approach along a first direction so that the gripper fingers clamp the hub or mutually separate so that the gripper fingers release the hub.

Braced frame includes two extension connecting rods 601, the bridging second connecting rod 602 between two extension connecting rods that extend and set up relatively along vertical direction in this embodiment, sets up in the cooperation connector 603 of two extension connecting rod bottoms, and cooperation connecting plate 2 sets firmly in the top of two extension connecting rods 601, the length of extension connecting rod will be greater than the height of on-the-spot material frame 7, produces the collision when preventing to snatch wheel hub. Further, this embodiment all sets up the strengthening rib between cooperation connecting plate and the extension connecting rod, between cooperation connector and the extension connecting rod, improves the bulk strength.

This embodiment still overlaps on every tongs clamping finger 1 and establishes the protective sheath of elasticity material (for example rubber) preparation, avoids tongs clamping finger fish tail wheel hub surface when snatching.

This embodiment still set up the flange structure on the cooperation connecting plate 2, realize the high-speed joint of tongs and manipulator to the protruding camera connecting plate that is equipped with in bottom of cooperation connecting plate 2, 3D camera assembly are at the tip of camera connecting plate, make 3D camera present convex state for the cooperation connecting plate, are convenient for accurately gather relevant information. Of course in other embodiments of the utility model the camera attachment plate may be mounted on the elongated connecting rod or the second connecting rod.

The 3D camera in the embodiment adopts a high-precision vision camera developed by ALSONTECH company, and has the characteristics of high detection precision, strong hub reflection resistance, strong interference resistance, accurate grabbing coordinate providing and the like.

In the embodiment, the side surface and the bottom surface of the matched connector are respectively provided with the linear slide rails 8 extending along the first direction, and by means of the double linear slide rails, the bending moment resistance is increased and the sliding precision is ensured; correspondingly, each gripper arm 4 is provided with two sliding blocks which are used for sliding fit with the corresponding linear sliding rails. The application does not do the restriction to type, position, the quantity of linear slide rail, and the user can carry out the design of adjusting according to specific need.

In this embodiment, the driving clamping mechanism is a pneumatic clamping mechanism 9 (for example, an air cylinder) for maintaining clamping power when the hub is clamped, and adjusting air pressure to prevent the hub from deforming, the pneumatic clamping mechanism is fixedly arranged on one of the gripper arms 4, the gripper arms are locked with the support frame in a sliding fit manner, a piston rod of the pneumatic clamping mechanism is connected with the other gripper arm 4, and the pneumatic clamping mechanism acts to drive the other gripper arm to be close to or far away from the one gripper arm, so that the hub is clamped and loosened.

Further, the present embodiment further includes a plurality of sensors for detecting the position of the pneumatic clamping mechanism and whether the hub is clamped on the hand grip. Specifically, the two position detection sensors and the hub detection sensor are arranged on the cylinder body of the air cylinder, the two position detection sensors are located at the two ends of the cylinder body and are used for being matched with the piston rod, when the air cylinder drives the gripper fingers to grip the hub, if the grip is empty, the piston rod can retract and touch one of the position detection sensors, and the PLC control cabinet on site sends out an empty-grip alarm after receiving corresponding signals; the wheel hub detection sensor is located in the middle of the cylinder body, the gripper clamping fingers clamp the wheel hub in place, the wheel hub 10 can touch a contact of the wheel hub detection sensor, the PLC control cabinet on site receives corresponding signals and then controls the robot 11 to drive the gripper which has clamped the wheel hub to leave the material frame and move to the tooling placement position, the wheel hub is put down and then returns to the original position to prepare for next gripping. This application does not do the restriction to the type, position, the quantity of sensor, and the user can adjust the design as required, for example sets up two position detection sensor on the cooperation connector, sets up wheel hub detection sensor on the tongs arm.

The above description is only a preferred embodiment of the present invention, and any simple modification, equivalent change and modification made by those skilled in the art according to the technical essence of the present invention are within the technical scope of the present invention.

Claims

1. A3D camera guide hub feeding and discharging robot gripper is characterized by comprising a support frame; the two grabbing arms (4) are oppositely arranged along the first direction, one side of each grabbing arm is assembled at the bottom of the supporting frame in a sliding mode, and therefore a grabbing hand avoiding area (5) is formed in the area on the other side of each grabbing arm; the gripper clamping fingers (1) are arranged on the corresponding gripper arms along a second direction, and the first direction and the second direction are mutually vertical horizontal directions; a matching connecting plate (2) arranged at the top of the supporting frame; a 3D camera (3) arranged on the upper side of the support frame or on the matching connecting plate; the driving clamping mechanism is arranged on the supporting frame or the gripper arms and used for driving the two gripper arms to mutually approach or depart from each other along a first direction; and a plurality of sensors for detecting the position of the driving clamping mechanism and whether the wheel hub (10) is clamped on the gripper.

2. The 3D camera guide wheel hub loading and unloading robot gripper as claimed in claim 1, wherein the support frame comprises two elongated connecting rods (601) extending in the vertical direction and arranged oppositely, a second connecting rod (602) bridging between the two elongated connecting rods, and a matching connecting body (603) arranged at the bottom of the two elongated connecting rods, wherein the matching connecting plate (2) is fixedly arranged at the top of the two elongated connecting rods (601); the length of the lengthened connecting rod is greater than the height of the on-site material frame (7).

3. The 3D camera guide hub loading and unloading robot gripper as claimed in claim 1, characterized in that a protective sleeve made of elastic material is sleeved on the gripper fingers (1).

4. The 3D camera guide hub loading and unloading robot gripper as claimed in claim 1, characterized in that the support frame or the mating connection plate is provided with a camera connection plate in a protruding manner, and the 3D camera (3) is assembled at the end of the camera connection plate.

5. The 3D camera guide hub loading and unloading robot gripper as claimed in claim 2, wherein the side and bottom surfaces of the mating connector are respectively provided with linear slide rails (8) extending along the first direction, and each gripper arm (4) is provided with two slide blocks for sliding fit with the corresponding linear slide rails.

6. The 3D camera guide hub loading and unloading robot gripper as claimed in claim 1, characterized in that the drive clamping mechanism is fixedly arranged on one of the gripper arms (4) and the gripper arm is locked in sliding fit with the support frame, and the output end of the drive clamping mechanism is connected with the other gripper arm (4).

7. The 3D camera guide hub loading and unloading robot gripper of claim 1, characterized in that the driving clamping mechanism is a pneumatic clamping mechanism (9).

8. The 3D camera guide hub loading and unloading robot gripper as claimed in claim 7, wherein two position detection sensors and a hub detection sensor located between the two position detection sensors are arranged on a cylinder body of the pneumatic clamping mechanism, and the two position detection sensors are located at two ends of the cylinder body and are used for being matched with the piston rod.

9. A robot comprising a robot arm, characterized in that the robot arm is connected to the gripper according to any one of claims 1-7.

10. The robot of claim 9, wherein the robotic arm is coupled to the gripper by a flange structure.