CN218443797U - Full-size detection mechanism for visual grabbing - Google Patents
Full-size detection mechanism for visual grabbing Download PDFInfo
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- CN218443797U CN218443797U CN202221674381.8U CN202221674381U CN218443797U CN 218443797 U CN218443797 U CN 218443797U CN 202221674381 U CN202221674381 U CN 202221674381U CN 218443797 U CN218443797 U CN 218443797U
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 230000000694 effects Effects 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 21
- 239000002184 metal Substances 0.000 claims description 5
- 238000012360 testing method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
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- 238000007664 blowing Methods 0.000 description 1
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Abstract
The utility model discloses a vision snatchs full-size detection mechanism relates to the vision and snatchs technical field, including unable adjustment base, unable adjustment base's top activity has the arm, and the side fixed mounting of arm has the display, and the one end fixed mounting of arm has the holding frame, and the bottom movable mounting of holding frame has the gripper. Above-mentioned scheme, it counts to set up touching formula counter, touching formula counter carries out girth and the number of teeth according to the count gear through data conversion device, turn into the pivoted distance with the number of times of pressing, thereby calculate the distance that the link moved, distance through four sides remove separately, demonstrate out in the display through computer transmission ware, distance sensor tests ground clearance, the distance that makes the article remove through the gripper jaw of four sides detects fast, save time and manpower, the size of article is more audio-visual simultaneously shows out, and simultaneously, four gripper jaws control separately, but the article of centre gripping different shapes.
Description
Technical Field
The utility model relates to a vision snatchs technical field, more specifically says, the utility model relates to a vision snatchs full-size detection mechanism.
Background
The vision snatchs and just replaces artifical the action of snatching with the machine, need use vision grabbing device on the assembly line of mill, and intelligent vision robot includes a plurality of vision positioning cameras and arm usually, is provided with executing device at the arm end usually, and present executing mechanism is usually for snatching the mechanism, snatchs the mechanism through the vision and replaces artifically.
However, the existing visual grabbing mechanism only has the grabbing and discharging functions, is relatively single in function, cannot detect the all-directional size of a grabbed object, often needs to manually detect the size of the object again, consumes time and manpower, and is low in performance.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's above-mentioned defect, the embodiment of the utility model provides a vision snatchs full-size detection mechanism to solve current vision snatch the mechanism and can only provide and snatch, the function of blowing, the function is single relatively, can't detect its omnidirectional size to the article that snatchs, often need the artifical size that detects the article once more, expends time and manpower, and the gripper often can only snatch comparatively regular article simultaneously, the lower problem of performance.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a full-size detection mechanism is snatched in vision, includes unable adjustment base, unable adjustment base's top activity has the arm, the side fixed mounting of arm has the display, the one end fixed mounting of arm has the holding frame, the bottom movable mounting of holding frame has the gripper, sets up the display and makes the size that detects and snatch the article directly perceived show.
Preferably, the quantity of holding frame is two, two the holding frame includes the claw frame, the shifting chute has all been seted up to the side of claw frame, the bottom fixed mounting of claw frame has the support frame, the equal fixed mounting in both ends at support frame top has fixed tooth, the inside fixed mounting of support frame has the count case, count case fixed mounting is in the inside of claw frame, the equal slidable mounting in both ends of claw frame side has the centre gripping drive, centre gripping driven side fixed mounting has drive gear, drive gear's inside movable mounting has the connecting block, drive gear movable mounting is at the both ends of connecting block, drive gear's surface meshes with fixed tooth mutually, centre gripping drive slidable mounting sets up the shifting chute and carries on spacingly through the shifting chute to the centre gripping drive, makes the connecting block remove in the inside of support frame, sets up drive gear, makes drive gear drive the connecting block and removes in the inside of support frame.
Preferably, the counter case includes the box, the equal fixed mounting in both ends of box inside has touching formula counter, the side fixed mounting of touching formula counter has the touching piece, the material of touching piece is the elastic metal piece, the equal movable mounting in both ends of box inside has the count gear, count gear movable mounting is at the top of touching piece, the inside movable mounting of count gear has the rotation screw rod, rotate screw rod movable mounting at the side of connecting block, rotate screw rod movable mounting at the both ends of box, set up the count gear, make the rotation screw rod at the in-process that removes, drive the count gear and rotate, the touching piece sets up to the elastic metal piece, makes the count gear rotate and presses down at the touching piece, drives touching formula counter through the touching piece and counts.
Preferably, the gripper comprises a gripper jaw, the gripper jaw is fixedly mounted at the bottom of the connecting block, a distance sensor is fixedly mounted on the side edge of the gripper jaw, a pressure sensor is fixedly mounted at the bottom of the gripper jaw, a pressing roller is movably mounted at the bottom of the pressure sensor, a supporting frame is arranged, the gripper jaw is enabled to detect the edge of an object, and meanwhile, the distance sensor is arranged, so that the height of the object is detected.
Preferably, the distance sensor is electrically connected with a signal receiving processor, the signal receiving processor is electrically connected with a controller, the controller is electrically connected with a data conversion device, the data conversion device is electrically connected with the touch counter, the controller is electrically connected with a signal processor, the signal processor is electrically connected with the pressure sensor, the signal processor is electrically connected with a computer transmitter, the computer transmitter is electrically connected with a display, and the data conversion device is arranged to convert the pressing times into the moving distance according to the number of teeth on the surface of the counting gear and the number of the pressing times according to the bearing of the counting gear.
The utility model discloses a technological effect and advantage:
in the scheme, the connecting block is arranged to move outwards, the rotating screw rod is pulled outwards to move by the connecting block, the counting gear is driven to rotate by the rotating screw rod, the contact sheet is pressed by the teeth on the outer surface of the counting gear, the number of times of pressing by the contact sheet is counted by the contact counter, the number of times of pressing is converted into a rotating distance according to the circumference and the number of teeth of the counting gear by the data conversion device, so that the moving distance of the connecting block is calculated, the moving distance of four sides is displayed in a display by a computer transmitter, the size of the outer surface of an object is calculated and detected, the moving distance of four sizes of the object is rapidly detected by the clamping claws on the four sides when the object is grabbed, time and labor are saved, and meanwhile, the size of the object is more visually displayed;
pressure sensor is through the pressure that receives, move to and transmit signal processor in, signal processor passes through the controller and makes distance sensor start, when moving article edge, it is unsettled to press the gyro wheel, pressure sensor does not experience pressure, make distance sensor test ground clearance, thereby calculate the height of article, make the size of article detect fast when snatching, save time and manpower, and simultaneously, four gripper jaws are controlled through the centre gripping drive at top respectively, but the article of centre gripping different shapes, the performance that the promotion vision snatchs.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the holding frame of the present invention;
FIG. 3 is a schematic structural view of the counting box of the present invention;
fig. 4 is a schematic structural view of the gripper of the present invention;
fig. 5 is a schematic diagram of the internal system structure of the present invention.
The reference signs are: 1. a fixed base; 2. a mechanical arm; 3. a clamping frame; 4. a gripper; 5. a display; 31. a claw frame; 32. a moving groove; 33. a support frame; 34. fixing teeth; 35. clamping and driving; 36. a drive gear; 37. a counting box; 39. connecting blocks; 371. a box body; 372. a touch counter; 373. a touch sheet; 374. a counting gear; 375. rotating the screw; 41. a gripper jaw; 42. a distance sensor; 43. a pressure sensor; 44. pressing the roller; 61. a controller; 62. a data conversion device; 65. a signal receiving processor; 66. a signal processor; 68. a computer transmitter.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Like attached drawing 1 to fig. 5, the embodiment of the utility model provides a vision snatchs full-size detection mechanism, including unable adjustment base 1, unable adjustment base 1's top activity has arm 2, and arm 2's side fixed mounting has display 5, and arm 2's one end fixed mounting has holding frame 3, and holding frame 3's bottom movable mounting has gripper 4, sets up display 5 and makes the size that detects and snatch the article directly perceived to show.
Wherein, the quantity of holding frame 3 is two, two holding frames 3 include claw frame 31, shifting chute 32 has all been seted up to the side of claw frame 31, the bottom fixed mounting of claw frame 31 has support frame 33, the equal fixed mounting in both ends at support frame 33 top has fixed tooth 34, the inside fixed mounting of support frame 33 has count case 37, count case 37 fixed mounting is in the inside of claw frame 31, the equal slidable mounting in both ends of claw frame 31 side has centre gripping drive 35, centre gripping drive 35's side fixed mounting has drive gear 36, drive gear 36's inside movable mounting has connecting block 39, drive gear 36 movable mounting is at the both ends of connecting block 39, drive gear 36's surface and fixed tooth 34 mesh mutually, centre gripping drive 35 slidable mounting is in the inside of shifting chute 32, it is spacing to carry out centre gripping drive 35 through shifting chute 32 to set up shifting chute 32, make connecting block 39 move in the inside of support frame 33, set up drive gear 36, make drive gear 36 drive connecting block 39 move in the inside of support frame 33.
Wherein, count case 37 includes box 371, the equal fixed mounting in both ends of box 371 has touching formula counter 372, the side fixed mounting of touching formula counter 372 has touching piece 373, the material of touching piece 373 is the elastic metal piece, the equal movable mounting in both ends of box 371 has counting gear 374, counting gear 374 movable mounting is at the top of touching piece 373, counting gear 374's inside movable mounting has the rotation screw rod 375, the side at connecting block 39 is installed to rotation screw rod 375 movable mounting, rotate screw rod 375 movable mounting at the both ends of box 371, set up counting gear 374, make to rotate screw rod 375 at the in-process that removes, drive counting gear 374 and rotate, touching piece 373 sets up to the elastic metal piece, make counting gear rotate and press at touching piece 373, drive touching formula counter 372 through touching piece 373 and count.
The gripper 4 comprises a gripper 41, the gripper 41 is fixedly mounted at the bottom of the connecting block 39, a distance sensor 42 is fixedly mounted on the side of the gripper 41, a pressure sensor 43 is fixedly mounted at the bottom of the gripper 41, a pressing roller 44 is movably mounted at the bottom of the pressure sensor 43, the supporting frame 33 is arranged, the gripper 41 detects the edge of an object, and meanwhile, the distance sensor 42 is arranged, so that the height of the object is detected.
The distance sensor 42 is electrically connected with a signal receiving processor 65, the signal receiving processor 65 is electrically connected with a controller 61, the controller 61 is electrically connected with a data conversion device 62, the data conversion device 62 is electrically connected with a touch counter 372, the controller 61 is electrically connected with a signal processor 66, the signal processor 66 is electrically connected with the pressure sensor 43, the signal processor 66 is electrically connected with a computer transmitter 68, the computer transmitter 68 is electrically connected with the display 5, the data conversion device 62 is arranged to convert the pressing times into the moving distance according to the number of teeth on the surface of the counting gear 374 and the bearing of the counting gear 374 according to the pressing times.
The working process of the utility model is as follows:
when the clamping frame 3 grabs an object through the mechanical arm 2, the clamping claws 41 on four sides press the top of the object, the pressing roller 44 presses the pressure sensor 43, the pressure sensor 43 is pressed, the clamping drive 35 on four sides is started, the clamping drive 35 drives the drive gear 36 to rotate respectively, when the pressing roller 44 moves to the side edge of the object, the pressing roller 44 is suspended, the pressure sensor 43 cannot sense the pressure, at this time, the drive gear 36 moves on the top of the support frame 33, so that the connecting block 39 moves outwards, the connecting block 39 pulls the rotating screw 375 outwards to move, the counting gear 374 is driven to rotate through the rotating screw 375 to press the touch sheet 373 through the teeth on the outer surface of the counting gear 374, the number of times of pressing through the touch sheet 373 is counted by the touch counter 372, the touch counter 372 converts the number of pressing into the rotating distance according to the circumference and the number of teeth of the counting gear 374 through the data conversion device 62, so that the distance of moving of the connecting block 39 is calculated, the distance of moving of each of four sides is calculated, and displayed in the display device 68 through the computer, and the size of the outer surface of the object is detected;
when the clamping frame 3 grabs the object through the mechanical arm 2, the clamping claws 41 on the four sides are pressed on the top of the object, the pressing roller 44 presses the pressure sensor 43, the pressure sensor 43 moves to the signal processor 66 through the pressure, the signal processor 66 enables the distance sensor 42 to be started through the controller 61, when the edge of the object is moved, the pressing roller 44 is suspended, the pressure sensor 43 cannot sense the pressure, the distance sensor 42 tests the ground clearance, the height of the object is calculated, the size of the object is detected while the object is grabbed through visual grabbing, the mechanical arm 2 drives the mechanical claw 4 to descend, the clamping drive 35 drives the drive gear 36 to rotate reversely, and the object is grabbed through the clamping claws 41.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," "connecting," and "connecting" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be directly connected, and "upper," "lower," "left," and "right" are only used to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to common designs, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;
and finally: the foregoing is illustrative of the preferred embodiments of the present invention, and is not to be construed as limiting the invention, and any modifications, equivalent alterations, improvements and the like made within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The utility model provides a vision snatchs full-size detection mechanism, includes unable adjustment base (1), its characterized in that, the top activity of unable adjustment base (1) has arm (2), the side fixed mounting of arm (2) has display (5), the one end fixed mounting of arm (2) has holding frame (3), the bottom movable mounting of holding frame (3) has gripper (4).
2. The visual grabbing full-size detection mechanism according to claim 1, wherein the number of the clamping frames (3) is two, two clamping frames (3) comprise claw frames (31), moving grooves (32) are formed in the side edges of the claw frames (31), support frames (33) are fixedly mounted at the bottoms of the claw frames (31), fixed teeth (34) are fixedly mounted at the two ends of the tops of the support frames (33), counting boxes (37) are fixedly mounted inside the support frames (33), the counting boxes (37) are fixedly mounted inside the claw frames (31), clamping driving gears (35) are slidably mounted at the two ends of the side edges of the claw frames (31), driving gears (36) are fixedly mounted at the side edges of the clamping driving gears (35), connecting blocks (39) are movably mounted inside the driving gears (36), the driving gears (36) are movably mounted at the two ends of the connecting blocks (39), the outer surfaces of the driving gears (36) are meshed with the fixed teeth (34), and the clamping driving gears (35) are slidably mounted inside the moving grooves (32).
3. The mechanism of claim 2, wherein the counting box (37) comprises a box body (371), the touch counter (372) is fixedly mounted at both ends of the inside of the box body (371), the touch sheet (373) is fixedly mounted at the side of the touch counter (372), the touch sheet (373) is made of an elastic metal sheet, the counting gear (374) is movably mounted at both ends of the inside of the box body (371), the counting gear (374) is movably mounted at the top of the touch sheet (373), the rotating screw (375) is movably mounted inside the counting gear (374), the rotating screw (375) is movably mounted at the side of the connecting block (39), and the rotating screw (375) is movably mounted at both ends of the box body (371).
4. The mechanism for detecting the full size of the visual grabbing hand according to claim 1, wherein the mechanical gripper (4) comprises a gripper jaw (41), the gripper jaw (41) is fixedly installed at the bottom of the connecting block (39), a distance sensor (42) is fixedly installed at the side edge of the gripper jaw (41), a pressure sensor (43) is fixedly installed at the bottom of the gripper jaw (41), and a pressing roller (44) is movably installed at the bottom of the pressure sensor (43).
5. The mechanism for detecting full size of visual grabbing according to claim 4, wherein said distance sensor (42) is electrically connected with a signal receiving processor (65), said signal receiving processor (65) is electrically connected with a controller (61), said controller (61) is electrically connected with a data conversion device (62), said data conversion device (62) is electrically connected with a touch counter (372), said controller (61) is electrically connected with a signal processor (66), said signal processor (66) is electrically connected with a pressure sensor (43), said signal processor (66) is electrically connected with a computer transmitter (68), and said computer transmitter (68) is electrically connected with a display (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221674381.8U CN218443797U (en) | 2022-06-30 | 2022-06-30 | Full-size detection mechanism for visual grabbing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221674381.8U CN218443797U (en) | 2022-06-30 | 2022-06-30 | Full-size detection mechanism for visual grabbing |
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| Publication Number | Publication Date |
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| CN218443797U true CN218443797U (en) | 2023-02-03 |
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| CN202221674381.8U Active CN218443797U (en) | 2022-06-30 | 2022-06-30 | Full-size detection mechanism for visual grabbing |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117445019A (en) * | 2023-12-26 | 2024-01-26 | 江苏汉峰智慧工业装备有限公司 | Grabbing device of industrial robot convenient to adjust |
| CN118952291A (en) * | 2024-10-16 | 2024-11-15 | 桐乡市洲泉振强塑业股份有限公司 | A magnetic door contact calibration robot |
| CN119344849A (en) * | 2024-10-24 | 2025-01-24 | 北京建筑大学 | A pulsed electric field ablation device for local |
-
2022
- 2022-06-30 CN CN202221674381.8U patent/CN218443797U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117445019A (en) * | 2023-12-26 | 2024-01-26 | 江苏汉峰智慧工业装备有限公司 | Grabbing device of industrial robot convenient to adjust |
| CN118952291A (en) * | 2024-10-16 | 2024-11-15 | 桐乡市洲泉振强塑业股份有限公司 | A magnetic door contact calibration robot |
| CN118952291B (en) * | 2024-10-16 | 2025-02-07 | 桐乡市洲泉振强塑业股份有限公司 | Calibration manipulator for magnetic door stopper |
| CN119344849A (en) * | 2024-10-24 | 2025-01-24 | 北京建筑大学 | A pulsed electric field ablation device for local |
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