CN203254432U - Industrial robot visual gripping device - Google Patents
Industrial robot visual gripping device Download PDFInfo
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- CN203254432U CN203254432U CN 201320181783 CN201320181783U CN203254432U CN 203254432 U CN203254432 U CN 203254432U CN 201320181783 CN201320181783 CN 201320181783 CN 201320181783 U CN201320181783 U CN 201320181783U CN 203254432 U CN203254432 U CN 203254432U
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- gas
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Abstract
The utility model discloses an industrial robot visual gripping device which is used for gripping a cylinder body of an automobile engine. The industrial robot visual gripping device comprises a bearing plate, an industrial visual system, a gripping assembly used for executing gripping action and an air source assembly which is connected with the gripping assembly and provides power for the gripping assembly, wherein the industrial visual system is installed on the bearing plate and performs image recognition on an image of the cylinder body, the bearing plate is installed on a tail end flange of a robot and connected with the robot, and the industrial visual system, the gripping assembly and the air source assembly are connected with a robot control system. Compared with the prior art, the gripping device can save time and human power, greatly improves working efficiency, and is easy to operate and high in marking accuracy.
Description
Technical field
The utility model relates to industrial robot vision's application, belongs to the industrial robot application, and specifically, the utility model relates to a kind of industrial robot vision's gripping apparatus.
Background technology
Robot vision generally refers to the industrial vision system with the robot compounding practice, behind industrial vision system introducing robot, can enlarge greatly the serviceability of robot, helps robot in finishing the process of appointed task, has larger adaptability.In recent years the research of robot vision become one of focus of domestic and international robot field's research.
At present, according to the condition of production in automobile production workshop, for the carrying work of engine cylinder-body, in order to save labour and personnel cost, raise labour productivity, can consider to design the device of a kind of industrial robot vision of having system, be applied in the carrying work of cylinder body.
The utility model content
Technical problem to be solved in the utility model provides a kind of industrial robot vision's gripping apparatus, in the carrying work that is applied to automobile engine cylinder-body, to save labour and personnel cost, raises labour productivity.
In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of industrial robot vision's gripping apparatus, the cylinder body that is used for the crawl automobile engine, it comprise bearing plate and be installed on this bearing plate to described cylinder body carry out image recognition industrial vision system, be used for to carry out grasping movement grabbing assembly be connected with grabbing assembly provide the source of the gas assembly of power for grabbing assembly, bearing plate is installed on the terminal flange of robot, and industrial vision system, the gentle source component of grabbing assembly are connected with robot control system.
Described industrial vision system comprises camera, camera and is used for installing the camera holder of camera, and camera holder is installed on the described bearing plate, and camera is installed in the front end of camera.
Described industrial vision system also comprises the camera head protecting plate, this camera head protecting plate and described camera holder be connected bearing plate and be connected.
Described grabbing assembly comprises that grabbing and be used for installing the gas that gas grabs be used to the gas that grasps described cylinder body grabs installing plate, and this gas is grabbed installing plate and is installed on the described bearing plate.
Described grabbing assembly is provided with two covers side by side on described bearing plate.
Described industrial vision system is located between the two cover grabbing assemblies.
Described gripping apparatus also comprises the light source assembly that illumination is provided, and this light source assembly comprises light source and is used for installing the light source fixed head of light source.
Described gripping apparatus also comprises a box-like cover plate that is that covers on described bearing plate, and this cover plate covers described industrial vision system, the gentle source component of grabbing assembly, and described camera, gentle the grabbing from the hole that cover plate arranges of camera are stretched out.
Described light source installing plate is installed on the described cover plate.
Described source of the gas assembly comprises the first tracheae, check valve, silencer, two-position-five-way solenoid valve and the second tracheae that connects successively, and the second tracheae is grabbed with described gas by hydraulic quick coupler and is connected.
The utility model adopts technique scheme, compared with prior art, this gripping apparatus has been gathered industrial vision system and grabbing assembly, and be fixed on robot end's flange, by automatically controlled and computer control system, at first realize the identification of engine cylinder volume image, then the image information that recognizes is fed back to robot control system, moving by control system control grabbing assembly, realizing the crawl of engine cylinder-body and put down, thereby realizing the carrying of engine cylinder-body, therefore can save time and manpower, greatly improved operating efficiency, and this gripping apparatus is simple to operate, the accuracy of demarcation is high.
Description of drawings
Fig. 1 is the structural representation of the utility model gripping apparatus, and cover plate is not installed among the figure;
Fig. 2 is the structural representation of the utility model gripping apparatus after installing cover plate;
Fig. 3 is the structural representation of bearing plate;
Fig. 4 is the structural representation of vision industrial system;
Fig. 5 is the structural representation of grabbing assembly;
Fig. 6 is the structural representation of cover plate;
Fig. 7 is the structural representation of light source assembly;
Fig. 8 is the structural representation of source of the gas assembly;
Fig. 9 is the schematic diagram of gas circuit of the utility model gripping apparatus;
Mark among the above-mentioned figure is: 1, bearing plate; 2, industrial vision system; 21, camera; 22, camera; 23, camera head protecting plate; 24, camera holder; 3, grabbing assembly; 31, finger; 32, gas is grabbed; 33, gas is grabbed installing plate; 4, cover plate; 5, light source assembly; 51, light source; 52, light source installing plate; 6, source of the gas assembly; 61, the first tracheae; 62, check valve; 63, silencer; 64, the second tracheae; 65, hydraulic quick coupler; 66, two-position-five-way solenoid valve; 7, terminal flange; 8, pneumatic triple piece; 9, source of the gas.
The specific embodiment
Be a kind of industrial robot vision's gripping apparatus of the present utility model as depicted in figs. 1 and 2, the cylinder body that is used for the crawl automobile engine, it comprise bearing plate 1 and be installed on this bearing plate 1 to engine cylinder-body carry out image recognition industrial vision system 2, be used for to carry out grasping movement grabbing assembly 3 be connected with grabbing assembly 3 provide the source of the gas assembly 6 of power for grabbing assembly 3, bearing plate 1 is installed on the terminal flange 7 of robot and is connected with robot, and industrial vision system 2, grabbing assembly 3 gentle source components 6 also are connected with the control system of robot.This gripping apparatus has been gathered industrial vision system 2 and grabbing assembly 3, and be fixed on robot end's flange 7, by automatically controlled and computer control system, at first realize the identification of engine cylinder volume image, then the image information that recognizes is fed back to robot control system, moving by control system control grabbing assembly 3, realization is to the crawl of engine cylinder-body and put down, thereby realize the carrying of engine cylinder-body, therefore can save time and manpower, greatly improved operating efficiency, and this gripping apparatus is simple to operate, the accuracy of demarcation is high.
Be illustrated in figure 3 as bearing plate 1, be provided with the installing hole for each assembly that gripping apparatus is installed on the bearing plate 1, bearing plate 1 is directly installed on the terminal flange 7 of robot, drives bearing plate 1 motion during the robot motion, thereby can realize different actions.
Be illustrated in figure 4 as industrial vision system 2; it comprises camera 22, camera 21, is used for installing camera holder 24 and the camera head protecting plate 23 of camera 22; camera holder 24 is fixed on the bearing plate 1 by screw; camera 22 is fixed on the camera holder 24 by screw; camera 21 directly is installed to the front end of camera 22; camera head protecting plate 23 is connected by screw on camera holder 24 and the bearing plate 1, causes camera 21 to damage with protection camera 21 on other part in order to avoid camera 21 is met.In the course of work, the control by control system of camera 22 and camera 21 realizes the identification of engine cylinder-body and feeds back to control system.Industrial vision system 2 has been arranged side by side two covers at bearing plate 1.
Be illustrated in figure 5 as grabbing assembly 3, it comprises for the gas of crawl cylinder body grabs 32 and gas be used for to be installed to be grabbed 32 gas and grab installing plate 33, and this gas is grabbed installing plate 33 and is installed on the bearing plate 1, and gas is grabbed 32 by finger 31 crawls that can open and close and put down engine cylinder-body.Gas is grabbed installing plate 33 and directly is installed on the bearing plate 1 by screw, and gas is grabbed 32 and is installed to gas by screw equally and grabs on the installing plate 33, and finger 31 also is to be installed to gas by screw to grab on 32.Control system is grabbed 32 by control source of the gas assembly 6 for gas air pressure is provided, thereby realization gas is grabbed 32 switch closure, thereby drive is pointed 31 realizations to the crawl of engine cylinder-body and put down.Grabbing assembly 3 is provided with two covers side by side on bearing plate 1, industrial vision system 2 is provided in a side of between the two cover grabbing assemblies 3.
Be illustrated in figure 6 as cover plate 4, cover plate 4 is rectangular box shape, and it is fixed on the bearing plate 1 by screw, and cover plate 4 is wrapped in industrial vision system 2, grabbing assembly 3 gentle source components 6 wherein, realizes the protective effect to them, and guarantees that outward appearance is neatly clean.Camera 21, camera 22 be gentle grabs 32 and stretches out from the hole that cover plate 4 arranges, and cylinder body is carried out image recognition and crawl work.
Be illustrated in figure 7 as light source assembly 5, the light source fixed head that it comprises light source 51 and is used for installing light source 51, may have insufficient light, not fogging clear situation in camera 22 and the camera 21 recognition image processes, therefore increasing light source assembly 5 makes bright and clear, clear picture.Light source assembly 5 arranges two covers altogether, lays respectively at two gas and grabs 32 the outside, and light source installing plate 52 is installed in and allows camera 21, camera 22 gentle grabbing on 32 faces that stretch out on the cover plate 4.
Be illustrated in figure 8 as source of the gas assembly 6, it comprises the first tracheae 61, check valve 62, silencer 63, two-position-five-way solenoid valve 66 and the second tracheae 64 that connects successively, the second tracheae 64 is grabbed 32 by hydraulic quick coupler 65 and gas and is connected, gas enters check valve 62 by tracheae, again by silencer 63, then by two-position-five-way solenoid valve 66, the second tracheae 64 and hydraulic quick coupler 65, enter at last gas and grab in 32, thereby control gas is grabbed 32 folding.
Be illustrated in figure 9 as the schematic diagram of gas circuit of this gripping apparatus.As shown in the figure, filter by pneumatic triple piece 8 from source of the gas 9 compressed air out, pressure regulation obtains the needed pressure of system, arrive two-position-five-way solenoid valve 66 through check valve 62, when being in shown in the figure in the position, 1 and 2 connect, 5 and 4 connect, gas is by 1,2 divide two-way to grab to gas in 32 the cylinder again, this moment, air pressure moved downward the right chamber of cylinder piston, got rid of simultaneously the gas in left chamber by 4,5 also pass through the muffler noise reduction in atmosphere, and this moment, piston rod travelled forward, finger 31 opens, in like manner, 1 and 4 connect, and 3 and 2 connections can realize pointing 31 closure.
The above has carried out exemplary description to the utility model by reference to the accompanying drawings; obviously the utility model specific implementation is not subjected to the restriction of aforesaid way; as long as adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out; or without improving design of the present utility model and technical scheme are directly applied to other occasion, all within protection domain of the present utility model.
Claims (10)
1. industrial robot vision's gripping apparatus, the cylinder body that is used for the crawl automobile engine, it is characterized in that: comprise bearing plate and be installed on this bearing plate to described cylinder body carry out image recognition industrial vision system, be used for to carry out grasping movement grabbing assembly be connected with grabbing assembly provide the source of the gas assembly of power for grabbing assembly, bearing plate is installed on the terminal flange of robot, and industrial vision system, the gentle source component of grabbing assembly are connected with robot control system.
2. industrial robot vision's gripping apparatus according to claim 1 is characterized in that: described industrial vision system comprises camera, camera and is used for installing the camera holder of camera, and camera holder is installed on the described bearing plate, and camera is installed in the front end of camera.
3. industrial robot vision's gripping apparatus according to claim 2, it is characterized in that: described industrial vision system also comprises the camera head protecting plate, this camera head protecting plate and described camera holder be connected bearing plate and be connected.
4. according to claim 2 or 3 described industrial robot vision's gripping apparatus, it is characterized in that: described grabbing assembly comprises that grabbing and be used for installing the gas that gas grabs be used to the gas that grasps described cylinder body grabs installing plate, and this gas is grabbed installing plate and is installed on the described bearing plate.
5. industrial robot vision's gripping apparatus according to claim 4, it is characterized in that: described grabbing assembly is provided with two covers side by side on described bearing plate.
6. industrial robot vision's gripping apparatus according to claim 5 is characterized in that: described industrial vision system is located between the two cover grabbing assemblies.
7. industrial robot vision's gripping apparatus according to claim 6, it is characterized in that: described gripping apparatus also comprises the light source assembly that illumination is provided, this light source assembly comprises light source and is used for installing the light source fixed head of light source.
8. industrial robot vision's gripping apparatus according to claim 7, it is characterized in that: described gripping apparatus also comprises a box-like cover plate that is that covers on described bearing plate, this cover plate covers described industrial vision system, the gentle source component of grabbing assembly, and described camera, gentle the grabbing from the hole that cover plate arranges of camera are stretched out.
9. industrial robot vision's gripping apparatus according to claim 8, it is characterized in that: described light source installing plate is installed on the described cover plate.
10. industrial robot vision's gripping apparatus according to claim 9, it is characterized in that: described source of the gas assembly comprises the first tracheae, check valve, silencer, two-position-five-way solenoid valve and the second tracheae that connects successively, and the second tracheae is grabbed with described gas by hydraulic quick coupler and is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320181783 CN203254432U (en) | 2013-04-12 | 2013-04-12 | Industrial robot visual gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320181783 CN203254432U (en) | 2013-04-12 | 2013-04-12 | Industrial robot visual gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203254432U true CN203254432U (en) | 2013-10-30 |
Family
ID=49467036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320181783 Expired - Lifetime CN203254432U (en) | 2013-04-12 | 2013-04-12 | Industrial robot visual gripping device |
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| Country | Link |
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| CN (1) | CN203254432U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192404A (en) * | 2013-04-12 | 2013-07-10 | 安徽埃夫特智能装备有限公司 | Industrial robot vision gripper |
| CN105643650A (en) * | 2016-02-29 | 2016-06-08 | 上海发那科机器人有限公司 | Valve assembly robot gripper with posture capable of being changed and working process of valve assembly robot gripper |
| CN108705513A (en) * | 2018-07-19 | 2018-10-26 | 华中科技大学无锡研究院 | The automatic loading and unloading robot of valve plate air-tightness detection device |
| CN113441879A (en) * | 2021-06-05 | 2021-09-28 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
-
2013
- 2013-04-12 CN CN 201320181783 patent/CN203254432U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192404A (en) * | 2013-04-12 | 2013-07-10 | 安徽埃夫特智能装备有限公司 | Industrial robot vision gripper |
| CN103192404B (en) * | 2013-04-12 | 2016-01-13 | 安徽埃夫特智能装备有限公司 | Industrial robot vision gripper |
| CN105643650A (en) * | 2016-02-29 | 2016-06-08 | 上海发那科机器人有限公司 | Valve assembly robot gripper with posture capable of being changed and working process of valve assembly robot gripper |
| CN108705513A (en) * | 2018-07-19 | 2018-10-26 | 华中科技大学无锡研究院 | The automatic loading and unloading robot of valve plate air-tightness detection device |
| CN113441879A (en) * | 2021-06-05 | 2021-09-28 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Patentee after: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap Patentee before: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20131030 |
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| CX01 | Expiry of patent term |