CN-121697029-B - Industrial vision assembly robot

CN121697029BCN 121697029 BCN121697029 BCN 121697029BCN-121697029-B

Abstract

The invention provides an industrial vision assembly robot, which belongs to the technical field of industrial robots and comprises a base, wherein the top surface of the base is fixedly connected with a rotary table, the top surface of the rotary table is fixedly connected with a mechanical arm, the tail end of the mechanical arm is provided with a connecting arm, the connecting arm is fixedly connected with a U-shaped mounting frame, two sides of the bottom surface of the U-shaped mounting frame are fixedly connected with two fixing sleeves, one side of each fixing sleeve is provided with an opening, two connecting blocks which are distributed front and back are arranged on the U-shaped mounting frame, each connecting block penetrates through the corresponding two fixing sleeves and can slide along the corresponding fixing sleeves, the U-shaped mounting frame is provided with a first transmission assembly, and the first transmission assembly can drive the connecting blocks to move. According to the invention, the horizontal position of the visual camera is adjusted by driving the first transmission assembly, and visual observation is carried out at different assembly positions, so that the accelerator can be accurately positioned and assembled.

Inventors

Yong Binbin
GUO LAN
WANG JINQIANG
ZHOU QINGGUO
JI PENG
ZHOU RUI
XIAO JIE

Assignees

兰州大学

Dates

Publication Date: 20260512
Application Date: 20260211

Claims (5)

1. The utility model provides an industry vision assembly robot, includes base (1), its characterized in that, base (1) top surface fixed connection revolving stage (2), revolving stage (2) top surface fixed connection arm (3), arm (3) end-to-end mount linking arm (4), fixed connection U type mounting bracket (5) on linking arm (4), two fixed cover (6) of equal fixed connection in U type mounting bracket (5) bottom surface both sides, every fixed cover (6) one side all opens, be equipped with connecting block (7) that two distributes around on U type mounting bracket (5), every connecting block (7) all pass in two fixed covers (6) that correspond and can follow fixed cover (6) slip that correspond, be equipped with first drive assembly on U type mounting bracket (5), first drive assembly can drive connecting block (7) and remove; Each connecting block (7) is fixedly connected with a mounting plate (8), one side of each mounting plate (8) is rotationally connected with a transverse shaft (9), one end of each transverse shaft (9) is fixedly connected with a fixed block (10), each fixed block (10) is fixedly connected with a vertical mounting rod (11), the bottom end of each mounting rod (11) is fixedly connected with a visual camera (12), one side of the top end of each mounting rod (11) is fixedly connected with a transverse rod (13), each mounting plate (8) is provided with a second transmission assembly, and the second transmission assemblies can drive the transverse rods (13) to move; The second transmission assembly comprises two fixing plates (22), wherein the two fixing plates (22) are fixedly connected to the top surface of the mounting plate (8), a second motor (23) is fixedly connected to one fixing plate (22), one end of a rotating shaft of the second motor (23) is fixedly connected with a first screw rod (24), the first screw rod (24) is rotationally connected with the other fixing plate (22), a first moving block (25) is connected to the first screw rod (24) through threads, two baffle rods (26) are fixedly connected to the top surface of the first moving block (25), the cross rod (13) is positioned between the two baffle rods (26) and can be in contact fit with the baffle rods (26), a first limiting rod (27) is fixedly connected between the two fixing plates (22), the first limiting rod (27) penetrates through the first moving block (25) and is in sliding connection with the first moving block (25), and the first limiting rod (27) is distributed front and back to the first screw rod (24); The novel hydraulic lifting device is characterized in that pneumatic telescopic rods (14) are fixedly connected to two sides of the U-shaped mounting frame (5), the free ends of the pneumatic telescopic rods (14) are fixedly connected with hollow clamping blocks (15) in the inside, vertical plates (16) are arranged in the clamping blocks (15), three clamping claws (17) are fixedly connected to the vertical plates (16), the three clamping claws (17) are distributed in a triangular shape, three through holes (18) are formed in one side of each clamping block (15), the clamping claws (17) can move in the corresponding through holes (18), a third transmission assembly is arranged on each clamping block (15), and the third transmission assembly can drive the vertical plates (16) to move; The third transmission assembly comprises a third motor (28), the third motor (28) is fixedly connected to the top surface of the clamping block (15), the bottom end of a rotating shaft of the third motor (28) is fixedly connected with a second screw rod (29), the bottom end of the second screw rod (29) is rotationally connected with the clamping block (15), opposite threads are formed in the two ends of the second screw rod (29), the two ends of the second screw rod (29) are connected with second movable blocks (30) through threads, one side of each second movable block (30) is hinged to an inclined supporting rod (31), and one end of each supporting rod (31) is hinged to a vertical plate (16).
2. The industrial vision assembling robot according to claim 1, wherein the first transmission assembly comprises a first motor (19), the first motor (19) is fixedly connected to the top surface of the U-shaped mounting frame (5), a gear (20) is fixedly connected to the bottom end of a rotating shaft of the first motor (19), racks (21) are fixedly connected to opposite surfaces of two connecting blocks (7), the racks (21) extend out of an opening of the fixing sleeve (6), and the gears (20) are respectively connected with the two racks (21) in a meshed mode.
3. An industrial vision assembling robot according to claim 1, wherein two opposite faces of the clamping blocks (15) are provided with arc-shaped clamping grooves (32), and three through holes (18) are respectively arranged at two sides of the arc-shaped clamping grooves (32).
4. An industrial vision assembling robot according to claim 1, wherein two second limit rods (33) which are distributed up and down are fixedly connected to the opposite sides of the two clamping blocks (15), and each second limit rod (33) penetrates through the U-shaped mounting frame (5) and can horizontally slide along the U-shaped mounting frame (5).
5. An industrial vision assembling robot according to claim 1, wherein the four corners of the top surface of the base (1) are provided with mounting holes (34).

Description

Industrial vision assembly robot Technical Field The invention belongs to the technical field of industrial robots, and particularly relates to an industrial vision assembly robot. Background The industrial robot is a multi-degree-of-freedom mechanical tool widely applied to the industrial field, can realize the actions of grabbing, carrying and the like, greatly reduces the personnel cost of factories and improves the working efficiency. Along with the complicating of application scene, traditional fixed-point type robot can not satisfy the requirement, so vision robot is consequently generated, mainly through image acquisition, analysis work piece's characteristic and motion track to realize accurate snatch complicated processes such as screening. The application number is CN202411921096.5, the industrial vision robot comprises a mechanical module, a vision module and a motion control module, wherein the mechanical module comprises an end execution unit, the end execution unit is movably arranged on a door-shaped frame at the tail end of a mechanical arm unit, connecting columns are fixedly connected to the inner walls of two sides of the door-shaped frame respectively, clamping claw discs are connected to the connecting columns, three groups of clamping claws are arranged on the clamping claw discs, the three groups of clamping claws are distributed in a circular array by taking the centers of the clamping claw discs as axes, the three groups of clamping claws on two sides grasp and fix a target object through extension, the spherical object is tightly clamped under the simultaneous action of the three groups of clamping claws on two sides, the fixed clamping of the spherical object can be realized under the condition of a certain error, the clamping position of the spherical object is automatically adjusted, the centers of the spherical object are positioned on the connecting lines of the centers of the three groups of clamping claws on two sides under the action force of the three clamping claws, and accurate placement can be realized. But in the process of assembling the accelerator, the clamping claws in the technical scheme cannot be adjusted, so that the clamping claws are not beneficial to grabbing a columnar object and a square object while the clamping claws are beneficial to grabbing a spherical object, the workpiece is easy to clamp or separate, the applicability is poor, and the assembly efficiency and the assembly precision of the accelerator are further affected. Accordingly, the present invention provides an industrial vision assembly robot to remedy and ameliorate the deficiencies of the prior art. Disclosure of Invention In order to make up for the defects of the prior art, the invention provides an industrial vision assembly robot. The invention aims to achieve the aim, and the aim is achieved by the following technical scheme: The utility model provides an industry vision assembly robot, includes the base, base top surface fixed connection revolving stage, revolving stage top surface fixed connection arm, arm end-mounting linking arm, fixed connection U type mounting bracket on the linking arm, two fixed cover of equal fixed connection in U type mounting bracket bottom surface both sides, every fixed cover one side all opens, be equipped with two connecting blocks that distribute around on the U type mounting bracket, every the connecting block all passes in two fixed covers that correspond and can follow corresponding fixed cover and slide, be equipped with first drive assembly on the U type mounting bracket, first drive assembly can drive the connecting block and remove; One end of each connecting block is fixedly connected with a mounting plate, one side of each mounting plate is rotationally connected with a transverse shaft, one end of each transverse shaft is fixedly connected with a fixed block, each fixed block is fixedly connected with a vertical mounting rod, the bottom end of each mounting rod is fixedly connected with a visual camera, one side of the top end of each mounting rod is fixedly connected with a transverse rod, each mounting plate is provided with a second transmission assembly, and the second transmission assemblies can drive the transverse rods to move; The pneumatic telescopic device comprises a U-shaped mounting frame, pneumatic telescopic rods, clamping blocks, a vertical plate, three clamping claws and a third transmission assembly, wherein the two sides of the U-shaped mounting frame are fixedly connected with the pneumatic telescopic rods, the free ends of the pneumatic telescopic rods are fixedly connected with the hollow clamping blocks, the vertical plate is arranged in each clamping block, the three clamping claws are fixedly connected with the vertical plate, the three clamping claws are distributed in a triangular shape, the three through holes are formed in one side of each clamping block, the clamping claws can move out of the corresponding throug