CN109283649A

CN109283649A - Lens Assist Device for Laser Vision Positioning Robot

Info

Publication number: CN109283649A
Application number: CN201811202140.1A
Authority: CN
Inventors: 李文方; 李海霞; 董雪峰; 王玉巧; 付瑞玲
Original assignee: Huanghe Science and Technology College
Current assignee: Shenzhen Ruben Technology Co ltd
Priority date: 2017-11-28
Filing date: 2017-11-28
Publication date: 2019-01-29
Anticipated expiration: 2037-11-28
Also published as: CN109283649B; CN107942466A; CN107942466B

Abstract

The invention discloses the camera lens auxiliary devices for laser vision positioning robot, including outer fixed shell, a circle internal screw thread is axially distributed in one end of the outer fixed shell, the surface of the outer fixed shell has been spirally distributed magnetic rotation line, the outer fixed shell locks together to form cartridge type complete structure by the sealed line at the vertical line of axle center, the magnetic mouth and the thin-walled deep groove ball bearing being mounted in outer fixed enclosure interior are opposite up and down, the two sides of the thin-walled deep groove ball bearing, which are symmetrically installed with, draws module group, run through to have inside the sealed line and extends to external spiral expanding bar.The camera lens auxiliary device for being used for laser vision positioning robot fixes the magnetic rotation line that spiral distribution is provided with above shell outside, and sealed line, the outer magnetic line of force and the interior magnetic line of force, make outer fixed shell that can correspond to its movement in the work of robot camera lens and generates noiseless structure change, traditional structural union has been abandoned, there is very strong novelty.

Description

Camera lens auxiliary device for laser vision positioning robot

Present patent application is divisional application, and parent application number is 2017112113466, and parent application day is in November, 2017 28 days.

Technical field

The present invention relates to robot relevant devices, assist dress more particularly to the camera lens for laser vision positioning robot It sets.

Background technique

With the continuous improvement of industrial automatization, welding robot automobile, heavy-duty machinery, aerospace, ship, The fields such as chemical industry are widely applied.Welding robot is the industrial robot for being engaged in welding (including cutting and spraying), is used In industrial automation.And welding robot needs to first pass through camera lens and carries out capture analyzing and positioning to welding surface in welding, It just can be carried out subsequent welding, and existing robot camera lens is direct fixed or is embedded on the lens mount, then Cover the image sensor by the lens mount, so that the incident ray of camera lens is to the just described image sensor, to obtain The pick-up image of camera lens monitoring range is obtained, this fixed form can only change camera lens by bearing when carrying out multi-faceted capture Direction, and be easy to produce structural damage, and while working, can generate noise, and for working robot, welding precision is needed Obtain strict guarantee, robot interior equally installs many sensing class delicate electrical parts, it is extraneous so itself structure whether Working for itself, it is critically important to affect, and existing camera lens fixed form cannot embody robot in welding completely Intelligent need of work, equally can not also bring more acurrate more easily welding finished product effect.

Summary of the invention

For above situation, the technical problem to be solved in the present invention is to provide one kind to have noiseless connection structure, and The camera lens auxiliary device for laser vision positioning robot of long service life, wide capture operative orientation.

Its technical solution is: described for the camera lens auxiliary device of laser vision positioning robot, including outer fixed shell A circle internal screw thread is axially distributed in one end of outer fixed shell, and the surface of the outer fixed shell has been spirally distributed magnetic rotation Line, the outer fixed shell lock together to form cartridge type complete structure by the sealed line at the vertical line of axle center, and sealed line is along outer The axle center vertical line of fixed shell surround and is connected with the magnetic mouth for being provided with outer fixed shell end, the magnetic mouth and installation The thin-walled deep groove ball bearing fixed in enclosure interior outside is opposite up and down, and the two sides of the thin-walled deep groove ball bearing are symmetrically installed with Module group, and extraction module group and output connecting shaft transmission connection are drawn, runs through to have extending to outside inside the sealed line Spiral expanding bar.

In one embodiment, it is symmetrically arranged with and is laterally extended on the outer fixed shell of thin-walled deep groove ball bearing top and the bottom The interior magnetic line of force and the outer magnetic line of force, and the interior magnetic line of force and all disconnections of the outer magnetic line of force are two parts, and disconnection part passes through magnetic force link.

In one embodiment, the magnetic mouth is provided with the outer end for drawing position set in a ring, and draws the other end of position set Zoom capture end with Extensible, it is described draw position set in be set with spherical image capture lens spherical in shape.

In one embodiment, the extraction module group includes that the first flexible row frame, telescopic mast, fixed-focus piece and second are flexible Row frame, the first flexible row frame are slidably mounted on telescopic mast, and the described second flexible row frame is fixedly mounted on the first flexible row frame On, the described second flexible row frame includes the fixed-focus piece that can make back and forth movement along the second flexible row frame.

In one embodiment, the outer fixed shell extends inwardly from internal screw thread and protrudes to be formed with smooth surface Positioning pin, the outer fixed shell symmetrically opens up in the both ends of sealed line there are four card slot, fixed shell other than each card slot The distribution symmetrical above and below of horizontal axis line.

The beneficial effects of the present invention are: the camera lens auxiliary device for being used for laser vision positioning robot fixes shell outside Top be provided with magnetic rotation line and sealed line, the outer magnetic line of force and the interior magnetic line of force of spiral distribution, make outer fixed shell in machine Device people's camera lens can correspond to the noiseless structure of its movement generation and change when working, having abandoned tradition has the knot for connecting and contacting abnormal sound Structure connection type is generated without wear intensity substantially when structure dismounts, and has very strong novelty, the also Synchronous lifting use of structure Service life；In addition further inventive is provided with spherical image capture lens, has more wide service performance, have make it is multiple about capture Sensing element installation performance space, increase substantially the welding operation precision of robot, while saving robot capture The structure space of position；Since the performance space of sensing element installation is released, spherical image capture lens are more with that can carry out simultaneously The working characteristics of orientation capture can synchronously complete the capture work of multiple operating points, increase considerably taking for robot camera lens As efficiency.

Detailed description of the invention

Fig. 1 is whole the schematic diagram of the section structure of the invention.

Fig. 2 is fixed shell structural perspective outside the present invention.

Fig. 3 is that the present invention draws module group structure enlargement diagram.

Fig. 4 is thin-walled deep groove ball bearing structure enlargement diagram of the present invention.

Specific embodiment

Below with reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

It will be recognized by those of ordinary skill in the art that the positional terms such as " upper end ", " lower end ", "outside", "inner" are needles For the description term of attached drawing, it is not offered as the limitation of the protection scope limited the claim.

Referring to Fig. 1, as shown in embodiment in attached drawing, a circle internal screw thread is axially distributed in one end of outer fixed shell 700 701, by screwing circle internal screw thread 701 on the axle sleeve arm to access robot working shaft, the whole spiral shell of outer fixed shell 700 is connected It connects on machine operation arm, outer fixed shell 700 extends and protrude to be formed with smooth surface inwardly from internal screw thread 701 Positioning pin 100, by positioning slightly 100 location and installation base positions, above and below the horizontal axis line of shell 700 fixed other than four Symmetrical card slot 200 with and after its corresponding robot work structuring is connected, be accomplished preliminary installation docking Work.

Referring to fig. 2, as shown in embodiment in attached drawing, after the completion of mating operation, the surface of shell 700 is fixed helically outside The magnetic rotation line 600 of shape distribution is connected with the working shaft of robot, and outer fixed shell 700 passes through the sealed line at the vertical line of axle center 702, which lock together, to form cartridge type complete structure, the outer fixed shell 700 1 with 702 side of sealed line that magnetic rotation line 600 covers Divide and be fixed on the axle sleeve arm of robot working shaft by circle internal screw thread 701, sealed 702 other side of line is covered with magnetic rotation line 600 Outer fixed shell 700 another part by sealed line 702 along outer fixed shell 700 axle center vertical line surround, with itself The a part being screwed forms magnetic connection, in this way, when outer fixed 700 one end of shell is fixed, and the other end is by machine The working shaft of people is pushed, and the sealed line 702 at outer fixed 700 both ends of shell is detached from a part of stationary body because power is detached Outer fixed shell 700 by magnetic rotation line 600 generate magnetic force along robot working shaft according to definitive orbit turn to working position It sets.

Referring to Fig. 1, Fig. 3, as shown in embodiment in attached drawing, draws module group 500 and output connecting shaft 800 is sequentially connected, The output connection of connecting shaft 800 is connected with the working shaft of robot, is driven by robot working shaft when work and skids off outward, simultaneously To be pulled with 500 side of extraction module group that be sequentially connected of output connecting shaft 800, due to draw module group 500 be fixed on it is outer solid On fixed shell 700, the power that when pulling generates disconnects sealed line 702, so that outer fixed shell 700 be made to complete separation work Make, in order to cooperate the azimuth shift constantly made when spherical 402 capture of image capture lens, improves capture clarity and accuracy, it is convenient Robotic vision analysis module can accurately identify welding gun and characteristics of weld seam coordinate after capture, by the first flexible row frame 501 are slidably mounted on telescopic mast 502, slide it can along telescopic mast 502 freely up and down, and changing by upper-lower height Become, is changed the high level of synchronization for the second flexible row frame 504 being fixedly mounted on the first flexible row frame 501, second is flexible Row frame includes the working depth for changing the fixed-focus piece 503 that can make back and forth movement along the second flexible row frame 504, fixed-focus piece 503 Horizontal and vertical position can be followed by the cooperation support of the first flexible row frame 501, telescopic mast 502 and the second flexible row frame 504 Make flexible state change in the capture orientation of spherical image capture lens 402.

Referring to fig. 4, as shown in embodiment in attached drawing, when spherical image capture lens 402 carry out capture work, by fixed-focus piece 503 The available light that target reflects is captured and amplified and is transmitted at spherical image capture lens 402, increases spherical image capture lens 402 and takes The clarity of picture can will be installed multiple or minimum since spherical image capture lens 402 are curved surfaces inside spherical image capture lens 402 Six captures and sensing device increase considerably robot camera lens to the sensitivity of object such as light, phonoreception class sensor, with this Degree, to improve the accurate precision of work, spherical image capture lens 402, which are sleeved on, to be drawn inside position set 403, provides the external world by drawing position set 403 Protection isolation, avoids spherical image capture lens 402 from directly contacting the external world, while improving its service life, draws the another of position set 403 End has the zoom capture end 404 of Extensible, and zoom capture end 404, will be tiny when spherical image capture lens 402 work Weld seam and missed point are amplified and are focused in the vision window of spherical image capture lens 402, increase spherical the limited of image capture lens 402 and take As node's length, spherical image capture lens 402 are connected by the on-fixed at zoom capture end 404, magnetic mouth 401 and outer fixed shell 700 The one end connect is achievable to work to extraneous multidirectional capture, has increased considerably the capture efficiency of robot camera lens.

Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, as shown in embodiment in attached drawing, passed through inside the self-locking zygonema 702 of spiral expanding bar 900 It wears and extends to external and robot output shaft and be sequentially connected, so, when fixing the generation disengaging movement of shell 700 outside, spherical shape Image capture lens 402 with the spiral expanding bar 900 that robot output shaft is sequentially connected by being pushed at target, thin-walled deep-groove ball The two sides of bearing 400, which are symmetrically installed with, draws module group 500, and spherical image capture lens 402 are in the upper of thin-walled deep groove ball bearing 400 Side, thin-walled deep groove ball bearing 400 make the rotation of spherical image capture lens 402 by the drive of output connecting shaft 800, with this by spherical capture The different electronic sensing devices with different capture performances being distributed above mirror 402, by export connecting shaft 800 drive by its In be suitble to the sensing device of current working status corresponding at operating position at one, weld robot in the different of welding Using to the capture positioning device that can be directed to present behavior in the case of connecing, magnetic mouth 401 is provided in a ring draws position set 403 Outer end, and magnetic mouth 401 is opposite with about the 400 thin-walled deep groove ball bearing that is mounted on outer 700 inside of fixed shell, magnetic The arc port of suction inlet 401 and the outer end face of spherical image capture lens 402 fit, in spherical image capture lens 402 by robot output shaft When bringing into working face with 401 one end of magnetic mouth, spherical image capture lens 402 can be adsorbed and be positioned by magnetic mouth 401, make spherical shape Image capture lens 402 will not generate shaking in capture, keep image-taking structure clear.

In the above-described embodiments, outer fixed shell 700 is dropped by external force, when being detached from as two parts, by passing through magnetic force chain The interior magnetic line of force 300 and the outer magnetic line of force 301 connect at first or it is synchronous complete disengaged position with sealed line 702, and the interior magnetic line of force 300 It fixes in shell 700 and is laterally extended outside with the outer magnetic line of force 301, position is in the upper and lower of thin-walled deep groove ball bearing 400, and When outer fixed shell 700 is classified as integrated again, and the interior magnetic line of force 300 by being linked by magnetic force and the outer magnetic line of force 301 are at first Reach connection status, fixes the interior magnetic line of force 300, the outer magnetic line of force 301 and sealed line when shell 700 is separated or combined outside 702 can be transferred through the presence of magnetic attraction positioning both ends magnetic force, to complete orientation and guidance of the outer fixed shell 700 when combining Work.

Compared with prior art, the beneficial effects of the present invention are: the camera lens auxiliary for being used for laser vision positioning robot Device fixes magnetic rotation line and sealed line, the outer magnetic line of force and the interior magnetic line of force that spiral distribution is provided with above shell outside, Make outer fixed shell that can correspond to it in the work of robot camera lens and act the noiseless structure change of generation, having abandoned tradition has company The structural union of abnormal sound is connect and contacted, is generated substantially without wear intensity when structure dismounts, there is very strong novelty, also synchronize Improve the service life of structure；In addition further inventive is provided with spherical image capture lens, has more wide service performance, tool There is the performance space for installing multiple sensing elements about capture, increases substantially the welding operation precision of robot, together When save robot pick-up position structure space；Since the performance space of sensing element installation is released, spherical image capture lens With the working characteristics that can carry out multi-faceted capture simultaneously, the capture work of multiple operating points can be synchronously completed, is increased considerably The capture efficiency of robot camera lens

Above by specific embodiment and embodiment, invention is explained in detail, but these are not constituted to this hair Bright limitation.Without departing from the principles of the present invention, those skilled in the art can also make many modification and improvement, this It also should be regarded as protection scope of the present invention a bit.

Claims

1. A lens auxiliary device for a laser vision positioning robot, comprising an outer fixed casing (700), characterized in that: one end of the outer fixed casing (700) is axially distributed with a circle of internal threads (701), the Magnetic swirls (600) are distributed on the surface of the outer fixed casing (700) in a helical shape, and the outer fixed casing (700) is locked by the locking wire (702) at the longitudinal line of the axis to form a complete cylindrical shape. structure, and the locking wire (702) surrounds along the longitudinal axis of the outer fixed casing (700) and is connected to the magnetic suction port (401) opened at the end of the outer fixed casing (700), the magnetic suction port (401) Opposite to the thin-walled deep groove ball bearing (400) installed on the inside of the outer fixed shell (700) up and down, the thin-walled deep groove ball bearing (400) is symmetrically installed with a lead-out module group (500) on both sides, and the lead-out module group (500) ) is drive-connected to the output connecting shaft (800), the locking wire (702) runs through a spiral telescopic rod (900) extending to the outside, and the upper and lower outer fixed housings ( 700) are symmetrically arranged with laterally extending inner magnetic field lines (300) and outer magnetic field lines (301), and both the inner magnetic field lines (300) and the outer magnetic field lines (301) are disconnected into two parts, and the disconnected parts are linked by The suction port (401) is annularly opened on the outer end of the guide sleeve (403), and the other end of the guide sleeve (403) has a zoom image capturing end (404) with a retractable length, the guide sleeve (403) ) is equipped with a spherical spherical imaging mirror (402).

2. The lens auxiliary device for a laser vision positioning robot according to claim 1, wherein the lead-out module group (500) comprises a first flexible rack (501), a telescopic column (502), a fixed A focus plate (503) and a second flexible rack (504), wherein the first flexible rack (501) is slidably mounted on the telescopic column (502), and the second flexible rack (504) is fixedly mounted on the first flexible rack (504) On the carriage (501), the second flexible carriage (504) includes a fixed focus film (503) that can move back and forth along the second flexible carriage (504).

3. The lens assisting device for a laser vision positioning robot according to claim 1, characterized in that, the outer fixing shell (700) extends inward from the inner thread (701) and protrudes to form a smooth surface The positioning pin (100) of the outer fixing casing (700) is symmetrically provided with four clamping slots (200) at both ends of the locking line (702), and the outer fixing casing (700) is fixed outside each clamping slot (200). The horizontal axis is symmetrically distributed up and down.