CN219013770U

CN219013770U - Visual positioning device of composite robot

Info

Publication number: CN219013770U
Application number: CN202223178403.4U
Authority: CN
Inventors: 曾建勇; 梅宝乐; 曾发喜; 张勇; 李燕
Original assignee: Guangzhou Guoxun Robot Technology Co ltd
Current assignee: Guangzhou Guoxun Robot Technology Co ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-05-12
Anticipated expiration: 2032-11-29

Abstract

The utility model relates to the technical field of compound robots and discloses a vision positioning device of a compound robot, which comprises a mounting plate, wherein the lower end of the mounting plate is fixedly connected with a displacement guide rail, the lower end of the displacement guide rail is provided with a displacement seat, a displacement assembly is arranged in the displacement guide rail, the lower end of the displacement seat is fixedly connected with a connecting plate, the outer side of the connecting plate is provided with a rotating seat, the rotating seat is rotationally connected with the connecting plate through a connecting shaft, and the lower end of the rotating seat is fixedly provided with an industrial camera. This compound robot vision positioner drives the threaded rod through servo motor and rotates for the movable block drives the slider and removes, thereby the displacement seat is located and removes on the displacement guide rail, adjusts industrial camera's position, utilizes driving motor to drive gear rotation simultaneously, drives the roating seat and rotates, adjusts industrial camera's direction, conveniently adjusts industrial camera's scope of shooing, has improved the flexibility.

Description

Visual positioning device of composite robot

Technical Field

The utility model relates to the technical field of compound robots, in particular to a vision positioning device of a compound robot.

Background

The compound robot is a mobile manipulator composed of an AGV (automatic moving trolley) and a mechanical arm, and can realize automatic material conveying, material loading and unloading, material sorting and the like.

The Chinese patent with the authorized bulletin number of CN110842928A discloses a composite robot vision guiding and positioning device and a method, wherein the device comprises: the measuring module is used for measuring the distance between the tail end of the mechanical arm and the workbench surface, the inclination angle of the tail end of the mechanical arm and obtaining an image of an identification area serving as a guide reference on the workbench; the vision guiding processing module is used for controlling the movement of the mechanical arm through the robot movement controller according to the information acquired by the measuring module, so that the tail end of the mechanical arm reaches the same relative pose when the robot is in the standard process and the working application process; controlling automatic acquisition of calibration data and calculation of calibration parameters; and controlling the tail end of the mechanical arm to deviate from the calibration position to the workpiece placement position along the TCP, so as to finish the workpiece grabbing and placing. The corresponding composite robot vision guidance positioning method comprises a vision guidance calibration step and a work application step. According to the utility model, through accurate relative positioning based on various sensor information, the operation precision of the compound robot is ensured not to be influenced by various practical error factors, and the operation precision is increased.

The existing vision positioning device for the compound robot is generally provided with the tail end of the mechanical arm, so that the industrial camera can only move along with the compound robot, the sampling range of the camera is limited, the large area is required to be divided during positioning, and the whole flexibility is poor and the practicability is low through photographing and splicing for many times.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the utility model provides a vision positioning device for a compound robot, which aims to solve the problems that the existing vision positioning device for the compound robot provided in the background art is generally provided with the tail end of a mechanical arm, so that an industrial camera can only move along with the compound robot, the sampling range of the camera is limited, and when the vision positioning device is used for positioning, a large area is required to be divided, and the problems of poor overall flexibility and low practicability are solved through repeated photographing and splicing.

(II) technical scheme

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a compound robot vision positioner, includes the mounting panel, the lower extreme fixedly connected with displacement guide rail of mounting panel, the lower extreme of displacement guide rail is provided with the displacement seat, be provided with displacement subassembly in the displacement guide rail, the lower extreme fixedly connected with connecting plate of displacement seat, the outside of connecting plate is provided with the roating seat, roating seat and connecting plate pass through the connecting axle and rotate to be connected, the lower extreme fixed mounting of roating seat has industrial camera, the inboard upper end of roating seat is provided with drive assembly.

Preferably, the displacement seat is U type structural design, displacement seat and displacement guide rail looks adaptation each other, both ends fixedly connected with guide block around the displacement seat inboard, the guide way has all been seted up to the front and back both sides on displacement guide rail surface, guide way and guide block sliding connection make things convenient for the removal of displacement seat to the position of adjustment vision is convenient for.

Preferably, the displacement subassembly includes servo motor, threaded rod, movable block, spout and slider, the inboard right-hand member of displacement guide has servo motor, servo motor's output fixedly connected with threaded rod, the surface threaded connection of threaded rod has the movable block, the spout has been seted up to the lower extreme of displacement guide, sliding connection has the slider in the spout, through the removal of displacement seat, realizes the regulation to the camera.

Preferably, one end of the threaded rod far away from the servo motor is rotationally connected with the displacement guide rail through a bearing, the upper end of the sliding block is fixedly connected with the moving block, the lower end of the sliding block extends to the outer side of the sliding groove and is fixedly connected with the displacement seat, the threaded rod is driven to rotate through the servo motor, the moving block drives the sliding block to move, the displacement seat moves on the displacement guide rail, and visual positions are convenient to adjust.

Preferably, the drive assembly includes driving motor, drive gear, gear cavity and gear groove, driving motor is fixed to the inboard upper end of connecting plate, the gear cavity has been seted up to the inboard left end of roating seat, driving motor's output extends to fixedly connected with drive gear in the gear cavity, the gear groove has been seted up to the inboard in gear cavity, utilizes the turning to of roating seat, conveniently adjusts the angle of camera.

Preferably, the output end of the driving motor is rotationally connected with the connecting plate, the transmission gear is meshed with the gear groove, and the driving motor drives the transmission gear to rotate, so that the rotating seat is pushed to rotate, and the angle of the industrial camera is adjusted.

Compared with the prior art, the utility model provides a vision positioning device for a composite robot, which has the following beneficial effects:

this compound robot vision positioner drives the threaded rod through servo motor and rotates for the movable block drives the slider and removes, thereby the displacement seat is located and removes on the displacement guide rail, adjusts industrial camera's position, utilizes driving motor to drive gear rotation simultaneously, drives the roating seat and rotates, adjusts industrial camera's direction, conveniently adjusts industrial camera's scope of shooing, has improved the flexibility.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic cross-sectional view of the present utility model;

FIG. 3 is a schematic cross-sectional view of a gear cavity of the present utility model;

fig. 4 is a schematic side view of the present utility model.

In the figure: 1. a mounting plate; 2. a displacement guide rail; 21. a guide groove; 3. a displacement seat; 31. a guide block; 4. a displacement assembly; 41. a servo motor; 42. a threaded rod; 43. a moving block; 44. a chute; 45. a slide block; 5. a connecting plate; 6. a rotating seat; 7. a connecting shaft; 8. an industrial camera; 9. a drive assembly; 91. a driving motor; 92. a transmission gear; 93. a gear cavity; 94. a gear groove.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, the present utility model provides a technical solution: the utility model provides a compound robot vision positioning device, including mounting panel 1, mounting panel 1's lower extreme fixedly connected with displacement guide rail 2, displacement guide rail 2's lower extreme is provided with displacement seat 3, displacement seat 3 is U type structural design, displacement seat 3 and displacement guide rail 2 mutually support, the inside front and back both ends fixedly connected with guide block 31 of displacement seat 3, guide slot 21 has all been seted up to the front and back both sides on displacement guide rail 2 surface, guide slot 21 and guide block 31 sliding connection, be provided with displacement subassembly 4 in the displacement guide rail 2, displacement subassembly 4 includes servo motor 41, threaded rod 42, movable block 43, spout 44 and slider 45, servo motor 41 is fixed to the right-hand member of displacement guide rail 2 inboard, the output fixedly connected with threaded rod 42 of servo motor 41, the surface threaded connection of threaded rod 42 has movable block 43, the spout 44 has been seted up to displacement guide rail 2's lower extreme, sliding connection has slider 45 in the spout 44, the one end that the threaded rod 42 kept away from servo motor 41 and displacement guide rail 2 pass through the bearing rotation connection, the upper end and the movable block 43 fixed connection of slider 45, the lower extreme of slider 45 extends to the outside of spout 44 and the fixed connection of movable block 3 and the movable block 45, thereby the displacement seat 3 is located the displacement seat is moved by the fixed connection of movable position of displacement seat 43, the displacement seat 8, thereby displacement position of displacement seat 8 is adjusted to be moved, the position of the camera is moved by the movable guide rail 43;

the lower extreme fixedly connected with connecting plate 5 of displacement seat 3, the outside of connecting plate 5 is provided with roating seat 6, roating seat 6 and connecting plate 5 pass through connecting axle 7 rotation connection, the lower extreme fixed mounting of roating seat 6 has industrial camera 8, the inboard upper end of roating seat 6 is provided with actuating assembly 9, actuating assembly 9 includes driving motor 91, drive gear 92, gear cavity 93 and gear groove 94, the inboard upper end fixed mounting of connecting plate 5 has driving motor 91, gear cavity 93 has been seted up to the inboard left end of roating seat 6, fixedly connected with drive gear 92 in the gear cavity 93 extends to the output of driving motor 91, gear groove 94 has been seted up to the inboard of gear cavity 93, driving motor 91's output and connecting plate 5 rotation connection, driving gear 92 and gear groove 94 meshing connection utilize driving motor 91 to drive gear 92 rotation, drive roating seat 6 rotation, the direction of adjustment industrial camera 8, the convenience is adjusted industrial camera 8's scope of shooing, the flexibility has been improved.

Working principle: firstly, install the end at the arm with whole device through mounting panel 1 to when using, utilize servo motor 41 to drive threaded rod 42 rotation, make movable block 43 drive slider 45 remove, thereby displacement seat 3 is located and removes on the displacement guide rail 2, adjust the position of industry camera 8, and through the slip of guide block 31 and guide way 21, increase the stationarity of removal, utilize driving motor 91 to drive gear 92 rotation simultaneously, drive roating seat 6 rotation, adjust the direction of industry camera 8, conveniently adjust the scope of shooing of industry camera 8, the flexibility has been improved.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a compound robot vision positioner, includes mounting panel (1), its characterized in that: the utility model discloses a camera, including mounting panel (1), displacement guide (2) of lower extreme fixedly connected with of mounting panel (1), the lower extreme of displacement guide (2) is provided with displacement seat (3), be provided with displacement subassembly (4) in displacement guide (2), the lower extreme fixedly connected with connecting plate (5) of displacement seat (3), the outside of connecting plate (5) is provided with roating seat (6), roating seat (6) and connecting plate (5) are through connecting axle (7) rotation connection, the lower extreme fixed mounting of roating seat (6) has industrial camera (8), the inboard upper end of roating seat (6) is provided with drive assembly (9).

2. A composite robotic vision positioning device as defined in claim 1, in which: the displacement seat (3) is of a U-shaped structural design, the displacement seat (3) and the displacement guide rail (2) are mutually matched, guide blocks (31) are fixedly connected to the front end and the rear end of the inner side of the displacement seat (3), guide grooves (21) are formed in the front side and the rear side of the surface of the displacement guide rail (2), and the guide grooves (21) are in sliding connection with the guide blocks (31).

3. A composite robotic vision positioning device as defined in claim 1, in which: the displacement assembly (4) comprises a servo motor (41), a threaded rod (42), a moving block (43), a sliding groove (44) and a sliding block (45), wherein the servo motor (41) is fixedly arranged at the right end of the inner side of the displacement guide rail (2), the threaded rod (42) is fixedly connected with the output end of the servo motor (41), the moving block (43) is connected with the surface of the threaded rod (42) in a threaded manner, the sliding groove (44) is formed in the lower end of the displacement guide rail (2), and the sliding block (45) is connected with the sliding groove (44) in a sliding manner.

4. A composite robotic visual positioning device as defined in claim 3, wherein: one end of the threaded rod (42) far away from the servo motor (41) is rotationally connected with the displacement guide rail (2) through a bearing, the upper end of the sliding block (45) is fixedly connected with the moving block (43), and the lower end of the sliding block (45) extends to the outer side of the sliding groove (44) and is fixedly connected with the displacement seat (3).

5. A composite robotic vision positioning device as defined in claim 1, in which: the driving assembly (9) comprises a driving motor (91), a transmission gear (92), a gear cavity (93) and a gear groove (94), wherein the driving motor (91) is fixedly arranged at the upper end of the inner side of the connecting plate (5), the gear cavity (93) is formed in the left end of the inner side of the rotating seat (6), the output end of the driving motor (91) extends to the gear cavity (93) and is fixedly connected with the transmission gear (92), and the gear groove (94) is formed in the inner side of the gear cavity (93).

6. The vision positioning device of a compound robot of claim 5, wherein: the output end of the driving motor (91) is rotationally connected with the connecting plate (5), and the transmission gear (92) is meshed with the gear groove (94).