CN207058571U - Automobile component vision guide handgrip - Google Patents
Automobile component vision guide handgrip Download PDFInfo
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- CN207058571U CN207058571U CN201720474072.9U CN201720474072U CN207058571U CN 207058571 U CN207058571 U CN 207058571U CN 201720474072 U CN201720474072 U CN 201720474072U CN 207058571 U CN207058571 U CN 207058571U
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Abstract
The utility model discloses automobile component vision guide handgrip, including robot, machine handgrip and the control centre controlled for system, the hand that the machine handgrip includes being connected with robot arm grabs shape support, support is provided with vision-based detection mechanism, mechanical positioning mechanism, workpiece grabbing mechanism, mechanical positioning mechanism and workpiece grabbing mechanism form the first crawl section and the second crawl section, control centre controls two groups of crawl section grabbing workpieces under the guiding of vision-based detection mechanism, can be accurately positioned and capture different automobile components.In order to adapt to various complicated Assembling Productions, improve the automaticity of robot industry production, the utility model provides a kind of automobile component handgrip that Intelligent assembly is carried out using machine vision, it not only can quickly, accurately complete the crawl task of workpiece, be alternatively arranged as Workpiece carrier and be used for every production task.The application of this handgrip, automobile component can be accurately captured, accelerate the speed of robot pickup, improve production efficiency.
Description
Technical field
It the utility model is related to robot control field, more particularly to automobile component vision guide handgrip.
Background technology
In modern manufacturing industry, industrial robot is widely used in various production requirements.It can not only by worker from
Freed in numerous and diverse work task, and also improve the quality of product and the automatization level of production line simultaneously, significantly
Ground improves operating efficiency.
In order to adapt to various complicated Assembling Productions, people have also been proposed the vision that Intelligent assembly is carried out using machine vision
Bootstrap technique method, to improve the automaticity of robot industry production.
In automobile assembling field, due to the otherness of part, the arbitrariness put, cause automatic machinery people from bin
It is difficult to accurately capture when taking part, have impact on the speed of robot pickup, reduce production efficiency.The utility model is for existing
A kind of deficiency of technology, there is provided automobile component handgrip with vision guide function.
Utility model content
The purpose of this utility model is to provide a kind of automobile component handgrip with vision guide function, and the handgrip is provided with
Two crawl sections and multiple vision positioning devices, the robot realized under vision guide accurately capture, and can be accurately positioned simultaneously
Capture different automobile components.
For achieving the above object, the technical solution of the utility model is：Automobile component vision guide handgrip, including machine
Device handgrip and the control centre for system control, the machine handgrip grab shape support including hand, and mid-stent upper surface is set
There is the flange part being connected with robot arm, support bottom is provided with vision-based detection mechanism, mechanical positioning mechanism, workpiece grabbing machine
Structure,
The vision-based detection mechanism includes being arranged on the First look device of opposite end and the second vision dress on rear side of support
Put, and be arranged on the 3rd sighting device at middle part on front side of support, First look device, the second sighting device and the 3rd vision dress
Put and be triangularly arranged；
The mechanical positioning mechanism includes the first positioning unit corresponding with First look device and filled with the second vision
Second positioning unit corresponding to putting, the first positioning unit and the second positioning unit include prelocalization component and rear positioning component,
Prelocalization component is arranged on opposite end on front side of support, and rear positioning component is arranged on opposite end on rear side of support；
The workpiece grabbing mechanism includes the first placement unit corresponding with First look device and filled with the second vision
Second placement unit corresponding to putting, the first placement unit and the second placement unit include front clamp component and rear clamp assemblies,
Front clamp component is arranged on opposite end on front side of support, and rear clamp assemblies are arranged on opposite end on rear side of support；Described first is fixed
Bit location, the first placement unit form the first crawl section, second positioning unit, the crawl of the second placement unit composition second
Portion；
The robot, First look device, the second sighting device, the 3rd sighting device, prelocalization component, rear positioning group
Part, front clamp component and rear clamp assemblies are electrically connected control centre, and control centre controls the first crawl section and the second crawl
Portion captures automotive department alone or in combination.
Preferably, the First look device, the second sighting device and the 3rd sighting device wrap one kind as this programme
Include visual field direction identical camera and laser displacement sensor.
Preferably, the prelocalization component and rear positioning component include being used to insert workpiece positioning one kind as this programme
The alignment pin in hole, and for driving the positioning cylinder of alignment pin.
Preferably, the front clamp component and rear clamp assemblies include fixed gripping finger and activity and pressed from both sides one kind as this programme
Refer to, and the gripper cylinder for driving activity gripping finger to be engaged with fixed gripping finger.
The beneficial effects of the utility model are：This car door handgrip with vision guide function includes the first crawl
Portion, the second crawl section and multiple vision positioning devices, the handgrip by sighting device precise positioning workpiece space coordinate, and according to
The different guided robots of workpiece using different crawl sections carry out workpiece grabbing, its not only can quickly, accurately complete workpiece
Crawl task, it is alternatively arranged as Workpiece carrier and is used for every production task.The application of this handgrip, it can not only accurately capture automobile
Part, accelerate the speed of robot pickup, improve production efficiency, also improve the automaticity of robot industry production.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment；
Fig. 2 is the partial structural diagram of I in Fig. 1；
Fig. 3 is the partial structural diagram of II in Fig. 1；
Fig. 4 is the assembling structure schematic diagram of the utility model embodiment.
Embodiment
The technical scheme in the embodiment of the utility model is clearly and completely described below in conjunction with accompanying drawing.
As Figure 1-4, automobile component vision guide handgrip, including machine handgrip and for system control control in
The heart, the machine handgrip grab shape support 1 including hand, and the middle part upper surface of support 1 is provided with the flange part 11 being connected with robot arm,
The bottom of support 1 is provided with vision-based detection mechanism 2, mechanical positioning mechanism 3, workpiece grabbing mechanism 4,
The First look device 21 and second that the vision-based detection mechanism 2 includes being arranged on the rear side opposite end of support 1 regards
Feel device 22, and be arranged on the 3rd sighting device 23 at the front side of support 1 middle part, First look device 21, the second sighting device
22 and the 3rd sighting device 23 be triangularly arranged；And include visual field direction identical camera and laser displacement sensor；
The mechanical positioning mechanism 3 include first positioning unit corresponding with First look device 21 and with the second vision
Second positioning unit corresponding to device 22, the first positioning unit and the second positioning unit include prelocalization component 31 and rear positioning
Component 32, prelocalization component 31 are arranged on the front side opposite end of support 1, and rear positioning component 32 is arranged on the rear side of support 1 relative two
End；Further, the prelocalization component 31 and rear positioning component 32 include being used for the alignment pin for inserting workpiece positioning hole, and
For driving the positioning cylinder of alignment pin activity；
The workpiece grabbing mechanism 4 include first placement unit corresponding with First look device 21 and with the second vision
Second placement unit corresponding to device 22, the first placement unit and the second placement unit include clamping front clamp in opposite direction
Component 41 and rear clamp assemblies 42, front clamp component 41 are arranged on the front side opposite end of support 1, and rear clamp assemblies 42 are arranged on
The rear side opposite end of support 1,；Further, first positioning unit, the first placement unit form the first crawl section, and described the
Two positioning units, the second placement unit form the second crawl section；The front clamp component and rear clamp assemblies include geometrical clamp
Refer to and activity gripping finger, and the gripper cylinder for driving activity gripping finger to be engaged with fixed gripping finger；
The robot, First look device 21, the second sighting device 22, the 3rd sighting device 23, prelocalization component 31,
Positioning component 32, front clamp component 41 and rear clamp assemblies 42 are electrically connected control centre afterwards, and control centre's control first is grabbed
Portion and the second crawl section is taken to capture automotive department alone or in combination.
Crawl process：After control centre receives crawl signal, vision-based detection mechanism 2 is first controlled to carry out workpiece type true
Recognize, sending crawl alone or in combination to the first crawl section and the second crawl section further according to workpiece type orders.
Control centre receives crawl signal, and control machine people passes through close to the location of workpiece and after having confirmed workpiece type
Laser displacement sensor is measured to workpiece, and metrical information is sent to control centre, and the Sloped rotating of workpiece is drawn through computing
Departure, control centre control machine people tiltedly rotated according to inclination residual quantity carry out pose adjustment, make handgrip crawl plane parallel to
Workpiece face, workpiece planarization image is then absorbed by camera, workpiece upper Positioning holes center is found and sends positional information
To control centre, control centre carries out horizontal departure computing, then control machine people according to horizontal departure amount horizontal displacement, meanwhile,
The machinery positioning of workpiece is carried out by mechanical positioning mechanism 3, alignment pin is inserted in workpiece positioning hole, and pass through workpiece grabbing machine
Structure 4 is secured the workpiece against between fixed gripping finger and activity gripping finger, completes workpiece grabbing.
This car door handgrip with vision guide function not only can quickly, accurately complete the crawl task of workpiece,
It is alternatively arranged as Workpiece carrier and is used for every production task.The application of this handgrip, automobile component can not only be accurately captured, accelerated
The speed of robot pickup, production efficiency is improved, also improve the automaticity of robot industry production, be the intelligence of robot
Energyization lays the foundation.
Described embodiment is only the utility model part of the embodiment, rather than whole embodiments.Based on this
Embodiment in utility model, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of the utility model.
Claims (4)
1. automobile component vision guide handgrip, it is characterised in that the control centre including machine handgrip and for system control,
The machine handgrip grabs shape support including hand, and mid-stent upper surface is provided with the flange part being connected with robot arm, under support
Portion is provided with vision-based detection mechanism, mechanical positioning mechanism, workpiece grabbing mechanism,
The vision-based detection mechanism includes being arranged on the First look device and the second sighting device of opposite end on rear side of support, with
And the 3rd sighting device at middle part on front side of support is arranged on, First look device, the second sighting device and the 3rd sighting device are in
Triangular arrangement；
The mechanical positioning mechanism include the first positioning unit corresponding with First look device and with the second sighting device pair
The second positioning unit answered, the first positioning unit and the second positioning unit include prelocalization component and rear positioning component, preceding fixed
Hyte part is arranged on opposite end on front side of support, and rear positioning component is arranged on opposite end on rear side of support；
The workpiece grabbing mechanism include the first placement unit corresponding with First look device and with the second sighting device pair
The second placement unit answered, the first placement unit and the second placement unit include front clamp component and rear clamp assemblies, fore-clamp
Hold component and be arranged on opposite end on front side of support, rear clamp assemblies are arranged on opposite end on rear side of support；First positioning is single
Member, the first placement unit form the first crawl section, and second positioning unit, the second placement unit form the second crawl section；
The robot, First look device, the second sighting device, the 3rd sighting device, prelocalization component, rear positioning component,
Front clamp component and rear clamp assemblies are electrically connected control centre, and control centre controls the first crawl section and the second crawl section single
Solely or joint captures automotive department.
2. automobile component vision guide handgrip according to claim 1, it is characterised in that the First look device,
Two sighting devices and the 3rd sighting device include visual field direction identical camera and laser displacement sensor.
3. automobile component vision guide handgrip according to claim 1, it is characterised in that the prelocalization component is determined with rear
Hyte part includes being used for the alignment pin for inserting workpiece positioning hole, and for driving the positioning cylinder of alignment pin.
4. automobile component vision guide handgrip according to claim 1, it is characterised in that the front clamp component and rear folder
Holding component includes fixed gripping finger and activity gripping finger, and the gripper cylinder for driving activity gripping finger to be engaged with fixed gripping finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720474072.9U CN207058571U (en) | 2017-04-28 | 2017-04-28 | Automobile component vision guide handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720474072.9U CN207058571U (en) | 2017-04-28 | 2017-04-28 | Automobile component vision guide handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207058571U true CN207058571U (en) | 2018-03-02 |
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ID=61504250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720474072.9U Active CN207058571U (en) | 2017-04-28 | 2017-04-28 | Automobile component vision guide handgrip |
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| Country | Link |
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| CN (1) | CN207058571U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956263A (en) * | 2017-04-28 | 2017-07-18 | 广州瑞松北斗汽车装备有限公司 | Automobile component vision guide handgrip |
| CN109531599A (en) * | 2019-01-16 | 2019-03-29 | 江苏北人机器人***股份有限公司 | A kind of battery case vision guide coating system |
| CN113653504A (en) * | 2021-08-18 | 2021-11-16 | 中铁隧道局集团有限公司 | Intermediate wall for use in tunnel, installation apparatus and installation method thereof |
-
2017
- 2017-04-28 CN CN201720474072.9U patent/CN207058571U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956263A (en) * | 2017-04-28 | 2017-07-18 | 广州瑞松北斗汽车装备有限公司 | Automobile component vision guide handgrip |
| CN109531599A (en) * | 2019-01-16 | 2019-03-29 | 江苏北人机器人***股份有限公司 | A kind of battery case vision guide coating system |
| CN113653504A (en) * | 2021-08-18 | 2021-11-16 | 中铁隧道局集团有限公司 | Intermediate wall for use in tunnel, installation apparatus and installation method thereof |
| CN113653504B (en) * | 2021-08-18 | 2024-05-14 | 中铁隧道局集团有限公司 | Intermediate wall for use in tunnel, installation apparatus and installation method thereof |
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