CN220593191U - Visual positioning clamp and robot - Google Patents
Visual positioning clamp and robot Download PDFInfo
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- CN220593191U CN220593191U CN202322277437.7U CN202322277437U CN220593191U CN 220593191 U CN220593191 U CN 220593191U CN 202322277437 U CN202322277437 U CN 202322277437U CN 220593191 U CN220593191 U CN 220593191U
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- 230000000007 visual effect Effects 0.000 title claims abstract description 91
- 239000000758 substrate Substances 0.000 claims abstract description 44
- 241000252254 Catostomidae Species 0.000 abstract description 13
- 238000007599 discharging Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 description 26
- 230000000875 corresponding effect Effects 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 101150038956 cup-4 gene Proteins 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003945 visual behavior Effects 0.000 description 1
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Abstract
The utility model discloses a visual positioning clamp which comprises a fan-shaped substrate, a clamping assembly, a visual positioning assembly and at least two suckers, wherein the clamping assembly and the visual positioning assembly are respectively arranged on one side of the substrate, the fan-shaped substrate is provided with an arc-shaped edge, and the at least two suckers are arranged on the arc-shaped edge. The utility model also discloses a robot which comprises the visual positioning clamp. The visual positioning clamp provided by the utility model has the advantages of rich functions, high universality and high feeding and discharging accuracy.
Description
Technical Field
The utility model relates to the technical field of automation, in particular to a visual positioning clamp and a robot.
Background
Along with the continuous development of the robot technology, the application field of the robot is also expanded in a large scale, wherein the robot is particularly widely applied to the technical field of automatic production and manufacturing, and the robot is provided with a clamp to realize the intelligent feeding and discharging functions.
However, when the existing robot needs to clamp products of different models for feeding, operators need to spend more time to replace the robot clamp, so that the product processing efficiency is low, the function of the existing robot clamp is single, the universality is low, and the production and processing efficiency of the existing robot is low.
Therefore, there is a need to design a new visual positioning fixture to solve the above technical problems.
Disclosure of Invention
The technical problems to be solved by the utility model are as follows: the utility model provides a vision positioning fixture and robot to solve current vision positioning fixture function singleness, the low problem of commonality.
In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a visual positioning fixture, includes fan-shaped base plate, clamping component, visual positioning component and two at least sucking discs, the clamping component with visual positioning component locates respectively one side of base plate, fan-shaped base plate is equipped with the arc limit, and two at least the sucking disc is located the arc limit.
Further, at least two suckers are uniformly arranged on the arc-shaped edge at intervals.
Further, the clamping assembly comprises a finger cylinder and clamping blocks arranged in pairs, the finger cylinder is connected with one side of the substrate, the clamping blocks arranged in pairs are respectively connected with the output ends of the finger cylinder, and the clamping blocks arranged in pairs are arranged oppositely.
Further, one end of the clamping block is connected with the output end of the finger cylinder, and the other end of the clamping block is provided with a clamping part.
Further, the clamping part is in a step shape.
Further, the visual positioning assembly comprises a light source module and a visual module, wherein the light source module is arranged on one side of the substrate, the visual module is arranged on the other side of the substrate corresponding to the light source module, and the substrate is provided with a through hole corresponding to the visual module.
Further, the device also comprises a marking module, wherein the marking module is arranged on one side of the substrate.
Further, the device also comprises a connecting part, wherein the connecting part is arranged on the other side of the substrate.
Another object of the present utility model is to provide a robot comprising the above visual positioning jig.
Further, the visual positioning device comprises a base and a mechanical arm assembly, wherein the mechanical arm assembly is connected with the visual positioning clamp.
The utility model has the beneficial effects that: the visual positioning clamp provided by the utility model can be connected with a driving device during actual application so as to drive the visual behavior clamp to move and complete actions; the visual identification component can perform visual identification on the product and the material holder so as to improve the feeding accuracy of the visual positioning clamp; when this visual positioning fixture gets the material to the product, drive arrangement control this visual positioning fixture rotates to control corresponding suction nozzle just to the product, thereby realize switching suction nozzle function, this visual positioning fixture can adsorb at least two kinds of products respectively through two at least sucking discs, this visual positioning fixture is high to the commonality of product, operating personnel need not to switch the material loading demand that the fixture can satisfy multiple product, and after the material holds in the palm the full material, the clamping component of this visual positioning fixture can the centre gripping material hold in the palm and carry out the unloading.
The visual positioning clamp provided by the utility model has the advantages of simple structure, abundant functions, high universality and high feeding accuracy, and can improve the processing production efficiency, so that the production and processing cost is reduced.
Drawings
FIG. 1 is a schematic view of a visual positioning fixture according to an embodiment of the present utility model;
FIG. 2 is a schematic view of a robot according to an embodiment of the present utility model;
description of the reference numerals:
1. a substrate; 11. an arc edge;
2. a clamping assembly; 21. a finger cylinder; 22. a clamping block; 221. a clamping part;
3. a visual positioning assembly; 31. a light source module; 32. a vision module;
4. a suction cup;
5. a marking module;
6. and a mechanical arm assembly.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present utility model in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 and 2, a visual positioning fixture includes a fan-shaped substrate 1, a clamping assembly 2, a visual positioning assembly 3 and at least two suction cups 4, wherein the clamping assembly 2 and the visual positioning assembly 3 are respectively disposed on one side of the fan-shaped substrate 1, the fan-shaped substrate 1 is provided with an arc edge 11, and at least two suction cups 4 are disposed on the arc edge 11.
The working principle of the utility model is briefly described as follows: according to the visual positioning clamp provided by the utility model, the visual positioning assembly 3 can acquire the product image information and the material support image information, and calculate the product positioning information and the material support positioning information according to the product image information and the material support image information, and when the visual positioning clamp is in practical application, the visual positioning clamp can be connected with a driving device (such as a mechanical arm assembly and the like) so that the driving device can drive the visual positioning clamp to move and realize corresponding actions according to the product positioning information and the material support positioning information, thereby improving the precision of taking, feeding and discharging of the visual positioning clamp;
the fan-shaped substrate 1 of the visual positioning clamp is a fan-shaped substrate 1, the fan-shaped substrate 1 is provided with an arc edge 11, and at least two suckers 4 are arranged on the arc edge 11, when the driving device drives the visual positioning clamp to take materials from products, the driving device can control the visual positioning clamp to move to the position right above the products and control the fan-shaped clamping plates to overturn, so that the side surface of the fan-shaped substrate 1 is parallel to the vertical direction and the arc edge 11 is positioned right above the products, the driving device can further control the fan-shaped substrate 1 to rotate, so that the suckers 4 corresponding to the products are controlled to rotate to the position right above the products, and then the sucking discs 4 absorb the products to realize the material taking function; the driving device can drive the visual positioning clamp to move to the upper part of the material rest and control the sucker 4 to place the product at the corresponding position of the material rest so as to realize the feeding function. Because the fan-shaped substrate 1 is provided with at least two suckers 4, the visual positioning clamp can switch the suckers 4 under the driving action of the driving device, and the visual positioning clamp can be used for taking and feeding at least two products at the same time;
after the visual positioning clamp is fully filled on the material support, the driving device can drive the visual positioning clamp to move and turn over, so that the side surface of the fan-shaped substrate 1 is parallel to the horizontal direction, the clamping assembly 2 is positioned right above the material support, and the clamping assembly 2 can clamp the material support and carry out blanking on the material support.
From the above description, the beneficial effects of the utility model are as follows: the visual positioning fixture provided by the utility model can perform visual positioning on the product and the material support through the visual positioning assembly 3; in addition, the visual positioning clamp drives the fan-shaped substrate 1 to rotate through the driving device so as to realize the function of switching the suckers 4, so that the feeding requirements of various products are met at the same time, wherein the structures among the suckers 4 can not be mutually influenced when the fan-shaped substrate 1 rotates, the actions of the visual positioning clamp for switching the suckers 4 are less, and the time for switching the suckers 4 can be saved; in addition, the visual positioning clamp can also carry out blanking on the material rest;
therefore, the visual positioning clamp not only can improve the precision of product feeding, but also has the advantages of simple structure, rich functions and high universality, and can simultaneously meet the feeding requirements of various products, the visual positioning clamp can improve the feeding efficiency and reduce the time for operators to switch the clamps, so that the time cost of production and processing is reduced.
Further, at least two suction cups 4 are uniformly spaced on the arc-shaped edge 11.
As can be seen from the above description, the suction cups 4 are uniformly spaced on the arc edge 11, so that the suction cups 4 do not interfere with each other, and when the vision positioning fixture switches the suction cups 4, only the fan-shaped substrate 1 needs to be controlled to rotate by a fixed angle, so that the action required to be executed by the vision positioning fixture switching suction cup 4 is reduced, and the speed of the vision positioning fixture switching suction cup 4 is increased.
Further, the clamping assembly 2 includes a finger cylinder 21 and clamping blocks 22 arranged in pairs, the finger cylinder 21 is connected with one side of the fan-shaped substrate 1, the clamping blocks 22 arranged in pairs are respectively connected with the output ends of the finger cylinder 21, and the clamping blocks 22 arranged in pairs are arranged oppositely.
Further, one end of the clamping block 22 is connected to the output end of the finger cylinder 21, and the other end of the clamping block 22 is provided with a clamping portion 221.
Further, the clamping portion 221 has a stepped shape.
As can be seen from the above description, the stepped clamping portion 221 can clamp different sizes of trays.
Further, the visual positioning assembly 3 includes a light source module 31 and a visual module 32, the light source module 31 is disposed on one side of the fan-shaped substrate 1, the visual module 32 is disposed on the other side of the fan-shaped substrate 1 corresponding to the light source module 31, and the fan-shaped substrate 1 is provided with a through hole corresponding to the visual module 32.
As can be seen from the above description, the vision positioning fixture collects image information through the vision module 32, and the light source module 31 can improve the brightness of the image information to improve the accuracy of image recognition positioning.
Further, the device further comprises a marking module 5, wherein the marking module 5 is arranged on one side of the fan-shaped substrate 1.
As can be seen from the above description, the visual positioning fixture can perform visual detection on a product or a stock, and when the product is unqualified, the marking module 5 can mark the bad product;
in addition, in some preferred embodiments of the present utility model, the quality test of the product and the tray can be performed by other testing devices, and when the quality of the product is not qualified, the marking module 5 marks the product.
Further, the fan-shaped substrate 1 further comprises a connecting part, wherein the connecting part is arranged on the other side of the fan-shaped substrate 1.
As is apparent from the above description, the visual positioning jig may be connected to the driving device through the connection portion.
The utility model also provides a robot comprising the visual positioning clamp.
Further, the visual positioning fixture comprises a base and a mechanical arm assembly 6, wherein the mechanical arm assembly 6 is connected with the visual positioning fixture.
As can be seen from the above description, the arm assembly 6 can drive the vision positioning fixture to move, wherein the arm assembly 6 can select the existing arm device according to the actual use requirement and the set working operation.
Example 1
Referring to fig. 1 to 2, in a first embodiment of the present utility model: a visual positioning clamp comprises a sector substrate 1, a clamping component 2, a visual positioning component 3, eight suckers 4 and a marking module 5; the clamping component 2 and the marking die are respectively arranged on one side of the sector-shaped substrate 1, a connecting part is arranged on the other side of the sector-shaped substrate 1, the sector-shaped substrate 1 is provided with an arc-shaped edge 11, and eight suckers 4 are uniformly arranged on the arc-shaped edge 11 at intervals.
As shown in fig. 1, the clamping assembly 2 includes a finger cylinder 21 and clamping blocks 22 arranged in pairs, the finger cylinder 21 is connected with one side of the fan-shaped substrate 1, the clamping blocks 22 arranged in pairs are respectively connected with output ends of the finger cylinder 21, and the clamping blocks 22 arranged in pairs are arranged opposite to each other; one end of the clamp block 22 is connected to the output end of the finger cylinder 21, and the other end of the clamp block 22 is provided with a stepped clamp 221;
in this embodiment, the vision positioning assembly 3 includes a light source module 31 and a vision module 32, the light source module 31 is disposed on one side of the fan-shaped substrate 1, the vision module 32 is disposed on the other side of the fan-shaped substrate 1 corresponding to the light source module 31, and the fan-shaped substrate 1 is provided with a through hole corresponding to the vision module 32.
As shown in fig. 2, in this embodiment, a connecting portion disposed on the other side of the fan-shaped substrate 1 may be connected to a mechanical arm assembly 6, and the mechanical arm assembly 6 may drive the visual positioning assembly 3 to move, turn over and rotate, so that the visual positioning assembly 3 may complete corresponding material taking, feeding and discharging actions under the driving of the mechanical arm assembly 6.
In summary, the visual positioning fixture provided by the utility model can perform visual positioning on the product and the material support through the visual positioning assembly 3, and the visual positioning fixture can improve the accuracy of product feeding; and this visual positioning fixture's simple structure, function are abundant, and this visual positioning fixture passes through fan-shaped base plate 1 of drive arrangement drive and rotates and can realize switching sucking disc 4 function to satisfy the material loading demand of multiple product simultaneously, and this visual positioning fixture can also carry out the unloading to the material rest, and this positioning fixture's commonality is high, can satisfy multiple product material loading demand, and this visual positioning fixture can improve material loading efficiency, reduces the time that operating personnel switched the anchor clamps, thereby reduces the time cost of production and processing.
The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent changes made by the specification and drawings of the present utility model, or direct or indirect application in the relevant art, are included in the scope of the present utility model.
Claims (10)
1. The utility model provides a vision positioning fixture, its characterized in that includes fan-shaped base plate, clamping assembly, vision positioning assembly and two at least sucking discs, clamping assembly with vision positioning assembly locates respectively one side of base plate, fan-shaped base plate is equipped with the arc limit, and two at least sucking discs are located the arc limit.
2. The visual positioning jig of claim 1, wherein at least two of said suction cups are uniformly spaced on said arcuate edge.
3. The visual positioning fixture of claim 1, wherein the clamping assembly comprises a finger cylinder and clamping blocks arranged in pairs, the finger cylinder is connected with one side of the substrate, the clamping blocks arranged in pairs are respectively connected with the output ends of the finger cylinders, and the clamping blocks arranged in pairs are arranged opposite to each other.
4. A visual positioning clamp according to claim 3, wherein one end of the clamping block is connected to the output end of the finger cylinder, and the other end of the clamping block is provided with a clamping portion.
5. The visual positioning jig of claim 4, wherein the clamping portion is stepped in shape.
6. The visual positioning fixture of claim 1, wherein the visual positioning assembly comprises a light source module and a visual module, the light source module is arranged on one side of the substrate, the visual module is arranged on the other side of the substrate corresponding to the light source module, and the substrate is provided with a through hole corresponding to the visual module.
7. The visual positioning fixture of claim 1, further comprising a marking module disposed on one side of the substrate.
8. The visual positioning jig of claim 1, further comprising a connection portion provided on the other side of the base plate.
9. A robot comprising a visual positioning jig according to any one of claims 1 to 8.
10. The robot of claim 9, comprising a robotic arm assembly coupled to the visual positioning fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322277437.7U CN220593191U (en) | 2023-08-23 | 2023-08-23 | Visual positioning clamp and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322277437.7U CN220593191U (en) | 2023-08-23 | 2023-08-23 | Visual positioning clamp and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220593191U true CN220593191U (en) | 2024-03-15 |
Family
ID=90165207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322277437.7U Active CN220593191U (en) | 2023-08-23 | 2023-08-23 | Visual positioning clamp and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220593191U (en) |
-
2023
- 2023-08-23 CN CN202322277437.7U patent/CN220593191U/en active Active
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