CN109283649B - Lens auxiliary device for laser vision positioning robot - Google Patents
Lens auxiliary device for laser vision positioning robot Download PDFInfo
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- CN109283649B CN109283649B CN201811202140.1A CN201811202140A CN109283649B CN 109283649 B CN109283649 B CN 109283649B CN 201811202140 A CN201811202140 A CN 201811202140A CN 109283649 B CN109283649 B CN 109283649B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/021—Mountings, adjusting means, or light-tight connections, for optical elements for lenses for more than one lens
Abstract
The invention discloses a lens auxiliary device for a laser visual positioning robot, which comprises an outer fixed shell, wherein one end of the outer fixed shell is axially distributed with a circle of internal threads, the surface of the outer fixed shell is spirally distributed with magnetic spiral threads, the outer fixed shell is locked by a locking line at the longitudinal line of an axis to form a cylindrical complete structure, a magnetic suction port is vertically opposite to a thin-wall deep groove ball bearing arranged on the inner part of the outer fixed shell, two sides of the thin-wall deep groove ball bearing are symmetrically provided with leading-out module groups, and a spiral telescopic rod extending to the outside penetrates through the locking line. This a camera lens auxiliary device for laser visual positioning robot is provided with the magnetic rotary line of heliciform distribution in the top of external fixation casing to and lock line, outer magnetic line and interior magnetic line, make external fixation casing can produce noiseless structure change at robot lens during operation corresponding to its action, abandoned traditional structural connection, have very strong novelty.
Description
The patent application is divisional application, the application number of a parent application is 2017112113466, and the application date of the parent application is 11 months and 28 days in 2017.
Technical Field
The invention relates to robot-related equipment, in particular to a lens auxiliary device for a laser vision positioning robot.
Background
With the continuous improvement of the industrial automation degree, the welding robot is widely applied to the fields of automobiles, heavy machinery, aerospace, ships, chemical engineering and the like. A welding robot is an industrial robot that is engaged in welding (including cutting and painting) and is used in the field of industrial automation. The welding robot can perform subsequent welding work only by taking an image of a welding surface through a lens, analyzing and positioning, the lens of the existing robot is directly fixed or embedded on the lens seat, and then the lens seat covers the image sensor, so that incident light of the lens is aligned with the image sensor, and captured images in the monitoring range of the lens are obtained, the fixing mode can only change the direction of the lens by a bearing when multi-directional image taking is performed, structural damage is easy to generate, noise is generated during work, the welding precision of the working robot needs to be strictly guaranteed, a plurality of sensing precision electrical parts are also arranged in the robot, whether the external and even self structures bring influence on the self work is important, and the existing lens fixing mode can not reflect the intelligent work requirement of the robot during welding work at all, and the effect of welding finished products more accurately and conveniently cannot be brought.
Disclosure of Invention
In view of the above situation, the present invention provides a lens auxiliary device for a laser vision positioning robot, which has a noiseless connecting structure, a long service life, and a wide image capturing working direction.
The technical scheme is as follows: a camera lens auxiliary device for laser visual positioning robot, including outer fixed casing, the one end axial distribution of outer fixed casing has the round internal thread, the surface of outer fixed casing is the heliciform and distributes and has the magnetism spiral line, outer fixed casing passes through the closure line looks closure and forms the complete structure of cylinder type, and the closure line encircles and links to each other with the magnetism mouth of inhaling of seting up in outer fixed casing side along the axis of outer fixed casing, magnetism suction inlet is relative from top to bottom with the thin wall deep groove ball bearing of installation on outer fixed casing is inside, the bilateral symmetry of thin wall deep groove ball bearing installs and draws out the module group, and draws out the module group and be connected with output connecting axle transmission, the inside penetration of closure line has the spiral telescopic link that extends to outside.
In one embodiment, the outer fixed shell at the upper part and the lower part of the thin-wall deep groove ball bearing is symmetrically provided with inner magnetic force lines and outer magnetic force lines which extend transversely, the inner magnetic force lines and the outer magnetic force lines are disconnected into two parts, and the disconnected parts are connected through magnetic force.
In one embodiment, the magnetic suction port is annularly arranged at the outer end of the position guiding sleeve, the other end of the position guiding sleeve is provided with a zooming image capturing end with a telescopic length, and a spherical image capturing lens is sleeved in the position guiding sleeve.
In an embodiment, the drawing module group includes a first flexible traveling frame, a telescopic column, a focusing sheet and a second flexible traveling frame, wherein the first flexible traveling frame is slidably mounted on the telescopic column, the second flexible traveling frame is fixedly mounted on the first flexible traveling frame, and the second flexible traveling frame includes a focusing sheet capable of reciprocating along the second flexible traveling frame.
In one embodiment, the external fixing shell extends inwards from the internal thread and protrudes to form a positioning pin with a smooth surface, four clamping grooves are symmetrically formed in the two ends of the locking line of the external fixing shell, and the clamping grooves are vertically and symmetrically distributed on the horizontal axis line of the external fixing shell.
The invention has the beneficial effects that: the lens auxiliary device for the laser visual positioning robot is characterized in that spirally distributed magnetic spiral grains, a locking line, an outer magnetic line and an inner magnetic line are arranged above an outer fixed shell, so that the outer fixed shell can generate silent structural change corresponding to the action of the robot lens when the robot lens works, the traditional structural connection mode with connection and contact abnormal sound is abandoned, no abrasion degree is generated basically during structure disassembly and assembly, the lens auxiliary device has strong novelty, and the service life of the structure is synchronously prolonged; in addition, the spherical image capturing lens is more creatively arranged, so that the spherical image capturing lens has wider use performance, has performance space for installing a plurality of sensing parts related to image capturing, greatly improves the welding operation precision of the robot, and saves the structural space of the image capturing position of the robot; because the performance space of the installation of the sensing component is released, the spherical image capturing lens has the working characteristic of simultaneously carrying out multi-directional image capturing, the image capturing work of a plurality of working points can be synchronously completed, and the image capturing efficiency of the robot lens is greatly improved.
Drawings
Fig. 1 is a schematic view of the overall cross-sectional structure of the present invention.
Fig. 2 is a perspective view of the external fixation housing structure of the present invention.
Fig. 3 is an enlarged schematic view of the structure of the lead-out module group of the present invention.
FIG. 4 is an enlarged schematic view of the thin-wall deep groove ball bearing structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Those of ordinary skill in the art will recognize that the directional terms "upper," "lower," "outer," "inner," etc., are used in a descriptive sense with respect to the drawings and are not intended to limit the scope of the claims.
Referring to fig. 1, as shown in an embodiment of the drawings, a circle of internal threads 701 is axially distributed at one end of an external fixing shell 700, the circle of internal threads 701 is screwed to be connected to a shaft sleeve arm of a robot working shaft, the external fixing shell 700 is integrally screwed to the robot working arm, the external fixing shell 700 extends inwards from the internal threads 701 and protrudes to form a positioning pin 100 with a smooth surface, an installation reference position is positioned by the positioning pin 100, and after four clamping grooves 200 which are vertically and symmetrically distributed on a horizontal axis of the external fixing shell 700 are connected with a corresponding robot working structure, preliminary installation and butt joint work is completed.
Referring to fig. 2, as shown in the embodiment of the drawing, after the docking operation is completed, the magnetic spiral threads 600 spirally distributed on the surface of the outer fixed casing 700 are connected with the working shaft of the robot, the outer fixed casing 700 is locked by the locking thread 702 to form a cylindrical complete structure, a part of the outer fixed casing 700 having one side of the locking thread 702 covered by the magnetic spiral threads 600 is fixed on the sleeve arm of the working shaft of the robot by the internal thread 701, another part of the outer fixed casing 700 having the other side of the locking thread 702 covered by the magnetic spiral threads 600 is surrounded along the axis of the outer fixed casing 700 by the locking thread 702 and forms a magnetic connection with a part of the outer fixed casing 700 which is fixed by the thread, so that when one end of the outer fixed casing 700 is fixed and the other end is pushed by the working shaft of the robot, the locking thread 702 at both ends of the outer fixed casing 700 is separated by force, and the outer fixed casing 700 separated from a part of the fixed casing 700 generates magnetic force by the magnetic spiral threads 600 to rotate along the working shaft of the predetermined track to the working position And (4) placing.
Referring to fig. 1 and 3, as shown in the embodiment of the drawings, the drawing module set 500 is in transmission connection with the output connecting shaft 800, the output connecting shaft 800 is connected with the working shaft of the robot, and is driven by the working shaft of the robot to slide outwards when working, and simultaneously, one side of the drawing module set 500 in transmission connection with the output connecting shaft 800 is pulled, because the drawing module set 500 is fixed on the outer fixing shell 700, the locking wire 702 is disconnected by the force generated during pulling, so that the outer fixing shell 700 completes the separation work, in order to match the orientation change of the spherical image pickup lens 402, the image pickup definition and accuracy are improved, the visual analysis module of the robot after image pickup can accurately identify the characteristic coordinates of the welding gun and the welding seam, the first flexible truss 501 is slidably mounted on the telescopic column 502, so that the first flexible truss can freely slide up and down along the telescopic column 502, and through the change of the up-down height, the height of a second flexible traveling frame 504 fixedly arranged on the first flexible traveling frame 501 is changed synchronously, the second flexible traveling frame comprises a fixed focus plate 503 which can move back and forth along the second flexible traveling frame 504, and the transverse and longitudinal positions of the fixed focus plate 503 can flexibly change along with the image taking direction of the spherical image taking lens 402 through the cooperation support of the first flexible traveling frame 501, the telescopic column 502 and the second flexible traveling frame 504.
Referring to fig. 4, as shown in the embodiment of the drawing, when the spherical image capturing lens 402 performs an image capturing operation, the natural light reflected by the target is captured by the fixed focusing lens 503 and amplified and transmitted to the spherical image capturing lens 402, so as to increase the image capturing clarity of the spherical image capturing lens 402, because the spherical image capturing lens 402 has an arc-shaped surface, a plurality of or at least six image capturing and sensing devices, such as optical and acoustic sensors, may be installed inside the spherical image capturing lens 402, so as to greatly increase the sensitivity of the robot lens to the target, thereby improving the accuracy of the operation, the spherical image capturing lens 402 is sleeved inside the guiding sleeve 403, the guiding sleeve 403 provides external protection and isolation, the spherical image capturing lens 402 is prevented from directly contacting the outside, the service life of the spherical image capturing lens is prolonged, the other end of the guiding sleeve 403 has an image capturing end 404 with a retractable length, and the image capturing end 404 is at the time when the spherical image capturing lens 402 operates, the small welding lines and the missing points are enlarged and focused in the visual window of the spherical image capturing lens 402, the length of the limited image capturing node of the spherical image capturing lens 402 is increased, the spherical image capturing lens 402 can complete multi-directional image capturing work to the outside through the zoom image capturing end 404, the magnetic suction port 401 and the non-fixedly connected end of the outer fixing shell 700, and the image capturing efficiency of the lens of the robot is greatly increased.
Referring to fig. 1, 2, 3, 4, as shown in the embodiments of the drawings, the spiral telescopic rod 900 penetrates from the inside of the locking line 702 and extends to the outside to be in transmission connection with the output shaft of the robot, so when the external fixing housing 700 is disengaged, the spherical image capturing lens 402 is pushed to a working target through the spiral telescopic rod 900 in transmission connection with the output shaft of the robot, the drawing module groups 500 are symmetrically installed at two sides of the thin-wall deep groove ball bearing 400, the spherical image capturing lens 402 is located above the thin-wall deep groove ball bearing 400, the thin-wall deep groove ball bearing 400 rotates the spherical image capturing lens 402 through the driving of the output connecting shaft 800, so that different electronic sensing devices with different image capturing performances distributed above the spherical image capturing lens 402 are arranged, one of the sensing devices suitable for the current working state corresponds to the working position through the driving of the output connecting shaft 800, and the robot is used as a positioning device for the current working condition under different welding conditions of welding work The magnetic suction port 401 is annularly arranged at the outer end of the guiding sleeve 403, the magnetic suction port 401 is vertically opposite to the thin-wall deep groove ball bearing 400 arranged inside the outer fixing shell 700, an arc-shaped port of the magnetic suction port 401 is attached to the outer end face of the spherical image capturing lens 402, when the spherical image capturing lens 402 is brought to a working face with one end of the magnetic suction port 401 by a robot output shaft, the magnetic suction port 401 can suck and position the spherical image capturing lens 402, the spherical image capturing lens 402 cannot shake during image capturing, and the image capturing structure is clear.
In the above embodiment, when the external fixing housing 700 is pulled by an external force and separated into two parts, the inner magnetic force line 300 and the outer magnetic force line 301 linked by a magnetic force complete the separation state with the locking line 702 first or synchronously, the inner magnetic force line 300 and the outer magnetic force line 301 extend transversely in the external fixing housing 700 and are located above and below the thin-wall deep groove ball bearing 400, when the external fixing housing 700 is integrated again, the inner magnetic force line 300 and the outer magnetic force line 301 linked by a magnetic force first complete the connection state, and when the external fixing housing 700 is separated or combined, the inner magnetic force line 300, the outer magnetic force line 301 and the locking line 702 can position the existence of magnetic force at two ends by a magnetic force, thereby completing the orientation and guiding work of the external fixing housing 700 when being combined.
Compared with the prior art, the invention has the beneficial effects that: the lens auxiliary device for the laser visual positioning robot is characterized in that spirally distributed magnetic spiral grains, a locking line, an outer magnetic line and an inner magnetic line are arranged above an outer fixed shell, so that the outer fixed shell can generate silent structural change corresponding to the action of the robot lens when the robot lens works, the traditional structural connection mode with connection and contact abnormal sound is abandoned, no abrasion degree is generated basically during structure disassembly and assembly, the lens auxiliary device has strong novelty, and the service life of the structure is synchronously prolonged; in addition, the spherical image capturing lens is more creatively arranged, so that the spherical image capturing lens has wider use performance, has performance space for installing a plurality of sensing parts related to image capturing, greatly improves the welding operation precision of the robot, and saves the structural space of the image capturing position of the robot; because the performance space for installing the sensing component is released, the spherical image capturing lens has the working characteristic of simultaneously carrying out multi-directional image capturing, the image capturing work of a plurality of working points can be synchronously completed, and the image capturing efficiency of the robot lens is greatly improved
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (3)
1. A camera lens auxiliary device for laser vision positioning robot, including external fixation casing (700), its characterized in that: one end of the outer fixing shell (700) is axially distributed with a circle of internal threads (701), the surface of the outer fixing shell (700) is spirally distributed with magnetic spiral threads (600), the outer fixing shell (700) is locked by a locking line (702) to form a cylindrical complete structure, the locking line (702) surrounds along the axis of the outer fixing shell (700) and is connected with a magnetic suction port (401) arranged on the side surface of the outer fixing shell (700), the magnetic suction port (401) is vertically opposite to a thin-wall deep groove ball bearing (400) arranged on the inner part of the outer fixing shell (700), two sides of the thin-wall deep groove ball bearing (400) are symmetrically provided with leading-out module groups (500), the leading-out module groups (500) are in transmission connection with an output connecting shaft (800), a spiral telescopic rod (900) extending to the outside penetrates through the locking line (702), and inner magnetic force lines extending transversely are symmetrically arranged on the outer fixing shell (700) on the upper part and the lower part of the thin-wall deep groove ball bearing (400) (300) And the outer magnetic force line (301), the inner magnetic force line (300) and the outer magnetic force line (301) are disconnected into two parts, the disconnected parts are connected through magnetic force, the magnetic suction port (401) is annularly arranged at the outer end of the guiding sleeve (403), the other end of the guiding sleeve (403) is provided with a zooming image-taking end (404) with telescopic length, and a spherical image-taking lens (402) is sleeved in the guiding sleeve (403).
2. The lens auxiliary device for the laser vision positioning robot as claimed in claim 1, wherein the drawing module group (500) comprises a first flexible traveling frame (501), a telescopic column (502), a focusing sheet (503) and a second flexible traveling frame (504), the first flexible traveling frame (501) is slidably mounted on the telescopic column (502), the second flexible traveling frame (504) is fixedly mounted on the first flexible traveling frame (501), and the second flexible traveling frame (504) comprises the focusing sheet (503) which can reciprocate along the second flexible traveling frame (504).
3. The lens auxiliary device for the laser vision positioning robot as claimed in claim 1, wherein the external fixing housing (700) extends inward from the internal thread (701) and protrudes to form a positioning pin (100) with a smooth surface, the external fixing housing (700) is symmetrically provided with four slots (200) at two ends of the locking line (702), and the slots (200) are vertically and symmetrically distributed on the horizontal axis of the external fixing housing (700).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811202140.1A CN109283649B (en) | 2017-11-28 | 2017-11-28 | Lens auxiliary device for laser vision positioning robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711211346.6A CN107942466B (en) | 2017-11-28 | 2017-11-28 | Welding robot lens fixation structure based on laser vision positioning |
| CN201811202140.1A CN109283649B (en) | 2017-11-28 | 2017-11-28 | Lens auxiliary device for laser vision positioning robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711211346.6A Division CN107942466B (en) | 2017-11-28 | 2017-11-28 | Welding robot lens fixation structure based on laser vision positioning |
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| Publication Number | Publication Date |
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| CN109283649A CN109283649A (en) | 2019-01-29 |
| CN109283649B true CN109283649B (en) | 2021-04-13 |
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| CN201811202140.1A Active CN109283649B (en) | 2017-11-28 | 2017-11-28 | Lens auxiliary device for laser vision positioning robot |
| CN201711211346.6A Active CN107942466B (en) | 2017-11-28 | 2017-11-28 | Welding robot lens fixation structure based on laser vision positioning |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711211346.6A Active CN107942466B (en) | 2017-11-28 | 2017-11-28 | Welding robot lens fixation structure based on laser vision positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108802958B (en) * | 2018-06-20 | 2020-08-28 | 黄河科技学院 | Lens fixing device for laser vision positioning |
| CN110887787A (en) * | 2019-10-30 | 2020-03-17 | 成都绝影智能科技有限公司 | Narrow slit detection and positioning laser measuring device and measuring method thereof |
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| US4908777A (en) * | 1988-01-27 | 1990-03-13 | Storage Technology Corporation | Robot arm calibration system |
| CN102151948A (en) * | 2011-01-21 | 2011-08-17 | 哈尔滨工业大学 | Macro-micro robot remote welding method for pipeline maintenance in extreme environment |
| CN105945441A (en) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | Multi-station robot welding system based on welding seam intelligent identification technology for ring-disc parts |
| CN205880324U (en) * | 2016-07-22 | 2017-01-11 | 苏州艾微视图像科技有限公司 | Automatic adjustment equipment of camera initiative optical axis |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7531773B2 (en) * | 2005-09-08 | 2009-05-12 | Flextronics Ap, Llc | Auto-focus and zoom module having a lead screw with its rotation results in translation of an optics group |
| JP2010156788A (en) * | 2008-12-26 | 2010-07-15 | Konica Minolta Opto Inc | Jig for lens |
| CN103513383A (en) * | 2012-06-28 | 2014-01-15 | 鸿富锦精密工业（深圳）有限公司 | Image-capturing lens fixing structure |
| CN108916532B (en) * | 2017-04-23 | 2020-05-12 | 诸暨市合纵科技有限公司 | Pipeline robot convenient to installation camera |
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2017
- 2017-11-28 CN CN201811202140.1A patent/CN109283649B/en active Active
- 2017-11-28 CN CN201711211346.6A patent/CN107942466B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4908777A (en) * | 1988-01-27 | 1990-03-13 | Storage Technology Corporation | Robot arm calibration system |
| CN102151948A (en) * | 2011-01-21 | 2011-08-17 | 哈尔滨工业大学 | Macro-micro robot remote welding method for pipeline maintenance in extreme environment |
| CN105945441A (en) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | Multi-station robot welding system based on welding seam intelligent identification technology for ring-disc parts |
| CN205880324U (en) * | 2016-07-22 | 2017-01-11 | 苏州艾微视图像科技有限公司 | Automatic adjustment equipment of camera initiative optical axis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107942466A (en) | 2018-04-20 |
| CN109283649A (en) | 2019-01-29 |
| CN107942466B (en) | 2018-11-30 |
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