CN107283401A - A kind of flexible fixture of install sensor device - Google Patents
A kind of flexible fixture of install sensor device Download PDFInfo
- Publication number
- CN107283401A CN107283401A CN201710568818.7A CN201710568818A CN107283401A CN 107283401 A CN107283401 A CN 107283401A CN 201710568818 A CN201710568818 A CN 201710568818A CN 107283401 A CN107283401 A CN 107283401A
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- China
- Prior art keywords
- connecting hole
- shaped piece
- disk
- sensor device
- connecting plate
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Plates (AREA)
Abstract
Present invention is disclosed a kind of flexible fixture of install sensor：Including substrate, disk (4), contiguous block (5), connecting plate (1), U-shaped piece (7) and supporting plate (6), the disk (4) is arranged in the disc slots of the substrate, connecting plate (1) is connected by contiguous block (5) with disk (4), connecting plate (5) is connected by U-shaped piece (7) with supporting plate (6), install sensor in supporting plate (6)；Wherein, central axis direction of the disk (4) along the substrate disc slots carries out rotation regulation, or the vertical direction regulation of U-shaped piece (7) along the connecting plate (5), or U-shaped piece (7) carry out rotation regulation along the axial direction with the junction of the connecting plate (5), or the supporting plate (6) carries out rotation regulation along the axial direction with the junction of U-shaped piece (7).By the combination of above-mentioned part, the multiaxis degree that can complete sensor device in X, Y, Z-direction is adjusted, and has reached the purpose of sensor soft readjustment.
Description
Technical field：
Robot automation field of the present invention, more particularly to a kind of real-time detection apparatus of Robot Binocular Vision.
Background technology：
Traditional robot sensor installs fixture has position and fixed, and has uncontrollable shortcoming, or adjustable
The problem of scope very little, underaction.Although some can be realized a range of with the sensor installs fixture of plastic production
Regulation, but plastic products jitter amplitude in mechanical arm vibration processes is larger, influences the positioning precision of sensor.Or and have
Although clamp of sensor it is flexibly accurate, but involving great expense of existing, it is difficult to wide variety of shortcoming.
Present invention mainly solves the uncontrollable shortcoming of traditional sensors chucking position, the not enough shortcoming of stability, cost
High shortcoming.
The content of the invention：
The invention discloses a kind of real-time detection apparatus of Robot Binocular Vision, mainly according to IMAQ machine therein
Structure, realizes the adjustability of robot vision, and other sensors are discussed.Normal condition, the visual angle of human eye than broader,
Any point in front can arbitrarily be observed.If video camera is fixed on robot flange, robotic vision model
Enclosing must be limited by the free degree.Coordinate system is set by X-Y faces of the platen surface of fixture, using vertical flat plate face as Z axis.
The base of vision is arranged to discoid, and the disk opened round groove of substrate can make device be rotated (such as Fig. 1), in disc slots
Two ends two screwed holes are bored to realize the fixation (such as Fig. 4) of disk plate with slots, and only use the fixation in one of hole, can be real
Now with the rotation in this Kong Weizhong points of 180 degree direction, by the independent fixation in another hole, it can be achieved at another
180 degree direction rotates, and 180 degree twice is misaligned, therefore 360 degree of directions that can now about the z axis rotate.With the circular slab of fluting
Be indirectly connected to connect by contiguous block (such as Fig. 5) is a block length cube plate (such as Fig. 6), and opens groove with the centre of bar blocks, can
Moving up and down for sensor device Z-direction is realized, in order to ensure rigidity and the life-span of cuboid plate, is made using thin stainless steel plate
For material.Connected between cuboid plate and sensor device by bolt, when sliding into the height mutually wanted, screwing bolts can
Realize the fixation of the Z-direction of sensor device.The two ends of sensor support plate and cuboid steel plate by U-shaped piece (such as Fig. 7) come
Connection, the center opened hole of U-shaped piece of bottom surface, realization be connected with cuboid steel plate, the screw that the two ends of side are also opened, realization and
The connection of sensor base device supporting plate.Meanwhile, the part that sensor support plate (such as Fig. 8) is connected with U-lag is also opened U-shaped and lacked
Mouthful, it is nested in U-lag, realizes the fixation of camera support plate by rotating two bolts simultaneously, shooting so can be achieved
Machine can also be realized 360 degree of rotations using X as axle, be passed through rotary U-type block with the rotation of the 180 degree of Y direction.Video camera and
The base device of video camera realizes connection by two bolts, realizes that it is fixed by screwing bolts.The bottom of single unit system
Portion is connected by right-angle connecting plate (such as Fig. 9), is easy to connect other devices.The process of this patent is easier, using aluminium
Fixture based on alloy can mitigate the load of robotic arm.Processed again by being divided into bulk form to fixture and assembled respectively,
Processing cost is reduced, process efficiency is improved.
The present invention can be completed by the following technical programs.1st, a kind of flexible fixture of install sensor device, described
Flexible fixture includes substrate (3), disk (4), contiguous block (5), connecting plate (1), U-shaped piece (7) and supporting plate (6), the substrate
Disc slots are opened up, the disk (4) is arranged in the disc slots of the substrate, and connecting plate (1) passes through contiguous block (5) and disk
(4) connect, connecting plate (1) is connected by U-shaped piece (7) with supporting plate (6), install sensor device in supporting plate (6)；
Wherein, the disk (4) can carry out rotation regulation, or U-shaped piece (7) along the central shaft of the substrate disc slots
Adjusted along the vertical direction of the connecting plate (5), or U-shaped piece (7) are along the axle with the junction of the connecting plate (5)
To progress rotation regulation, or the supporting plate (6) rotation regulation is carried out along the axial direction with the junction of U-shaped piece (7).
In one embodiment, the circumferencial direction in the substrate disc slots opens up two through holes, in the disk (4)
Circumferencial direction opens up arc-shaped slot pass, two through holes of the substrate and the location matches of the disk arc-shaped slot pass.
In one embodiment, connecting hole is additionally provided with the disk (4), the contiguous block (5) is provided with and the circle
First group of connecting hole of disk connecting hole matching, first group of connector will by the disk connecting hole and first group of connecting hole
The disk and contiguous block connection.
In one embodiment, second group of connecting hole is additionally provided with the contiguous block (5), connecting plate (1) is provided with and institute
The connecting hole of second group of connecting hole matching is stated, second group of connector is connected by the connecting hole of the connecting plate with described second group
Hole connects the contiguous block connecting plate.
In one embodiment, straight shaped groove is opened up in the vertical direction of the connecting plate, described U-shaped piece of bottom surface
Bottom surface connecting hole is opened up, the direction of U-shaped piece (7) along the straight shaped groove is moved to a certain position, the 3rd group of connection
U-shaped piece (7) are connected to the connecting plate (1) by part by described U-shaped piece of bottom surface connecting hole and the straight shaped groove
On.
In one embodiment, the same position described U-shaped piece of side respectively opens up a side connecting hole, described
Connecting hole is also opened up in supporting plate and is matched with described U-shaped piece of side connecting hole, the 4th group of connector passes through described U-shaped piece
Side connecting hole and the connecting hole of the supporting plate connect the supporting plate and described U-shaped piece.
In one embodiment, connection member (2) is additionally provided with, the flexible fixture of another group of install sensor passes through the company
Relay part (2) is connected with the flexible fixture of the install sensor device.
In one embodiment, the connecting plate (1) is stainless steel material, the substrate (3) or/and the disk (4)
Or/and the contiguous block (5) or/and U-shaped piece (7) or/and the supporting plate (6) are aluminum alloy materials.
Beneficial effects of the present invention：By carrying out adjustable to the position of sensor, it can rotate about the z axis in the range of 360, in Z
The movement that can practise up and down of axle, can practise rotation in Y-axis 180 degree direction, and 360 degree of rotations of X-axis can be achieved by rotary U-type block
Turn, coverage is equivalent to whole space.To whole device, progress splits into simple block parts, only had to single part
Simply process and assemble, be advantageously implemented mass production, reduce production cost.Using aluminum alloy materials, machinery can be mitigated
The load of arm, expands its application.The position of selection once it is determined that, can realize that it is accurately solid by screwing connector
It is fixed, it is determined as precision is high.By changing the position of positioning hole of Fig. 8 supporting plates, the installation of other sensors, or other dress can be achieved
The fixation put and flexible Application, easy to process if being widely applied, cost is low, and income is high.
Brief description of the drawings：
The above and other feature of the present invention, property and advantage will pass through description with reference to the accompanying drawings and examples
And become apparent, identical reference represents identical feature all the time in the accompanying drawings, wherein：
Fig. 1 is disclosed in one embodiment of the invention, the dimensional structure diagram of sensor device flexible fixture；
Fig. 2 is disclosed in one embodiment of the invention, the top view of sensor device flexible fixture；
Fig. 3 is disclosed in one embodiment of the invention, the dimensional structure diagram of disk；
Fig. 4 is disclosed in one embodiment of the invention, the dimensional structure diagram of substrate；
Fig. 5 is disclosed in one embodiment of the invention, the dimensional structure diagram of contiguous block；
Fig. 6 is disclosed in one embodiment of the invention, the dimensional structure diagram of connecting plate；
Fig. 7 is disclosed in one embodiment of the invention, U-shaped piece of dimensional structure diagram；
Fig. 8 is disclosed in one embodiment of the invention, the dimensional structure diagram of supporting plate；
Fig. 9 is disclosed in one embodiment of the invention, the dimensional structure diagram of connection member.
In figure：1. connecting plate, 2 connection members, 3 substrates, 4 disks, 5 contiguous blocks, 6 supporting plates, 7 U-shaped pieces, 41 disks
With connecting portion on arc-shaped slot pass, the connecting hole of 42 disks, the disc slots of 31 substrates, the through hole of 32 substrate disc slots, 33 substrates
The connecting hole of part, second group of connecting hole of 51 contiguous blocks, first group of connecting hole of 52 contiguous blocks, the linear pattern of 11 connecting plates is led to
Groove, the connecting hole of 12 connecting plates, 71 U-shaped pieces of side connecting hole, 72 U-shaped pieces of bottom surface connecting hole, the side of 61 supporting plates
Connecting hole, the top surface connecting hole of 62 supporting plates, the top surface connecting hole of 21 connection members, the side connecting hole of 22 connection members.
Embodiment：
With reference to specific embodiment and comparative example, the present invention is expanded on further.It should be understood that these embodiments are only used for
The bright present invention rather than limitation the scope of the present invention.In addition, it is to be understood that after the content of the invention lectured has been read, ability
Field technique personnel can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims
Book limited range.
With reference to Fig. 1 and Fig. 2 is combined, Fig. 1 is disclosed in one embodiment of the invention, the three-dimensional knot of sensor device flexible fixture
Structure schematic diagram；Fig. 2 is disclosed in one embodiment of the invention, the top view of sensor device flexible fixture；The flexible fixture bag
It is two to include in substrate 3, disk 4, contiguous block 5, connecting plate 1, U-shaped piece 7, supporting plate 6 and connection member 2, the embodiment in figure
Linked together between the flexible fixture of group sensor device, the flexible fixture of two sensors device by connection member 2, circle
Disk 4 is arranged in the disc slots 31 (Fig. 1 and Fig. 2 are not marked) of the substrate, and connecting plate 1 is connected by contiguous block 5 with disk 4,
Connecting plate 1 is connected by U-shaped piece 7 with supporting plate 6, can be with install sensor device in supporting plate 6, such as taking the photograph in the present embodiment
Camera；
Wherein, disk 4 can carry out rotation regulation along the central shaft of the substrate disc slots 31, or described U-shaped piece 7 can
To be adjusted along the vertical direction of connecting plate 1, or U-shaped piece 7 carries out rotation regulation along the axial direction with the junction of connecting plate 5,
Or supporting plate 6 carries out rotation regulation along the axial direction with U-shaped piece 7 of junction.
Disclosed with reference to Fig. 3 and with reference to Fig. 1 and Fig. 4, Fig. 3 in one embodiment of the invention, the dimensional structure diagram of disk,
Fig. 4 is disclosed in one embodiment of the invention, the dimensional structure diagram of substrate；Fig. 3 and Fig. 4 can be used as a preferred implementation
Example, disk 4 is embedded in the disc slots 31 of substrate, and arc-shaped slot pass 41 is opened up and in disc slots 31 in the circumferencial direction of disk 4
Circumference on the location matches of through hole 32 that set, that is to say, that disk 4 in rotation adjustable range, i.e., circular arc type groove not from
Disk 4 can be fixed on base by the position range of the through hole 32 of open disk groove, connector by through hole 32 and arc-shaped slot 31
On plate 3, the arc range of arc-shaped slot pass 41 in the present embodiment is 0-180 degree, it is to be understood that disk 4 can edge
It is adjusted and fixed in the range of central shaft (Z axis i.e. in figure) the rotation 180 degree for disk groove 31.It again it will be understood that
, the arcuate extent of arc-shaped slot pass 41 includes but is not limited to this arc range, can be more than this arc range,
This arc range is might be less that, maximum limit arc range is 0-360 degree.
Disclosed with continued reference to Fig. 3 and with reference to Fig. 1 and Fig. 5, Fig. 5 in one embodiment of the invention, the stereochemical structure of contiguous block
Schematic diagram；In the present embodiment, disk 4 is provided with four disk connecting holes 42, and contiguous block 5 is provided with first group of connecting hole 52,
After first group of connector is by first group of connecting hole 52 and disk connecting hole 42, contiguous block 5 and disk 4 are connected.
Disclosed with continued reference to Fig. 5 and with reference to Fig. 1 and Fig. 6, Fig. 6 in one embodiment of the invention, the stereochemical structure of connecting plate
Schematic diagram；Second group of connecting hole 51 is opened up in the side of contiguous block 5, connecting hole 12, second group of connection are also provided with connecting plate 1
Part is by connecting contiguous block 5 and connecting plate 1 after second group of connecting hole 51 and connecting hole 12.
Disclosed with continued reference to Fig. 6 and with reference to Fig. 1 and Fig. 7, Fig. 7 in one embodiment of the invention, U-shaped piece of stereochemical structure is shown
It is intended to.Straight shaped groove 11 is opened up on connecting plate 1, U-shaped piece 7 of bottom surface opens up bottom surface connecting hole 72, and U-shaped piece 7 can be along even
The direction (i.e. the direction of Z axis in figure) of the straight line type groove 11 of fishplate bar is moved to a certain position, and the 3rd group of connector passes through U-shaped piece
U-shaped piece 7 is connected on connecting plate 1 after the straight line type groove 11 of bottom surface connecting hole 72 and connecting plate.
It can also be appreciated that U-shaped piece 7 can also be along the axial-rotation of the junction of straight line type groove 11 to a certain position
Put and (rotated i.e. in figure around Y-axis) and carry out both fixations afterwards.
Disclosed with continued reference to Fig. 7 and with reference to Fig. 1 and Fig. 8, Fig. 8 in one embodiment of the invention, the stereochemical structure of supporting plate
Schematic diagram；There is connecting hole 71 U-shaped piece of side, and connecting hole 61 is also opened up in the side of supporting plate 6, and the 4th group of connector passes through U
Supporting plate 6 and U-shaped piece 7 are connected after the side connecting hole 7 of type block and the connecting hole 61 of supporting plate.
It is understood that supporting plate 6 can be along the axial-rotation with U-shaped piece 7 of junction (i.e. around X in this figure
The direction of rotation of axle) it is adjusted and fixed.Top surface connecting hole 62 in supporting plate 6 can connect sensor device (in figure
Do not mark).
With reference to Fig. 9 and Fig. 1 is combined, Fig. 9 is disclosed in one embodiment of the invention, the dimensional structure diagram of connection member.
Two sensors flexible fixture can be linked together by the top surface connecting hole 21 in connection member 2, can also be by even
Side connecting hole 22 on relay part 2 will link together two sensors flexible fixture.
As a preference, above-mentioned connecting hole can all be screwed hole, and above-mentioned connector can all be screw element.
By the combination of above-mentioned part, the multiaxis degree that can complete sensor in X, Y, Z-direction is adjusted, and has reached sensor dress
The soft readjustment purpose put.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, various changes and modifications of the present invention are possible on the premise of theory of the present invention and scope is not departed from, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent is defined.
Claims (8)
1. a kind of flexible fixture of install sensor device, the flexible fixture include substrate (3), disk (4), contiguous block (5),
Connecting plate (1), U-shaped piece (7) and supporting plate (6), the substrate (3) open up disc slots, and the disk (4) is arranged on the substrate
Disc slots in, connecting plate (1) is connected by contiguous block (5) with disk (4), and connecting plate (5) passes through U-shaped piece (7) and supporting plate
(6) connect, install sensor device in supporting plate (6)；
Wherein, central shaft of the disk (4) along the substrate disc slots carries out rotation regulation, or U-shaped piece (7) along
The vertical direction regulation of the connecting plate (1), or U-shaped piece (7) are entered along the axial direction with the junction of the connecting plate (1)
Row rotation regulation, or the supporting plate (6) carry out rotation regulation along the axial direction with the junction of U-shaped piece (7).
2. a kind of flexible fixture of install sensor device as claimed in claim 1, it is characterised in that in the substrate disk
Circumferencial direction in groove opens up two through holes, and arc-shaped slot pass, the two of the substrate are opened up in the circumferencial direction of the disk (4)
The location matches of individual through hole and the disk arc-shaped slot pass.
3. a kind of flexible fixture of install sensor device as claimed in claim 1, it is characterised in that on the disk (4)
It is additionally provided with connecting hole, first group of connecting hole that the contiguous block (5) is provided with and the disk connecting hole is matched, first group of connection
Part is connected the disk (4) and the contiguous block (5) by the disk connecting hole and first group of connecting hole.
4. a kind of flexible fixture of install sensor device as claimed in claim 1, it is characterised in that the contiguous block (5)
On be additionally provided with second group of connecting hole, connecting plate (1) is provided with the connecting hole matched with second group of connecting hole, second group of connection
The contiguous block is connected by part by the connecting plate by the connecting hole of the connecting plate with second group of connecting hole.
5. a kind of flexible fixture of install sensor device as claimed in claim 1, it is characterised in that in the connecting plate
Vertical direction opens up straight shaped groove, opens up bottom surface connecting hole described U-shaped piece of bottom surface, and U-shaped piece (7) are along described straight
The direction of line style groove is moved to a certain position, and the 3rd group of connector passes through described U-shaped piece of bottom surface connecting hole and the straight line
Described U-shaped piece is connected on the connecting plate by type groove.
6. a kind of flexible fixture of install sensor device as claimed in claim 1, it is characterised in that at described U-shaped piece
The same position of side respectively opens up a side connecting hole, also opened up in the supporting plate (6) connecting hole and with described U-shaped piece
The matching of side connecting hole, the 4th group of connector passes through described U-shaped piece of side connecting hole and the connecting hole of the supporting plate will
The supporting plate and the U-shaped piece of connection.
7. the flexible fixture of a kind of install sensor device as described in any in claim 1-6, it is characterised in that be additionally provided with
Connection member (2), the flexible fixture of another group of install sensor passes through the connection member (2) and the install sensor device
Flexible fixture connection.
8. a kind of flexible fixture of install sensor device as claimed in claim 7, it is characterised in that the connecting plate (1)
For stainless steel material, the substrate (3) or/and the disk (4) or/and the contiguous block (5) or/and described U-shaped piece (7)
Or/and the supporting plate (6) is aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568818.7A CN107283401A (en) | 2017-07-13 | 2017-07-13 | A kind of flexible fixture of install sensor device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568818.7A CN107283401A (en) | 2017-07-13 | 2017-07-13 | A kind of flexible fixture of install sensor device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283401A true CN107283401A (en) | 2017-10-24 |
Family
ID=60100754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710568818.7A Pending CN107283401A (en) | 2017-07-13 | 2017-07-13 | A kind of flexible fixture of install sensor device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283401A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109654342A (en) * | 2019-01-15 | 2019-04-19 | 西安电子科技大学 | A kind of combined type optical instrument Multidirectional connector |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2104772A (en) * | 1981-06-23 | 1983-03-16 | Peter Bernard Hopkinson | Brackets for supporting dispensing-guns |
| CN201147919Y (en) * | 2007-11-29 | 2008-11-12 | 昌河飞机工业（集团）有限责任公司 | Flexible locater for assembling landing gear joint |
| CN103433870A (en) * | 2013-08-28 | 2013-12-11 | 苏州上洋机电科技有限公司 | Adjustable positioning device |
| CN205309751U (en) * | 2015-11-26 | 2016-06-15 | 上海无线电设备研究所 | Flexible assembly line based on vision robot |
-
2017
- 2017-07-13 CN CN201710568818.7A patent/CN107283401A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2104772A (en) * | 1981-06-23 | 1983-03-16 | Peter Bernard Hopkinson | Brackets for supporting dispensing-guns |
| CN201147919Y (en) * | 2007-11-29 | 2008-11-12 | 昌河飞机工业（集团）有限责任公司 | Flexible locater for assembling landing gear joint |
| CN103433870A (en) * | 2013-08-28 | 2013-12-11 | 苏州上洋机电科技有限公司 | Adjustable positioning device |
| CN205309751U (en) * | 2015-11-26 | 2016-06-15 | 上海无线电设备研究所 | Flexible assembly line based on vision robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109654342A (en) * | 2019-01-15 | 2019-04-19 | 西安电子科技大学 | A kind of combined type optical instrument Multidirectional connector |
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Application publication date: 20171024 |