CN110524569A - A kind of clamp mechanism of view-based access control model identification - Google Patents

Abstract

The invention discloses a kind of clamp mechanisms of view-based access control model identification, including camera, camera mounting assembly, two fixtures, two cylinders and mechanism's installing plate, the two sides of mechanism's installing plate bottom are symmetrically arranged in by cylinder for described two fixtures, and the camera is arranged among mechanism's installing plate bottom by camera mounting assembly.The present invention reduces cost, improves the degree of automation for replacing original manual work, realizing the automation of crawl, can work continuously for a long time in outdoor machine of air-conditioner production line.

Description

A Fixture Mechanism Based on Visual Recognition

technical field

The invention relates to a clamp mechanism based on visual recognition, belonging to the technical field of clamps.

Background technique

With the continuous development of science and technology, the manufacturing industry will tend to develop towards a fully automated mechanical assembly line. In the production process of the existing air-conditioning external unit production line, the grasping and handling of workpieces are still done manually, but the use of manual labor has low production efficiency, high risk of work, high labor costs, high work intensity and high replacement rate of operators However, in the fast-paced production process, in order to quickly and accurately grab the workpieces used in the production of air-conditioning external units, it is obvious that a grabbing device is needed to replace manual operations to achieve the above operations.

In view of this, it is obviously necessary to develop a clamp mechanism based on visual recognition to replace manual grasping, which is reasonable in structure and not easy to damage.

Contents of the invention

The object of the present invention is to provide a clamp mechanism based on visual recognition, which has a reasonable structure, is not easy to be damaged, and is easy to grab workpieces.

In order to achieve the purpose of the above invention, the technical solution adopted by the present invention is: a clamp mechanism based on visual recognition, including a camera, a camera mounting assembly, two clamps, a mechanism mounting plate and a single-chip microcomputer, and the two clamps are symmetrically arranged on the mechanism On both sides of the bottom of the mounting plate, the camera is used to collect the image of the object to be captured, the camera is arranged in the middle of the bottom of the mechanism mounting plate through the camera mounting assembly, and the camera is connected to the image processing module through the image transmission module, and the image processing The module is electrically connected to the single-chip electromechanical device, and the fixture is electrically connected to the single-chip electromechanical device through a data line;

The fixture includes a cylinder, a cylinder fixing frame, a plurality of jaws, and jaw fixing plates with the same number as the jaws. The cylinder is fixed in the cylinder fixing frame, and a plurality of jaw fixing plates are circumferentially arranged below the cylinder fixing frame One end of the jaw fixing plate is fixed on the lower side of the cylinder fixing frame, and the other end is rotatably connected with the jaws. The jaws are provided with radial holes and connected with the jaw fixing plate through a pin shaft. The cylinder is provided with a piston top. The lower end of the piston ejector rod is in the shape of a rounded table. The piston ejector rod interacts with the top of the jaw to make the jaw rotate around the pin shaft, and the upper part of the jaw is provided with a telescopic pin. The telescopic pin and the pin shaft pass through the spring clip. Buckle connection, when the piston rod of the cylinder shrinks, the jaws return to their original positions through the spring buckle.

Preferably, each clamp is provided with three jaws, and the jaws are evenly spaced along the circumferential direction of the axis.

In a further technical solution, a PU pad is provided on the inner side of the lower end of the jaw.

Preferably, the image processing module is a computer.

Due to the use of the above-mentioned technical solutions, the present invention has the following advantages compared with the prior art:

The invention is used in the production line of the air conditioner external unit to replace the original manual operation, realize the automation of grasping, can work continuously for a long time, reduces the cost, improves the degree of automation, and meanwhile has a reasonable structure and is not easy to be damaged.

Description of drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is an overall structural diagram of the present invention.

Among them: 1. Mechanism mounting plate; 2. Cylinder fixing frame; 3. Cylinder; 4. Camera; 5. Piston ejector rod; 6. Gripper fixing plate; 7. Spring; 8. Pin shaft; , PU pad.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing and embodiment:

Embodiment 1: See Fig. 1, shown in Fig. 2, a kind of fixture mechanism based on visual recognition, comprises camera 4, camera mounting assembly, two fixtures, mechanism mounting plate 1 and single-chip microcomputer, and described two fixtures are symmetrically arranged on On both sides of the bottom of the mechanism mounting plate 1, the camera 3 is used to collect the image of the object to be captured. The camera 3 is arranged in the middle of the bottom of the mechanism mounting plate through the camera mounting assembly, and the camera is connected to the image processing module through the image transmission module. The image processing module is electrically connected to the single-chip electromechanical device, and the fixture is electrically connected to the single-chip electromechanical device through a data line;

The fixture includes a cylinder 3, a cylinder fixing frame 2, a plurality of jaws 9, and jaw fixing plates 6 with the same number as the jaws 9. To be arranged below the cylinder fixed frame 2, one end of the jaw fixed plate 6 is fixed on the lower side of the cylinder fixed frame 2, and the jaw 9 is provided with a radial hole to realize rotation through the pin shaft 8 and the other end of the jaw fixed plate 6 connected, the cylinder 3 is provided with a piston ejector rod 5, the lower end of the piston ejector rod 5 is rounded, and the piston ejector rod 5 interacts with the top of the jaw 9, so that the jaw 9 rotates around the pin shaft, and the gripper The upper part of the claw 9 is equipped with a telescopic pin, which is snap-connected with the pin shaft 8 through the spring 7. When the piston rod of the cylinder shrinks, the spring stores and releases the angular energy to make the jaw return to its original position. Based on the above principle, the jaw There are other implementations for reset, for example, the top of the jaw is connected to the upper cylinder holder through a spring. As the piston rod moves downward, the distance between the top of the jaw and the upper cylinder holder becomes larger. When the piston rod retracts A spring pulls the top of the jaw back to its original position, or a floor spring can also do this.

In this embodiment, the spring 7 is a torsion spring.

In this embodiment, each clamp is provided with three jaws 9, and the jaws 9 are evenly spaced along the circumferential direction of the axis.

In this embodiment, a PU pad 10 is provided inside the lower end of the jaw 9 .

In this embodiment, the image processing module is a computer.

Claims (4)

1. a kind of clamp mechanism of view-based access control model identification, it is characterised in that: including camera, camera mounting assembly, two fixtures, machines The two sides of mechanism's installing plate bottom are symmetrically arranged in structure mounting plate and single-chip microcontroller, described two fixtures, and the camera is used for Object image to be grabbed is acquired, the camera is arranged among mechanism's installing plate bottom by camera mounting assembly, and camera is logical It crosses figure transmission module to connect with image processing module, described image processing module and the monolithic mechatronics, fixture pass through data Line and monolithic mechatronics；

Fixture includes that cylinder, air cylinder supporting structure, multiple clamping jaws, quantity and the identical clamping jaw fixed plate of clamping jaw, the cylinder are fixed In air cylinder supporting structure, the lower section of air cylinder supporting structure is circumferentially arranged in multiple clamping jaw fixed plates, and clamping jaw fixed plate one end is installed in The downside of air cylinder supporting structure, clamping jaw is equipped with radial hole and realizes rotation connection by pin shaft and the other end of clamping jaw fixed plate, described Cylinder is equipped with piston mandril, and the lower end of piston mandril is in rounding mesa-shaped, the top interaction of piston mandril and clamping jaw, so that folder Pawl is rotated around pin shaft, and telescopic pin is equipped at the top of the clamping jaw, and telescopic pin is connect with pin shaft by clamp button of the spring, when the work of cylinder When filling in mandril contraction, clamping jaw homing is made by clamp button of the spring.

2. the clamp mechanism of view-based access control model according to claim 1 identification, it is characterised in that: each fixture sets that there are three folders Pawl, clamping jaw are arranged along axis circumferential direction uniform intervals.

3. the clamp mechanism of view-based access control model identification according to claim 2, it is characterised in that: the lower end inside of the clamping jaw It is padded equipped with PU.

4. the clamp mechanism of view-based access control model according to claim 1 identification, it is characterised in that: described image processing module is Computer.