CN111168346B - Deep hole grabbing robot for medical instrument assembly based on machine vision - Google Patents
Deep hole grabbing robot for medical instrument assembly based on machine vision Download PDFInfo
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- CN111168346B CN111168346B CN202010146163.6A CN202010146163A CN111168346B CN 111168346 B CN111168346 B CN 111168346B CN 202010146163 A CN202010146163 A CN 202010146163A CN 111168346 B CN111168346 B CN 111168346B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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Abstract
The invention relates to the technical field of medical instrument part processing equipment, in particular to a deep hole grabbing robot for assembling medical instruments based on machine vision, which comprises an industrial robot, a flexible support, a hollow deep hole claw, a claw driver, a machine vision mechanism and an industrial computer, wherein the flexible support is fixedly arranged at the working end of the industrial robot, the flexible support, the hollow deep hole claw and the claw driver are all fixedly connected with the flexible support, the hollow deep hole claw is arranged at one end of the flexible support far away from the industrial robot, the claw driver is arranged between the industrial robot and the hollow deep hole claw, the machine vision mechanism is arranged between the hollow deep hole claw and the claw driver, the working direction of the machine vision mechanism faces to the center of the working end of the hollow deep hole claw, and the industrial robot, the claw driver and the machine vision mechanism are all electrically connected with the industrial computer, the robot solves the problem that the prior art is difficult to accurately place or take out parts in deep holes.
Description
Technical Field
The invention relates to the technical field of medical instrument part processing equipment, in particular to a deep hole grabbing robot for medical instrument assembly based on machine vision.
Background
In the field of assembling and processing of medical device parts, some parts are often required to be placed in or taken out of a deep hole, for example, chinese patent CN201822264403.3 discloses a float flowmeter and a medical device, which can ensure effective rotation of a float in the use process, so as to solve the problem of low measurement accuracy caused by static electricity generated by friction with a flow tube during up-and-down movement of the float. The float flowmeter comprises a flow tube, a float and a conductive plug, wherein the float is movably arranged in the flow tube, part of the conductive plug is inserted into the flow tube and is connected with the flow tube in a sealing mode, and meanwhile the float is configured to be in contact with the conductive plug in an initial position.
The float disclosed in the patent needs to be placed at the bottom of the inside of the flow tube, the flow tube is long, the inside of the flow tube is equivalent to a deep hole, when the structure is installed in the existing equipment, the float is placed at the top of the flow tube through a mechanical arm and is thrown into the flow tube, then the float is poked downwards into the bottom of the flow tube through a long strip-shaped ejector rod, and in the process, the situation that the float is not poked correctly or the flow tube is placed askew, so that the ejector rod pokes and explodes the flow tube can occur.
Disclosure of Invention
The invention aims to solve the technical problem of providing a deep hole grabbing robot for assembling medical instruments based on machine vision, and the robot solves the problem that parts are difficult to accurately place or take out in deep holes in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides a deep hole snatchs robot for medical instrument assembly based on machine vision, including industrial robot, flexible support, hollow deep hole jack catch, the jack catch driver, machine vision mechanism, industrial computer, flexible support fixed mounting is at industrial robot's work end, flexible support, hollow deep hole jack catch, the jack catch driver all with flexible support fixed connection, hollow deep hole jack catch sets up the one end of keeping away from industrial robot at flexible support, the jack catch driver sets up between industrial robot and hollow deep hole jack catch, machine vision mechanism sets up between hollow deep hole jack catch and jack catch driver, machine vision mechanism's direction of work is towards the work end center of hollow deep hole jack catch, industrial robot, the jack catch driver, machine vision mechanism all is connected with the industrial computer electricity.
Preferably, the flexible support comprises a robot connecting portion, a flexible connecting portion and a reset mechanism, the robot connecting portion is fixedly connected with the working end of the industrial robot, the flexible connecting portion is flexibly connected with the end, away from the industrial robot, of the robot connecting portion, the reset mechanism, the hollow deep-hole clamping jaws and the clamping jaw drivers are all installed on the flexible connecting portion, the reset mechanism is arranged between the robot connecting portion and the flexible connecting portion, and the hollow deep-hole clamping jaws are fixedly installed at the end, away from the robot connecting portion, of the flexible connecting portion.
Preferably, the robot connecting part comprises an inner support and an outer support, the inner support and the outer support are both C-shaped, the internal corner surfaces of the inner support and the outer support are oppositely arranged, a web plate of the inner support is flexibly connected with the flexible connecting part, a web plate of the outer support is fixedly connected with the working end of the industrial robot, and a side wing of the inner support is fixedly connected with a side wing of the outer support.
Preferably, the flexible connecting portion comprises at least four guide sleeves and four guide pillars, the guide sleeves are uniformly distributed on the edge of the inner support, the guide sleeves penetrate through a web plate of the inner support and are fixedly connected with the inner support, the guide pillars correspond to the guide sleeves one by one and are in sliding connection with the guide sleeves, a first stop piece is fixedly mounted at one end, located inside the inner support, of each guide pillar, a hollow deep-hole jaw is fixedly connected with one end, far away from the connecting portion of the robot, of each guide pillar, and a jaw driver is fixedly connected with the.
Preferably, canceling release mechanical system is including first elastic component, proximity switch, first elastic component and guide pillar one-to-one, and first elastic component suit is on the guide pillar, and two work ends of first elastic component lean on with guide pin bushing, jack catch driver respectively, and proximity switch runs through the inner support and with inner support fixed connection, and proximity switch's work end sets up towards the jack catch driver.
Preferably, the hollow deep hole jack catch is including annular work board, annular fixed plate, the jack catch, annular work board and the coaxial fixed connection of annular fixed plate, annular fixed plate and guide pillar fixed connection, be provided with a plurality of slide rails around annular work board axis equipartition on the annular work board, the slide rail runs through annular work board along the radial line of annular work board from the axle center of annular work board, every slide rail is inside all to install the slider, slide rail and slider sliding connection, the jack catch is connected with slider one-to-one and detachably, the jack catch is rectangular shape, the cross-section of jack catch is the sector ring shape.
Preferably, the jack catch is including constant diameter ring sector portion and reducing ring sector portion, and constant diameter ring sector portion, reducing ring sector portion are integrative and coaxial setting, reducing ring sector portion and slider fixed connection, and the one end external diameter that reducing ring sector portion is close to the slider is greater than the one end that reducing ring sector portion kept away from the slider, the outer wall junction rounding off of constant diameter ring sector portion and reducing ring sector portion.
Preferably, the inner diameter of one end, close to the sliding block, of the reducing fan ring part is larger than that of one end, far away from the sliding block, of the reducing fan ring part, and the connecting position of the inner walls of the equal-diameter fan ring part and the reducing fan ring part is in smooth transition; the jack catch driver comprises a linear driver, a circular truncated cone-shaped plug head and a second elastic piece, the linear driver is fixedly connected with the guide pillar, the working end of the linear driver faces the jack catch, the circular truncated cone-shaped plug head is fixedly arranged at the working end of the linear driver, the upper bottom of the circular truncated cone-shaped plug head faces the jack catch, the circular truncated cone-shaped plug head and the jack catch are coaxial, and the outer diameter of the upper bottom of the circular truncated cone-shaped plug head is smaller than the inner diameter of the lower bottom of the reducing sector ring part; the second elastic piece is arranged inside the sliding rail, a second stop piece which is located at the edge of the annular working plate and extends into the sliding rail is arranged on the annular fixing plate, and two working ends of the second elastic piece are respectively abutted against the sliding block and the second stop piece.
Preferably, the circular truncated cone shaped plug head comprises a cylindrical part and a circular truncated cone part, the cylindrical part and the circular truncated cone part are coaxially connected and are an integral part, a through hole axially penetrating through the cylindrical part and the circular truncated cone part is formed in the circular truncated cone shaped plug head, the machine vision mechanism comprises a needle type camera, the needle type camera is installed inside the through hole in an embedded mode, and a first opening used for avoiding a signal wire of the needle type camera is formed in the cylindrical part.
Preferably, an annular flange extending radially inwards is arranged inside the through hole, the annular flange is arranged at one end, away from the cylindrical part, of the circular table part, and internal threads are further arranged inside the through hole and are located at one end, away from the circular table part, of the cylindrical part; the machine vision mechanism further comprises a rubber pad, a rubber cylinder and a jackscrew, wherein the rubber pad, the rubber cylinder and the jackscrew are all installed inside the through hole, the rubber pad is installed between the needle-type camera and the annular flange, the jackscrew is installed at one end, away from the circular table part, of the cylindrical part, the jackscrew is in threaded connection with the internal thread, the rubber cylinder is installed between the needle-type camera and the jackscrew, and a second opening used for avoiding a signal line of the needle-type camera is arranged on the rubber cylinder.
Compared with the prior art, the invention has the beneficial effects that:
the industrial robot is used for driving the flexible support to move in various different working sections, the hollow deep-hole jack catch is used for assembling the hollow deep-hole jack catch, the jack catch driver and the machine vision mechanism, the hollow deep-hole jack catch is used for extending into the deep hole of the medical instrument part, the jack catch driver is used for driving the hollow deep-hole jack catch to open outwards in the radial direction, so that the medical instrument part is clamped from the inside, the medical instrument part is firmly fixed at the working end of the hollow deep-hole jack catch, the machine vision mechanism is used for assisting the industrial robot to work, the machine vision mechanism sends acquired image signals to the industrial computer, the industrial computer processes the image signals to judge whether the hollow deep-hole jack catch is aligned to the deep hole of the medical instrument part, if the hollow deep-hole jack catch is not aligned to the deep hole, the industrial computer calculates the plane deviation, the deviation value is sent to the industrial robot, the industrial robot corrects the position of the working end of the industrial robot through the verticality sent by the industrial computer, so that the industrial robot can accurately insert the hollow deep-hole clamping jaw into the deep hole of the medical instrument part through machine vision, and as the machine vision mechanism and the industrial computer can only calculate the plane deviation between the working end of the hollow deep-hole clamping jaw and the deep hole and can not calculate the distance deviation between the working end of the hollow deep-hole clamping jaw and the deep hole, the situation that the hollow deep-hole clamping jaw is too deep can occur, and at the moment, the flexible support can deform within a certain degree to avoid the medical instrument part from being damaged by the flexible support.
The robot can grab or place parts in a deep hole, is wide in operation range, can adjust the horizontal distance deviation of the robot through machine vision, and can also adjust the vertical distance deviation of the robot through the flexible support.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an exploded perspective view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a top view of the present invention with an industrial robot removed;
FIG. 5 is a sectional view taken along line B-B of FIG. 4;
FIG. 6 is an enlarged view of a portion of FIG. 5 at D;
FIG. 7 is a sectional view taken along line C-C of FIG. 4;
FIG. 8 is an enlarged view of a portion of FIG. 7 at E;
FIG. 9 is an exploded perspective view of the hollow deep hole jaw and the frusto-conical shaped stopper of the present invention;
FIG. 10 is an exploded perspective view of the cone-shaped plug and machine vision mechanism of the present invention;
the reference numbers in the figures are:
1-an industrial robot;
2-a flexible stent; 2 a-a robot connection; 2a 1-inner support; 2a 2-external bolster; 2a 3-fasteners; 2 b-a flexible connection; 2b 1-guide sleeve; 2b 2-guide post; 2b3 — first stop; 2 c-a reset mechanism; 2c1 — a first elastic member; 2c 2-proximity switch;
3-hollow deep hole jack catch; 3 a-a ring-shaped working plate; 3a 1-slide; 3a 2-slide; 3 b-an annular fixed plate; 3b 1-second stop; 3 c-a jaw; 3c 1-equal diameter fan ring part; 3c 2-reducing fan ring part;
4-jaw drive; 4 a-linear drive; 4 b-a cone-frustum-shaped stopper; 4b 1-cylindrical portion; 4b 2-circular table portion; 4b 3-vias; 4b4 — first opening; 4b 5-annular flange; 4b 6-internal threads; 4 c-a second elastic member;
5-a machine vision mechanism; 5 a-needle camera; 5 b-a rubber pad; 5 c-a rubber cylinder; 5c1 — second opening; 5 d-top thread.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 10, the deep hole grabbing robot for assembling medical instruments based on machine vision comprises an industrial robot 1, a flexible support 2, a hollow deep hole claw 3, a claw driver 4 and a machine vision mechanism 5, industrial computer, 2 fixed mounting of flexible support are at industrial robot 1's work end, flexible support 2, hollow deep hole jack catch 3, jack catch driver 4 all with flexible support 2 fixed connection, hollow deep hole jack catch 3 sets up the one end of keeping away from industrial robot 1 at flexible support 2, jack catch driver 4 sets up between industrial robot 1 and hollow deep hole jack catch 3, machine vision mechanism 5 sets up between hollow deep hole jack catch 3 and jack catch driver 4, the direction of work of machine vision mechanism 5 is towards the work end center of hollow deep hole jack catch 3, industrial robot 1, jack catch driver 4, machine vision mechanism 5 all is connected with the industrial computer electricity.
As shown in fig. 1, an industrial robot 1 is used for driving a flexible support 2 to move in different working areas, a hollow deep-hole jaw 3 is used for assembling the hollow deep-hole jaw 3, a jaw driver 4 and a machine vision mechanism 5, the hollow deep-hole jaw 3 is used for extending into a deep hole of a medical instrument part, the jaw driver 4 is used for driving the hollow deep-hole jaw 3 to open radially outwards so as to clamp the medical instrument part from the inside and firmly fix the medical instrument part at a working end of the hollow deep-hole jaw 3, the machine vision mechanism 5 is used for assisting the industrial robot 1 in working, the machine vision mechanism 5 sends acquired image signals to an industrial computer, the industrial computer processes the image signals to judge whether the hollow deep-hole jaw 3 is aligned with the deep hole of the medical instrument part, if the hollow deep-hole jaw 3 is not aligned with the deep hole, the industrial computer calculates the plane deviation between the working end of the hollow deep-hole jaw 3 and the, the deviation value is sent to the industrial robot 1, the industrial robot 1 corrects the position of the working end of the industrial robot 1 through the verticality sent by an industrial computer, so that the industrial robot 1 can accurately insert the hollow deep-hole clamping jaw 3 into the deep hole of the medical instrument part through machine vision, and as the machine vision mechanism 5 and the industrial computer can only calculate the plane deviation between the working end of the hollow deep-hole clamping jaw 3 and the deep hole and can not calculate the distance deviation between the working end of the hollow deep-hole clamping jaw 3 and the deep hole, the situation that the hollow deep-hole clamping jaw 3 goes too deep can occur, and at the moment, the flexible support 2 can deform within a certain degree to avoid the medical instrument part from being damaged by the flexible support.
As shown in fig. 2, the robot connecting portion 2a is used for connecting the flexible connecting portion 2b with the working end of the industrial robot 1, the flexible connecting portion 2b is used for installing a resetting mechanism 2c, a hollow deep-hole jaw 3 and a jaw driver 4, when the hollow deep-hole jaw 3 extends into the deep hole of the medical instrument part, the flexible connecting portion 2b can deform or shift within a certain degree so as to avoid self-damage of the medical instrument part, and the resetting mechanism 2c is used for driving the flexible connecting portion 2b to restore to the original state or return to the original state.
The robot connecting part 2a comprises an inner support 2a1 and an outer support 2a2, wherein the inner support 2a1 and the outer support 2a2 are both in a C shape, the internal corner faces of the inner support 2a1 and the external corner faces of the outer support 2a2 are oppositely arranged, a web plate of the inner support 2a1 is flexibly connected with the flexible connecting part 2b, a web plate of the outer support 2a2 is fixedly connected with the working end of the industrial robot 1, and a wing of the inner support 2a1 is fixedly connected with a wing of the outer support 2a 2.
As shown in fig. 3, the inner support 2a1 and the outer support 2a2 are fixedly connected by two fasteners 2a3 penetrating through the side wings of the inner support 2a1 and the flexible connecting portion 2b, the industrial robot 1 and the outer support 2a2 are assembled at the same time, and then the inner support 2a1 and the outer support 2a2 are assembled into a whole, so that when the inner support 2a1, the flexible connecting portion 2b, the resetting mechanism 2c, the hollow deep-hole jaw 3, the jaw driver 4 and the machine vision mechanism 5 are assembled, the adaptability of the inner support 2a1, the flexible connecting portion 2b, the resetting mechanism 2c, the hollow deep-hole jaw 3, the jaw driver 4 and the machine vision mechanism 5 are not required to be considered, and the distance between the inner support 2a1 and the outer support 2a2 through the side wings can be used for accommodating bolts and nuts and can also be used.
The flexible connecting part 2b comprises guide sleeves 2b1 and guide columns 2b2, at least four guide sleeves 2b1 are provided, the guide sleeves 2b1 are uniformly distributed on the edge of the inner support 2a1, the guide sleeves 2b1 penetrate through a web of the inner support 2a1 and are fixedly connected with the inner support 2a1, the guide columns 2b2 correspond to the guide sleeves 2b1 one to one and are in sliding connection, a first stop piece 2b3 is fixedly mounted at one end of the guide column 2b2 located inside the inner support 2a1, the hollow deep-hole claws 3 and one end of the guide column 2b2 far away from the robot connecting part 2a are fixedly connected, and the claw driver 4 is fixedly connected with the middle part of the guide column 2b 2.
As shown in fig. 7 and 8, the hollow deep-hole jaw 3 and the jaw driver 4 are fixedly connected with the guide post 2b2, the guide post 2b2 can slide in the guide sleeve 2b1, so that the hollow deep-hole jaw 3 and the jaw driver 4 can approach towards the robot connecting part 2a until the guide post 2b2 abuts against the web of the outer bracket 2a2, and the hollow deep-hole jaw 3 and the jaw driver 4 can also move away towards the robot connecting part 2a until the first stop piece 2b3 abuts against the guide sleeve 2b 1; the flexible connecting part 2b is used for providing a buffering effect, and when the hollow deep-hole claw 3 extends into a deep hole of a medical instrument part, the impact of the hollow deep-hole claw 3 on the medical instrument part is eliminated through the relative sliding between the guide sleeve 2b1 and the guide pillar 2b 2.
The reset mechanism 2c comprises a first elastic piece 2c1 and a proximity switch 2c2, the first elastic piece 2c1 corresponds to the guide post 2b2 one by one, the first elastic piece 2c1 is sleeved on the guide post 2b2, two working ends of the first elastic piece 2c1 are respectively abutted against the guide sleeve 2b1 and the jaw driver 4, the proximity switch 2c2 penetrates through the inner support 2a1 and is fixedly connected with the inner support 2a1, and the working end of the proximity switch 2c2 is arranged towards the jaw driver 4.
As shown in fig. 7 and 8, the first elastic member 2c1 is a spring, the first elastic member 2c1 drives the jaw driver 4 to move away from the robot connecting part 2a by its own resilience, and since the jaw driver 4 is fixedly connected with the guide pillar 2b2, the guide pillar 2b2 moves away from the robot connecting part 2a under the guidance of the guide sleeve 2b1 until the first stopper 2b3 abuts against the guide sleeve 2b1, which is an initial position, when the industrial robot 1 drives the hollow deep-hole jaw 3 to extend into the deep hole of the medical device part too deep, so that the hollow deep-hole jaw 3 abuts against the surface of the medical device part, the guide pillar 2b2 moves towards the direction close to the robot connecting part 2a under the guidance of the guide sleeve 2b1, so that the jaw driver 4 gradually moves towards the direction close to the proximity switch 2c2, the proximity switch 2c2 is an electric inductance type proximity switch LJ12a3-4-Z, the proximity switch 2c2 signals the approach of the jaw actuator 4 to the industrial computer which signals the industrial robot 1 to stop further movement immediately.
The hollow deep-hole jaw 3 comprises an annular working plate 3a, an annular fixing plate 3b and a jaw 3c, the annular working plate 3a is coaxially and fixedly connected with the annular fixing plate 3b, the annular fixing plate 3b is fixedly connected with a guide pillar 2b2, a plurality of slide rails 3a1 are uniformly distributed on the annular working plate 3a around the axis of the annular working plate 3a, the slide rails 3a1 penetrate through the annular working plate 3a from the axis of the annular working plate 3a along the radial line of the annular working plate 3a, a slide block 3a2 is arranged in each slide rail 3a1, the slide rails 3a1 are slidably connected with slide blocks 3a2, the jaws 3c are in one-to-one correspondence with the slide blocks 3a2 and are detachably connected, the jaws 3c are in a long strip shape, and the section of the jaw 3c is in a fan-.
As shown in fig. 9, the sliding blocks 3a2 are fixedly connected with the claws 3c through bolts, there are three sliding rails 3a1, there are three corresponding sliding blocks 3a2, and the sliding rails 3a1 are dovetail grooves to ensure that the sliding blocks 3a2 cannot axially fall off from the inside of the sliding rails 3a 1; the annular fixed plate 3b is used for connecting the annular working plate 3a and the guide post 2b 2; a plurality of claws 3c are combined into a cylinder, the claw driver 4 drives the claws 3c to expand so as to clamp the inner hole of the part of the medical instrument, the length of the claws 3c is equal to the depth of the deep hole of the part of the medical instrument, and when different parts of the medical instrument are assembled, different claws 3c can be detached from the slide block 3a2 and replaced.
The jaw 3c comprises an equal-diameter sector ring part 3c1 and a reducing sector ring part 3c2, the equal-diameter sector ring part 3c1 and the reducing sector ring part 3c2 are integrated and coaxially arranged, the reducing sector ring part 3c2 is fixedly connected with the sliding block 3a2, the outer diameter of one end, close to the sliding block 3a2, of the reducing sector ring part 3c2 is larger than that of one end, far away from the sliding block 3a2, of the reducing sector ring part 3c2, and the smooth transition is formed at the connecting position of the outer walls of the equal-diameter sector ring part 3c1 and the reducing sector ring part 3c 2.
As shown in fig. 9, the constant diameter fan ring part 3c1 is used for being inserted into a deep hole of a medical instrument part, the reducing fan ring part 3c2 is used for abutting against the outer edge of the deep hole of the medical instrument part, so that only the constant diameter fan ring part 3c1 is inserted into the deep hole, the length of the constant diameter fan ring part 3c1 is the depth of the deep hole, the reducing fan ring part 3c2 abuts against the outer edge of the deep hole of the medical instrument part to stop moving, if the industrial robot 1 continues to move, the jaw driver 4 gradually approaches the proximity switch 2c2 until the proximity switch 2c2 sends a stop signal to the industrial robot 1 through an industrial computer.
The inner diameter of one end of the reducing fan ring part 3c2 close to the sliding block 3a2 is larger than that of one end of the reducing fan ring part 3c2 far away from the sliding block 3a2, and the connecting part of the inner walls of the equal-diameter fan ring part 3c1 and the reducing fan ring part 3c2 is in smooth transition; the jaw driver 4 comprises a linear driver 4a, a truncated cone-shaped plug head 4b and a second elastic piece 4c, the linear driver 4a is fixedly connected with the guide post 2b2, the working end of the linear driver 4a is arranged towards the jaw 3c, the truncated cone-shaped plug head 4b is fixedly arranged at the working end of the linear driver 4a, the upper bottom of the truncated cone-shaped plug head 4b is arranged towards the jaw 3c, the truncated cone-shaped plug head 4b is coaxial with the jaw 3c, and the outer diameter of the upper bottom of the truncated cone-shaped plug head 4b is smaller than the inner diameter of the lower bottom of the reducing fan ring part 3c 2; the second elastic piece 4c is installed inside the sliding rail 3a1, the annular fixing plate 3b is provided with a second stopper 3b1 which is located at the edge of the annular operating plate 3a and extends into the sliding rail 3a1, and two working ends of the second elastic piece 4c respectively abut against the sliding block 3a2 and the second stopper 3b 1.
As shown in fig. 5, 6 and 9, the linear driver 4a is used for driving the truncated cone-shaped plug head 4b to approach or depart from the jaw 3c, after the equal-diameter ring portion 3c1 is deeply inserted into the inner hole of the part, the linear driver 4a drives the truncated cone-shaped plug head 4b to approach the jaw 3c, the truncated cone-shaped plug head 4b is inserted into the inner hole of the reducing ring portion 3c2, the truncated cone-shaped plug head 4b outwards props up the inner wall of the truncated cone of the reducing ring portion 3c2 through the outer wall of the truncated cone, so that the reducing ring portion 3c2 drives the equal-diameter ring portion 3c1 to outwards expand, the outer wall of the equal-diameter ring portion 3c1 abuts against the inner hole of the part, and the part is in friction connection with the equal-diameter ring portion 3c 1; after the part is assembled, the linear driver 4a drives the functional truncated cone-shaped plug head 4b to be separated from the inside of the jaw 3c, and the sliding block 3a2 is driven by the resilience force of the second elastic piece 4c to move towards the center of the annular working plate 3a, so that the sliding block 3a2 drives the jaw 3c to contract inwards, and the jaw 3c is further disengaged from the part in a friction connection mode.
The integral structure of the jaw actuator 4 may be replaced with a pneumatic three-jaw chuck.
The truncated cone-shaped plug 4b comprises a cylindrical part 4b1 and a truncated cone part 4b2, the cylindrical part 4b1 and the truncated cone part 4b2 are coaxially connected and are an integral piece, a through hole 4b3 axially penetrating through the cylindrical part 4b1 and the truncated cone part 4b2 is formed in the truncated cone-shaped plug 4b, the machine vision mechanism 5 comprises a needle-type camera 5a, the needle-type camera 5a is installed in the through hole 4b3 in an embedded mode, and a first opening 4b4 used for avoiding a signal wire of the needle-type camera 5a is formed in the cylindrical part 4b 1.
As shown in fig. 5, 6 and 10, the truncated cone-shaped plug 4b is a single-shaft single-rod cylinder, the cylindrical portion 4b1 is a connecting portion of the truncated cone-shaped plug 4b, the cylindrical portion 4b1 is fixedly connected with the output end of the linear actuator 4a through a rigid coupling, the truncated cone portion 4b2 is a working portion of the truncated cone-shaped plug 4b, the truncated cone portion 4b2 is used for expanding the inner wall of the variable diameter fan ring portion 3c2, the needle-shaped camera 5a is installed on the 4a3, the needle-shaped camera 5a is used for sending optical image signals to an industrial computer, and the first opening 4b4 is used for avoiding a signal line and a power line of the needle-shaped camera 5 a.
An annular flange 4b5 extending radially inwards is arranged inside the through hole 4b3, the annular flange 4b5 is arranged at one end, away from the cylindrical part 4b1, of the circular table part 4b2, an internal thread 4b6 is further arranged inside the through hole 4b3, and the internal thread 4b6 is arranged at one end, away from the circular table part 4b2, of the cylindrical part 4b 1; the machine vision mechanism 5 further comprises a rubber pad 5b, a rubber cylinder 5c and a jackscrew 5d, wherein the rubber pad 5b, the rubber cylinder 5c and the jackscrew 5d are all installed inside the through hole 4b3, the rubber pad 5b is installed between the needle-type camera 5a and the annular flange 4b5, the jackscrew 5d is installed at one end, away from the circular table portion 4b2, of the cylindrical portion 4b1, the jackscrew 5d is in threaded connection with the internal thread 4b6, the rubber cylinder 5c is installed between the needle-type camera 5a and the jackscrew 5d, and a second opening 5c1 used for avoiding a signal wire of the needle-type camera 5a is arranged on the rubber cylinder 5 c.
As shown in fig. 5, 6 and 10, when the machine vision mechanism 5 is assembled inside the through hole 4b3, first, the rubber pad 5b is put inside the through hole 4b3 to abut against the annular flange 4b5, then the signal line of the needle camera 5a is led out through the rubber tube 5c and through the second opening 5c1, then the needle camera 5a and the rubber tube 5c are pushed together inside the through hole 4b3 by pushing the rubber tube 5c so that the needle camera 5a abuts against the rubber pad 5b, and simultaneously the signal line of the needle camera 5a is led out through the first opening 4b4, then the tip wire 5d is screwed into the internal thread 4b6 so that the end of the tip wire 5d abuts against the rubber tube 5c, the assembly of the machine vision mechanism 5 with the truncated cone 4b is completed, the needle camera 5a is protected by the rubber pad 5b and the rubber tube 5c inside the through hole 4b3, while not falling off under the action of the annular flange 4b5 and the jackscrew 5 d.
The working principle of the invention is as follows:
the industrial robot 1 is used for driving the flexible support 2 to move in different working ranges, the hollow deep-hole clamping jaw 3 is used for assembling the hollow deep-hole clamping jaw 3, the clamping jaw driver 4 and the machine vision mechanism 5, the hollow deep-hole clamping jaw 3 is used for extending into a deep hole of a medical instrument part, the clamping jaw driver 4 is used for driving the hollow deep-hole clamping jaw 3 to open outwards in the radial direction, so that the medical instrument part is clamped from the inside and is firmly fixed at the working end of the hollow deep-hole clamping jaw 3, the machine vision mechanism 5 is used for assisting the industrial robot 1 to work, the machine vision mechanism 5 sends acquired image signals to an industrial computer, the industrial computer processes the image signals, judges whether the hollow deep-hole clamping jaw 3 is aligned with the deep hole of the medical instrument part, and if the hollow deep-hole clamping jaw 3 is not aligned with the deep hole, the industrial computer calculates the plane deviation between the working end of, the deviation value is sent to the industrial robot 1, the industrial robot 1 corrects the position of the working end of the industrial robot 1 through the verticality sent by an industrial computer, so that the industrial robot 1 can accurately insert the hollow deep-hole clamping jaw 3 into the deep hole of the medical instrument part through machine vision, and as the machine vision mechanism 5 and the industrial computer can only calculate the plane deviation between the working end of the hollow deep-hole clamping jaw 3 and the deep hole and can not calculate the distance deviation between the working end of the hollow deep-hole clamping jaw 3 and the deep hole, the situation that the hollow deep-hole clamping jaw 3 goes too deep can occur, and at the moment, the flexible support 2 can deform within a certain degree to avoid the medical instrument part from being damaged by the flexible support.
Claims (6)
1. A deep hole grabbing robot for assembling medical instruments based on machine vision is characterized by comprising an industrial robot (1), a flexible support (2), a hollow deep hole clamping jaw (3), a clamping jaw driver (4), a machine vision mechanism (5) and an industrial computer, wherein the flexible support (2) is fixedly arranged at the working end of the industrial robot (1), the flexible support (2), the hollow deep hole clamping jaw (3) and the clamping jaw driver (4) are fixedly connected with the flexible support (2), the hollow deep hole clamping jaw (3) is arranged at one end of the flexible support (2) far away from the industrial robot (1), the clamping jaw driver (4) is arranged between the industrial robot (1) and the hollow deep hole clamping jaw (3), the machine vision mechanism (5) is arranged between the hollow deep hole clamping jaw (3) and the clamping jaw driver (4), and the working direction of the machine vision mechanism (5) faces to the center of the working end of the hollow deep hole clamping jaw (3), the industrial robot (1), the jaw driver (4) and the machine vision mechanism (5) are electrically connected with an industrial computer;
the flexible support (2) comprises a robot connecting part (2 a), a flexible connecting part (2 b) and a resetting mechanism (2 c), the robot connecting part (2 a) is fixedly connected with the working end of the industrial robot (1), the flexible connecting part (2 b) is flexibly connected with one end, far away from the industrial robot (1), of the robot connecting part (2 a), the resetting mechanism (2 c), the hollow deep-hole clamping jaw (3) and the clamping jaw driver (4) are all installed on the flexible connecting part (2 b), the resetting mechanism (2 c) is arranged between the robot connecting part (2 a) and the flexible connecting part (2 b), and the hollow deep-hole clamping jaw (3) is fixedly installed at one end, far away from the robot connecting part (2 a), of the flexible connecting part (2 b);
the robot connecting part (2 a) comprises an inner support (2 a 1) and an outer support (2 a 2), the inner support (2 a 1) and the outer support (2 a 2) are both C-shaped, the internal corner faces of the inner support (2 a 1) and the external corner faces of the outer support (2 a 2) are oppositely arranged, a web plate of the inner support (2 a 1) is flexibly connected with the flexible connecting part (2 b), the web plate of the outer support (2 a 2) is fixedly connected with the working end of the industrial robot (1), and a side wing of the inner support (2 a 1) is fixedly connected with a side wing of the outer support (2 a 2);
the flexible connecting part (2 b) comprises guide sleeves (2 b 1) and guide columns (2 b 2), at least four guide sleeves (2 b 1) are provided, the guide sleeves (2 b 1) are uniformly distributed on the edge of the inner support (2 a 1), the guide sleeves (2 b 1) penetrate through a web plate of the inner support (2 a 1) and are fixedly connected with the inner support (2 a 1), the guide columns (2 b 2) correspond to the guide sleeves (2 b 1) one by one and are connected in a sliding mode, one ends, located inside the inner support (2 a 1), of the guide columns (2 b 2) are fixedly provided with first stoppers (2 b 3), the hollow deep-hole claws (3) are fixedly connected with one ends, far away from the robot connecting part (2 a), of the guide columns (2 b 2), and the claw drivers (4) are fixedly connected with the middles of the guide columns (2 b 2;
the reset mechanism (2 c) comprises a first elastic piece (2 c 1) and a proximity switch (2 c 2), wherein the first elastic piece (2 c 1) corresponds to the guide post (2 b 2) in a one-to-one mode, the first elastic piece (2 c 1) is sleeved on the guide post (2 b 2), two working ends of the first elastic piece (2 c 1) are abutted to the guide sleeve (2 b 1) and the jaw driver (4) respectively, the proximity switch (2 c 2) penetrates through the inner support (2 a 1) and is fixedly connected with the inner support (2 a 1), and the working end of the proximity switch (2 c 2) faces the jaw driver (4).
2. The deep hole grabbing robot for assembling medical instruments based on machine vision is characterized in that a hollow deep hole claw (3) comprises an annular working plate (3 a), an annular fixing plate (3 b) and claws (3 c), the annular working plate (3 a) and the annular fixing plate (3 b) are coaxially and fixedly connected, the annular fixing plate (3 b) is fixedly connected with a guide post (2 b 2), a plurality of sliding rails (3 a 1) are uniformly distributed on the annular working plate (3 a) around the axis of the annular working plate (3 a), the sliding rails (3 a 1) penetrate through the annular working plate (3 a) from the axis of the annular working plate (3 a) along the radial line of the annular working plate (3 a), each sliding rail (3 a 1) is internally provided with a sliding block (3 a 2), the sliding rails (3 a 1) are connected with a sliding block (3 a 2) in a sliding manner, and the sliding blocks (3 c) correspond to the sliding blocks (3 a 2) one by one and are detachably connected, the clamping jaw (3 c) is in a long strip shape, and the section of the clamping jaw (3 c) is in a fan-shaped ring shape.
3. The deep hole grabbing robot for assembling medical instruments based on machine vision is characterized in that each jaw (3 c) comprises an equal-diameter fan ring portion (3 c 1) and a reducing fan ring portion (3 c 2), the equal-diameter fan ring portion (3 c 1) and the reducing fan ring portion (3 c 2) are integrally and coaxially arranged, the reducing fan ring portion (3 c 2) is fixedly connected with the sliding block (3 a 2), the outer diameter of one end, close to the sliding block (3 a 2), of the reducing fan ring portion (3 c 2) is larger than that of one end, away from the sliding block (3 a 2), of the reducing fan ring portion (3 c 2), and the connecting position of the outer walls of the equal-diameter fan ring portion (3 c 1) and the reducing fan ring portion (3 c 2) is in smooth transition.
4. The deep hole grabbing robot for assembling medical instruments based on machine vision is characterized in that the inner diameter of one end, close to the sliding block (3 a 2), of the reducing fan ring part (3 c 2) is larger than that of one end, far away from the sliding block (3 a 2), of the reducing fan ring part (3 c 2), and the connecting position of the inner walls of the constant-diameter fan ring part (3 c 1) and the reducing fan ring part (3 c 2) is in smooth transition; the jaw driver (4) comprises a linear driver (4 a), a circular truncated cone-shaped plug head (4 b) and a second elastic piece (4 c), the linear driver (4 a) is fixedly connected with the guide post (2 b 2), the working end of the linear driver (4 a) faces the jaw (3 c), the circular truncated cone-shaped plug head (4 b) is fixedly installed at the working end of the linear driver (4 a), the upper bottom of the circular truncated cone-shaped plug head (4 b) faces the jaw (3 c), the circular truncated cone-shaped plug head (4 b) is coaxial with the jaw (3 c), and the outer diameter of the upper bottom of the circular truncated cone-shaped plug head (4 b) is smaller than the inner diameter of the lower bottom of the reducing sector ring portion (3 c 2); the second elastic piece (4 c) is installed inside the sliding rail (3 a 1), a second stop piece (3 b 1) which is located at the edge of the annular working plate (3 a) and extends into the sliding rail (3 a 1) is arranged on the annular fixing plate (3 b), and two working ends of the second elastic piece (4 c) are respectively abutted against the sliding block (3 a 2) and the second stop piece (3 b 1).
5. The deep hole grabbing robot for assembling medical instruments based on machine vision is characterized in that the truncated cone-shaped plug head (4 b) comprises a cylindrical part (4 b 1), a truncated cone part (4 b 2), the cylindrical part (4 b 1) and the truncated cone part (4 b 2) are coaxially connected and are in a single piece, a through hole (4 b 3) axially penetrating through the cylindrical part (4 b 1) and the truncated cone part (4 b 2) is formed in the truncated cone-shaped plug head (4 b), the machine vision mechanism (5) comprises a needle-type camera (5 a), the needle-type camera (5 a) is installed in the through hole (4 b 3) in an embedded mode, and a first opening (4 b 4) used for avoiding a signal wire of the needle-type camera (5 a) is formed in the cylindrical part (4 b 1).
6. The deep hole grabbing robot for assembling medical instruments based on machine vision according to claim 5, wherein a through hole (4 b 3) is internally provided with an annular flange (4 b 5) extending radially inwards, the annular flange (4 b 5) is arranged at one end, away from the cylindrical part (4 b 1), of the circular table part (4 b 2), the through hole (4 b 3) is internally provided with an internal thread (4 b 6), and the internal thread (4 b 6) is arranged at one end, away from the circular table part (4 b 2), of the cylindrical part (4 b 1); the machine vision mechanism (5) further comprises a rubber pad (5 b), a rubber cylinder (5 c) and a jackscrew (5 d), the rubber pad (5 b), the rubber cylinder (5 c) and the jackscrew (5 d) are all installed inside the through hole (4 b 3), the rubber pad (5 b) is installed between the needle-type camera (5 a) and the annular flange (4 b 5), the jackscrew (5 d) is installed at one end, away from the circular table portion (4 b 2), of the cylindrical portion (4 b 1), the jackscrew (5 d) is in threaded connection with the internal thread (4 b 6), the rubber cylinder (5 c) is installed between the needle-type camera (5 a) and the jackscrew (5 d), and a second opening (5 c 1) used for avoiding signal lines of the needle-type camera (5 a) is formed in the rubber cylinder (5 c).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08290350A (en) * | 1995-04-20 | 1996-11-05 | Nippondenso Co Ltd | Industrial robot |
| DE102013013114A1 (en) * | 2012-08-17 | 2014-02-20 | Liebherr-Verzahntechnik Gmbh | Device for the automated removal of workpieces arranged in a container |
| CN207387664U (en) * | 2017-09-30 | 2018-05-22 | 深圳市功夫机器人有限公司 | Robot vision guides equipment and robot |
| CN208100355U (en) * | 2018-04-23 | 2018-11-16 | 山东英才学院 | Deep hole object taking device |
| CN108801069B (en) * | 2018-06-20 | 2020-01-03 | 河北远东通信***工程有限公司 | Automatic assembling system for initiating explosive devices |
| CN208697420U (en) * | 2018-07-24 | 2019-04-05 | 昆山市工业技术研究院有限责任公司 | A kind of robot |
| CN209812314U (en) * | 2019-03-29 | 2019-12-20 | 齐鲁工业大学 | Mechanical arm for grabbing glass slide |
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