CN219599533U - Visual guide robot carrying gripper - Google Patents
Visual guide robot carrying gripper Download PDFInfo
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- CN219599533U CN219599533U CN202320636320.0U CN202320636320U CN219599533U CN 219599533 U CN219599533 U CN 219599533U CN 202320636320 U CN202320636320 U CN 202320636320U CN 219599533 U CN219599533 U CN 219599533U
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Abstract
The utility model relates to a visual guiding robot carrying gripper, which is characterized in that a floating mechanism is connected below a connecting flange; a positioning mechanism is arranged on the side surface of the floating mechanism; a grabbing mechanism is arranged at one side of the positioning mechanism below the floating mechanism; sensing vision devices are arranged on two sides of the floating mechanism; the sensing vision device guides the positioning mechanism to position, after positioning, the grabbing mechanism grabs, and in the grabbing process, the floating mechanism keeps a floating state. The utility model has the technical functions of simple process equipment, simple required structure, simple operation, accurate automatic positioning, accurate positioning and the like, solves the problems that in the process of assembling engineering machinery, the supporting wheel is required to be carried, moved and installed during the assembly, the supporting wheel is assembled manually in the prior art, the assembly efficiency is low, the positioning and installing precision is low and the like.
Description
Technical Field
The embodiment of the utility model relates to a robot carrying device in the technical field of engineering machinery process equipment, in particular to a vision guiding robot carrying gripper.
Background
In the engineering machinery assembly process, the thrust wheel is required to be carried, moved and installed during assembly frequently, in the prior art, the thrust wheel is assembled manually, the assembly efficiency is low, the positioning and installation precision is low, and along with the improvement of the automation degree, the process equipment is required, the structure is required to be simple, the operation is simple, and the automatic positioning vision guiding robot carries the tongs.
Disclosure of Invention
The utility model aims to provide assembly process equipment, which is simple in structure and operation, and the automatic positioning thrust wheel is convenient to carry and move.
In order to achieve the above object, an embodiment of the present utility model provides a vision-guided robot handling grip including:
a connecting flange;
the floating mechanism is connected with the lower part of the connecting flange;
the positioning mechanism is arranged on the side surface of the floating mechanism;
the grabbing mechanism is arranged below the floating mechanism, and one side of the positioning mechanism is provided with the grabbing mechanism;
a sensory vision device; the sensing vision devices are arranged on two sides of the floating mechanism; the sensing vision device guides the positioning mechanism to position the grabbed thrust wheel, after the positioning mechanism is positioned, the grabbing mechanism grabs, and in the grabbing process, the floating mechanism keeps a floating state.
In the vision-guided robot handling grip of the present utility model, one end of the connecting flange is connected to the arm of the robot.
Further, in the vision-guided robot handling grip of the present utility model, the floating mechanism moves up and down along the central axis of the vision-guided robot handling grip.
In the vision guiding robot carrying gripper, a connecting flange plate is arranged on the upper portion and the lower portion of the connecting flange respectively; the connecting flange plate is respectively connected with the arm of the robot and the floating mechanism.
Further, in the vision-guided robot handling gripper of the present utility model, the floating mechanism further includes:
the upper connecting plate is fixed with a connecting flange plate below the connecting flange;
the linear bearings are symmetrically fixed on the upper connecting plate;
the sliding shaft penetrates into the linear bearing;
the lower connecting plate is fixed at one end of the sliding shaft;
and the elastic element is arranged between the upper connecting plate and the lower connecting plate and outside the sliding shaft.
Further, in the vision-guided robot handling gripper of the present utility model, the positioning mechanism further includes:
the positioning bracket is fixed on the side surface of the lower connecting plate of the floating mechanism;
the positioning pin is fixed on one side of the positioning bracket; the locating pin stretches into the locating hole of the thrust wheel to locate.
Further, in the vision-guided robot handling gripper of the present utility model, the gripping mechanism further includes:
the lower connecting plate of the floating mechanism is fixedly connected with the upper part of the electrified magnet;
the thumb cylinder is fixed at two ends of the electrified magnet;
the clamping jaw is fixed at one end of the clamping jaw on a piston rod of the thumb cylinder; the other end of the clamping jaw is arranged into a bent hook shape.
Further, in the vision-guided robot handling gripper of the present utility model, the sensing vision device further includes:
a vision system fixed on one side of an upper connecting plate of the floating mechanism;
the sensing device is fixed on one side of an upper connecting plate of the floating mechanism;
the visual system positions, photographs and identifies the outline of the thrust wheel;
the sensing device is used for positioning the assembly position of the thrust wheel.
Further, in the vision guiding robot handling gripper of the present utility model, the vision system further includes:
a visual sensor bracket, one end of which is fixed above an upper connecting plate of the floating mechanism;
the visual sensor is fixed below the visual sensor bracket;
the visual sensor is a visual camera.
Further, in the vision-guided robot handling gripper of the present utility model, the sensing device further includes:
the sensor support is fixed at one end of the sensor support above the upper connecting plate of the floating mechanism;
the telescopic cylinder is fixed on one side of the sensor support;
the telescopic aiming block is fixed on a piston rod of the telescopic cylinder; a plurality of aiming holes are formed in one side of the telescopic aiming block;
the fixed block is fixed on the cylinder body of the telescopic cylinder;
the sensor is fixed on the fixed block; the sensor is a laser sensor; the telescopic cylinder stretches out the telescopic aiming block, and after the telescopic aiming block is positioned, laser emitted by the sensor passes through the aiming hole to position the assembling position of the thrust wheel.
Compared with the prior art, the utility model has the advantages that the floating mechanism is connected below the connecting flange; a positioning mechanism is arranged on the side surface of the floating mechanism; a grabbing mechanism is arranged at one side of the positioning mechanism below the floating mechanism; sensing vision devices are arranged on two sides of the floating mechanism; the sensing vision device guides the positioning mechanism to position, after positioning, the grabbing mechanism grabs, and in the grabbing process, the floating mechanism keeps a floating state. The automatic positioning and positioning device has the technical functions of simple process equipment, simple structure, simplicity in operation, accurate automatic positioning and the like, solves the problems that in the assembly process of engineering machinery, the supporting wheel is required to be carried, moved and installed during assembly, and the supporting wheel is assembled manually in the prior art, so that the assembly efficiency is low, the positioning and installing precision is low and the like.
Drawings
Fig. 1 is a schematic perspective view of an application scene of the present utility model;
fig. 2 is a schematic perspective view of the present utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present utility model, numerous technical details have been set forth in order to provide a better understanding of the present utility model. However, the technical solutions claimed in the claims of the present utility model can be realized without these technical details and various changes and modifications based on the following embodiments.
Embodiments of the present utility model relate to a vision-guided robotic handling gripper, as shown in fig. 1 and 2, comprising:
the connecting flange 4 in the present embodiment is used for connecting the robot and the floating mechanism 100;
a floating mechanism 100 is connected below the connecting flange 4; the function of the floating mechanism 100 is that the vision guiding robot carrying gripper in the embodiment realizes the buffering function in the process of assembling the thrust wheel, and meanwhile, the positioning accuracy of the position can be realized, and the difficulty of accurate positioning is reduced.
A positioning mechanism 200 is provided on the side surface of the floating mechanism 100; the positioning mechanism 200 positions the vision-guided robot handling gripper in the present embodiment during the process of assembling the thrust wheel;
a gripping mechanism 300 is provided at one side of the positioning mechanism 200 below the floating mechanism 100; the grabbing mechanism 300 is used for grabbing the thrust wheel in the present embodiment;
the sensing vision devices 400 are disposed at both sides of the floating mechanism 100; the sensing vision apparatus 400 guides the positioning mechanism 200 to position the gripped thrust wheel, and after positioning, the gripping mechanism 300 grips, and the floating mechanism 100 maintains a floating state during gripping. The sensing vision device 400 mainly performs positioning on the thrust wheel in the grabbing process, and simultaneously, positions the position of the thrust wheel mounted on the component. The vision guide robot transport tongs in this embodiment has process equipment, requires simple structure, easy operation to technical function such as automatic positioning, location accuracy have solved engineering machine tool assembly in-process, often meet the assembly time and require the thrust wheel transport to remove the installation, have solved in prior art, the thrust wheel all assembles through the manual work, assembly efficiency is low, location installation accuracy low grade problem.
In order to achieve the above technical effects, in the present embodiment, as shown in fig. 1 and 2, one end of the connection flange 4 is connected to an arm of the robot. The connection flange 4 serves as a connection.
In order to achieve the above technical effects, the vision-guided robot handling grip in the present embodiment, as shown in fig. 1 and 2, the floating mechanism 100 moves up and down along the central axis of the vision-guided robot handling grip in the present embodiment. The floating mechanism 100 can ensure that the robot carrying gripper is visually guided to buffer in the process of positioning and placing the thrust wheel in the embodiment, so that the positioning accuracy is achieved.
In order to achieve the above technical effects, in the present embodiment, as shown in fig. 1 and 2, a connection flange 41 is disposed above and below the connection flange 4; the connection flange 41 is connected to the arm of the robot and the floating mechanism 100, respectively, and the connection flange 41 plays a role in connection.
To achieve the above technical effects, the vision-guided robot handling gripper in the present embodiment, as shown in fig. 1 and 2, the floating mechanism 100 further includes:
a connecting flange 41 below the connecting flange 4 is fixed on the upper connecting plate 1;
a plurality of linear bearings 42 are symmetrically fixed on the upper connecting plate 1; the linear bearing 42 is fixed on the upper connecting plate 1, and the linear bearing 42 is mainly used for sliding the sliding shaft 43;
penetrating a sliding shaft 43 into the linear bearing 42; the slide shaft 43 slides in the linear bearing 42; the sliding shaft 44 is used for floating the floating mechanism 100;
one end of the sliding shaft 43 is fixed on the lower connecting plate 2; a sliding shaft 43 is fixed on the lower connecting plate 2;
between the upper connection plate 1 and the lower connection plate 2, an elastic member 7 is provided outside the slide shaft 44. The elastic member 7 is a spring in the present embodiment, and may be an elastic member such as a disc spring.
The upper connecting plate 1 and the lower connecting plate 2 are in a certain range through the springs, so that the upper and lower floating can be realized, the buffering effect can be realized, meanwhile, the accurate positioning of the position can be realized, and the difficulty of accurate positioning is reduced.
In order to achieve the above technical effects, in this embodiment, as shown in fig. 1 and 2, the positioning mechanism 200 further includes:
a positioning bracket 8 is fixed on the side surface of the lower connecting plate 2 of the floating mechanism 100; the positioning bracket 8 is used for fixing the positioning pin 81;
a positioning pin 81 is fixed on one side of the positioning bracket 8; the positioning pin 81 extends into the positioning hole of the thrust wheel to perform positioning. The positioning pins 81 are used for accurately positioning the thrust wheel.
In order to achieve the above technical effects, the vision-guided robot handling gripper in the present embodiment, as shown in fig. 1 and 2, the gripping mechanism 300 further includes:
the upper part of the electromagnet 9 is fixedly connected below the lower connecting plate 2 of the floating mechanism 100; the electromagnet 9 can attract the thrust wheel after being electrified so as to form a fixed thrust wheel;
the cylinder body of the thumb cylinder 6 is fixed at the two ends of the electromagnet 9; the thumb cylinder 6 clamps the thrust wheel through the driving clamping jaw 91 to form a grabbing thrust wheel;
one end of a clamping jaw 91 is fixed on a piston rod of the thumb cylinder 6; the other end of the jaw 91 is provided in a bent hook shape. The gripping mechanism 300 is provided with a thumb cylinder 6 for driving the gripping jaw 91 to grip the thrust wheel.
In order to achieve the above technical effects, in this embodiment, as shown in fig. 1 and 2, the vision-guiding robot handling gripper, the sensing vision device 400 further includes:
a vision system 3 is fixed on one side of the upper connection plate 1 of the floating mechanism 100;
a sensor device 5 is fixed on one side of the upper connecting plate 1 of the floating mechanism 100;
the vision system 3 positions, photographs and identifies the outline of the thrust wheel; the vision system 3 is used for identifying the outline of the thrust wheel and judging whether the object is the thrust wheel or not;
the sensor device 5 locates the assembly position of the thrust wheel. The sensor means 5 locate the position where the bogie wheel is to be assembled.
In order to achieve the above technical effects, the vision-guided robot handling gripper in the present embodiment, as shown in fig. 1 and 2, the vision system 3 further includes:
one end of a visual sensor bracket 31 is fixed above the upper connecting plate 1 of the floating mechanism 100; the vision sensor holder 31 is used for fixing the vision sensor 32
A vision sensor 32 is fixed under the vision sensor holder 31;
the vision sensor 32 in this embodiment is a vision camera, which positions and photographs the thrust wheel to identify the contour of the thrust wheel; the vision system 3 is used for identifying the outline of the thrust wheel and judging whether the object is the thrust wheel.
In order to achieve the above technical effects, in this embodiment, as shown in fig. 1 and 2, the vision-guided robot handling gripper, the sensing device 5 further includes:
one end of a sensor support 51 is fixed above the upper connecting plate 1 of the floating mechanism 100; the sensor support 51 is used for fixing a telescopic cylinder 52;
a cylinder body of a telescopic cylinder 52 is fixed at one side of the sensor support 51;
a telescopic aiming block 53, wherein the telescopic aiming block 53 is fixed on a piston rod of the telescopic cylinder 52; a plurality of aiming holes 54 are formed on one side of the telescopic aiming block 53; the telescopic cylinder 52 drives the telescopic aiming block 53 to position the position where the thrust wheel is to be mounted. The sensor 56 in this embodiment is a laser sensor, the telescopic cylinder 52 drives the telescopic aiming block 53, the telescopic aiming block 53 is used for mechanically positioning the mounting position of the thrust wheel, and then the laser passes through the aiming hole 54 and is precisely positioned with the sensor for reading the laser, so that the precise positioning of the mounting position of the thrust wheel is realized.
A fixed block 55 is fixed on the body of the telescopic cylinder 52; the fixing block 55 is used for fixing the sensor 56.
A sensor 56, the sensor 56 being fixed to the fixed block 55; the sensor 56 is a laser sensor; the telescopic cylinder 52 stretches out the telescopic aiming block 53, and after positioning, laser emitted by the sensor 56 passes through the aiming hole 54 to position the assembly position of the thrust wheel.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the utility model and that various changes in form and details may be made therein without departing from the spirit and scope of the utility model.
Claims (10)
1. A vision-guided robotic handling gripper, comprising:
a connecting flange;
the floating mechanism is connected with the lower part of the connecting flange;
the positioning mechanism is arranged on the side surface of the floating mechanism;
the grabbing mechanism is arranged below the floating mechanism, and one side of the positioning mechanism is provided with the grabbing mechanism;
a sensory vision device; the sensing vision devices are arranged on two sides of the floating mechanism; the sensing vision device guides the positioning mechanism to position the grabbed thrust wheel, after the positioning mechanism is positioned, the grabbing mechanism grabs, and in the grabbing process, the floating mechanism keeps a floating state.
2. The vision-guided robotic handling grip of claim 1, wherein one end of the attachment flange is attached to an arm of the robot.
3. The vision-guided robotic handling gripper of claim 1, wherein the float mechanism moves up and down along a central axis of the vision-guided robotic handling gripper.
4. The vision-guided robotic handling gripper of claim 1, wherein each of the upper and lower flanges has a flange plate; the connecting flange plate is respectively connected with the arm of the robot and the floating mechanism.
5. The vision-guided robotic handling gripper of claim 4, wherein the float mechanism further comprises:
the upper connecting plate is fixed with a connecting flange plate below the connecting flange;
the linear bearings are symmetrically fixed on the upper connecting plate;
the sliding shaft penetrates into the linear bearing;
the lower connecting plate is fixed at one end of the sliding shaft;
and the elastic element is arranged between the upper connecting plate and the lower connecting plate and outside the sliding shaft.
6. The vision-guided robotic handling gripper of claim 1, wherein the positioning mechanism further comprises:
the positioning bracket is fixed on the side surface of the lower connecting plate of the floating mechanism;
the positioning pin is fixed on one side of the positioning bracket; the locating pin stretches into the locating hole of the thrust wheel to locate.
7. The vision-guided robotic handling gripper of claim 1, wherein the gripping mechanism further comprises:
the lower connecting plate of the floating mechanism is fixedly connected with the upper part of the electrified magnet;
the thumb cylinder is fixed at two ends of the electrified magnet;
the clamping jaw is fixed at one end of the clamping jaw on a piston rod of the thumb cylinder; the other end of the clamping jaw is arranged into a bent hook shape.
8. The vision-guided robotic handling gripper of claim 1, wherein the sensory vision device further comprises:
a vision system fixed on one side of an upper connecting plate of the floating mechanism;
the sensing device is fixed on one side of an upper connecting plate of the floating mechanism;
the visual system positions, photographs and identifies the outline of the thrust wheel;
the sensing device is used for positioning the assembly position of the thrust wheel.
9. The vision-guided robotic handling gripper of claim 8, wherein the vision system further comprises:
a visual sensor bracket, one end of which is fixed above an upper connecting plate of the floating mechanism;
the visual sensor is fixed below the visual sensor bracket;
the visual sensor is a visual camera.
10. The vision-guided robotic handling gripper of claim 8, wherein the sensing device further comprises:
the sensor support is fixed at one end of the sensor support above the upper connecting plate of the floating mechanism;
the telescopic cylinder is fixed on one side of the sensor support;
the telescopic aiming block is fixed on a piston rod of the telescopic cylinder; a plurality of aiming holes are formed in one side of the telescopic aiming block;
the fixed block is fixed on the cylinder body of the telescopic cylinder;
the sensor is fixed on the fixed block; the sensor is a laser sensor; the telescopic cylinder stretches out the telescopic aiming block, and after the telescopic aiming block is positioned, laser emitted by the sensor passes through the aiming hole to position the assembling position of the thrust wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320636320.0U CN219599533U (en) | 2023-03-27 | 2023-03-27 | Visual guide robot carrying gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320636320.0U CN219599533U (en) | 2023-03-27 | 2023-03-27 | Visual guide robot carrying gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219599533U true CN219599533U (en) | 2023-08-29 |
Family
ID=87744538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320636320.0U Active CN219599533U (en) | 2023-03-27 | 2023-03-27 | Visual guide robot carrying gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219599533U (en) |
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2023
- 2023-03-27 CN CN202320636320.0U patent/CN219599533U/en active Active
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