CN108302298A - A kind of camera fine-tuning stent for guiding composite material drilling robot - Google Patents
A kind of camera fine-tuning stent for guiding composite material drilling robot Download PDFInfo
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- CN108302298A CN108302298A CN201810208610.9A CN201810208610A CN108302298A CN 108302298 A CN108302298 A CN 108302298A CN 201810208610 A CN201810208610 A CN 201810208610A CN 108302298 A CN108302298 A CN 108302298A
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- composite material
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- 238000005553 drilling Methods 0.000 title claims abstract description 21
- 239000002131 composite material Substances 0.000 title claims abstract description 15
- 230000006835 compression Effects 0.000 claims abstract description 5
- 238000007906 compression Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laminated Bodies (AREA)
Abstract
Description
技术领域technical field
本发明是为碳纤维复合材料制孔加工机器人视觉引导和检测所设计的相机支架，具体涉及到一种用于引导复合材料钻孔机器人的相机微调支架。The invention relates to a camera support designed for the visual guidance and detection of a carbon fiber composite material hole-making and processing robot, and in particular relates to a camera fine-tuning support for guiding a composite material drilling robot.
背景技术Background technique
目前碳纤维复合材料钻孔以人工手动加工为主，工作效率低。应用机器视觉技术可以有效提高碳纤维复合材料钻孔加工的工作效率和钻孔质量。为此本文设计了一种用于引导复合材料钻孔机器人的相机微调支架，以辅助机器人进行自动钻孔加工。At present, the drilling of carbon fiber composite materials is mainly done manually, and the work efficiency is low. The application of machine vision technology can effectively improve the working efficiency and drilling quality of carbon fiber composite material drilling. For this reason, this paper designs a camera fine-tuning bracket for guiding a composite material drilling robot to assist the robot in automatic drilling.
发明内容Contents of the invention
一种用于引导复合材料钻孔机器人的相机微调支架包括角度微调单元（1），具有微调转台（11）和伺服电机（12）；倾斜度微调单元（2），具有固定在微调转台（11）上的具有滑槽的弧形滑轨（21），滑轨（21）上方有一弧形滑块（22），下方有一突台滑块（23）及两个滑道挡板（24），此单元下端有一块连接相机座的固定板（25），单元整体由一尾端具有螺纹的立柱（26）与弹簧（27）和带耳螺母（28）固定支撑；压紧及传动单元（3），具有涡轮蜗杆装置（31），压紧轮（32），伺服电机（33），弹簧伸缩杆（34），安装固定电机与涡轮蜗杆装置的固定板（35），涡轮蜗杆装置（31）与伺服电机（33）由螺栓连接，并可以微量调整固定位置；固定板（35）具有一个能微量调整固定位置的槽，并在下端与倾斜度微调单元（2）相连接；相机座（4），通过固定板（25）与倾斜度微调单元（2）相连接。A camera fine-tuning bracket for guiding a composite material drilling robot includes an angle fine-tuning unit (1) with a fine-tuning turntable (11) and a servo motor (12); an inclination fine-tuning unit (2) with a fine-tuning turntable (11) ) on the arc slide rail (21) with a chute, there is an arc slide block (22) above the slide rail (21), a protruding slide block (23) and two slideway baffles (24) below, There is a fixed plate (25) connected to the camera base at the lower end of the unit, and the whole unit is fixedly supported by a threaded column (26), spring (27) and lug nut (28) at the end; the compression and transmission unit (3 ), with a worm gear device (31), a pinch wheel (32), a servo motor (33), a spring telescopic rod (34), a fixing plate (35) for installing and fixing the motor and a worm gear device, and a worm gear device (31) It is connected with the servo motor (33) by bolts, and the fixed position can be adjusted slightly; the fixed plate (35) has a groove that can adjust the fixed position slightly, and is connected with the inclination fine-tuning unit (2) at the lower end; the camera base (4 ), connected with the inclination fine-tuning unit (2) through the fixed plate (25).
所述的一种用于引导复合材料钻孔机器人的相机微调支架，其特征在于：所述倾斜度微调单元（2）的角度调整范围为0°～±30°。The camera fine-tuning bracket for guiding a composite material drilling robot is characterized in that the angle adjustment range of the inclination fine-tuning unit (2) is 0° to ±30°.
所述的一种用于引导复合材料钻孔机器人的相机微调支架，其特征在于：所述倾斜度微调单元（2）具有弧形滑轨（21），滑轨上方有一弧形滑块（22），下方有一突台滑块（23），两个滑道挡板（24）及一个相机座固定板（25），单元整体由一尾端具有螺纹的立柱（26）与弹簧（27）和带耳螺母（28）固定支撑。The camera fine-tuning bracket for guiding a composite material drilling robot is characterized in that: the inclination fine-tuning unit (2) has an arc-shaped slide rail (21), and there is an arc-shaped slider (22) above the slide rail ), there is a protrusion slider (23) below, two slideway baffles (24) and a camera seat fixing plate (25), the unit as a whole consists of a threaded post (26) at the end and a spring (27) and Lug nuts (28) secure the support.
有益效果：本发明的有益效果在于能够根据钻孔加工机器人的位姿随时调整相机的角度与倾斜度，实现视觉引导机器人自动钻孔并进行视觉检测，提高钻孔质量。Beneficial effect: the beneficial effect of the present invention is that the angle and inclination of the camera can be adjusted at any time according to the position and posture of the drilling robot, so that the vision-guided robot can automatically drill holes and carry out visual inspection, thereby improving the drilling quality.
附图说明Description of drawings
附图1为本发明的结构示意图。Accompanying drawing 1 is the structural representation of the present invention.
附图2为本发明的一种角度调整实例示意图。Accompanying drawing 2 is a schematic diagram of an example of angle adjustment in the present invention.
附图3为弧形滑轨（21）的三维图、立体图。Accompanying drawing 3 is the three-dimensional diagram, the three-dimensional diagram of arc slide rail (21).
附图4为弧形滑块（22）的三维图、立体图。Accompanying drawing 4 is the three-dimensional diagram, the three-dimensional diagram of arc slider (22).
附图5为突台滑块（23）的三维图、立体图。Accompanying drawing 5 is the three-dimensional diagram, the three-dimensional diagram of protrusion platform slide block (23).
具体实施方案specific implementation plan
以下结合附图进一步说明本发明的具体结构及实施方式。The specific structure and implementation mode of the present invention will be further described below in conjunction with the accompanying drawings.
本发明的结构组成如附图1、附图2所示。用于引导复合材料钻孔机器人的相机微调支架，由角度微调单元（1）、倾斜度微调单元（2）、压紧及传动单元（3）、相机座（4）构成。角度微调单元（1）由微调转台（11）和伺服电机（12）构成，伺服电机（12）内具有行星减速器。倾斜度微调单元（2）包括固定在微调转台（11）上的具有滑槽的弧形滑轨（21），滑轨（21）上方有一弧形滑块（22），下方有一突台滑块（23）及两个滑道挡板（24），两滑块夹紧后可沿弧形滑轨滑动，根据实际需要设计滑动范围为0°～±30°（0°位置为滑块位于滑轨居中位置），结合角度微调单元（1）实现相机在机器人面对方向的全角度微调；此单元下端有一块连接相机座的固定板（25），单元整体由一尾端具有螺纹的立柱（26）与弹簧（27）和带耳螺母（28）连接。压紧及传动单元（3）包括涡轮蜗杆装置（31）、压紧轮（32）、伺服电机（33）、弹簧伸缩杆（34）、安装电机与涡轮蜗杆装置的固定板（35），伺服电机（33）内具有行星减速器，涡轮蜗杆装置（31）与伺服电机（33）由螺栓连接，并可以微量调整固定位置；固定板（35）具有一个能微量调整固定位置的槽，并在下端用螺栓与倾斜度微调单元（2）相连接。相机座（4）通过固定板（25）与倾斜度微调单元（2）相连接。Structural composition of the present invention is as shown in accompanying drawing 1, accompanying drawing 2. The camera fine-tuning bracket used to guide the composite material drilling robot is composed of an angle fine-tuning unit (1), an inclination fine-tuning unit (2), a pressing and transmission unit (3), and a camera seat (4). The angle fine-tuning unit (1) is composed of a fine-tuning turntable (11) and a servo motor (12), and the servo motor (12) has a planetary reducer inside. The inclination fine-tuning unit (2) includes an arc-shaped sliding rail (21) with a chute fixed on the fine-tuning turntable (11), an arc-shaped slider (22) above the sliding rail (21), and a protruding slider below (23) and two slideway baffles (24). After the two sliders are clamped, they can slide along the arc-shaped slide rail. According to actual needs, the sliding range is designed to be 0°～±30° (the position of 0° means that the slider is on the centered position of the rail), combined with the angle fine-tuning unit (1) to realize full-angle fine-tuning of the camera in the direction facing the robot; there is a fixed plate (25) connected to the camera base at the lower end of the unit, and the unit as a whole consists of a threaded column at the end ( 26) Connect with spring (27) and lug nut (28). The pressing and transmission unit (3) includes the worm gear device (31), the pressing wheel (32), the servo motor (33), the spring telescopic rod (34), the fixing plate (35) for installing the motor and the worm gear device, the servo There is a planetary reducer in the motor (33), the worm gear (31) and the servo motor (33) are connected by bolts, and the fixed position can be adjusted slightly; the fixed plate (35) has a groove that can adjust the fixed position slightly, and The lower end is connected with the inclination fine-tuning unit (2) with bolts. The camera base (4) is connected with the inclination fine-tuning unit (2) through the fixing plate (25).
具体实施方式：使用时，压紧及传动单元（3）中的弹簧伸缩杆（34）伸出，将涡轮蜗杆装置（31）与压紧轮（32）压紧在弧形滑块（22）上，同时用螺栓将涡轮蜗杆装置（31）与伺服电机（33）固定在固定板（25）上。在工作过程中，具有行星减速器的伺服电机（12）带动微调转台（11）进行正向旋转和反向旋转，以调整相机自转角度。同时，伺服电机（33）带动涡轮蜗杆装置（31），使压紧轮（32）转动，通过摩擦力使得弧形滑块（22）和突台滑块（23）沿弧形滑轨（21）进行前后滑动，带动相机座（4），调整相机的对准方向。Specific implementation method: when in use, the spring telescopic rod (34) in the compression and transmission unit (3) is stretched out, and the worm gear device (31) and the compression wheel (32) are pressed against the arc-shaped slider (22) At the same time, fix the worm gear (31) and the servo motor (33) on the fixed plate (25) with bolts. During the working process, the servo motor (12) with the planetary reducer drives the fine-tuning turntable (11) to perform forward rotation and reverse rotation, so as to adjust the rotation angle of the camera. At the same time, the servo motor (33) drives the worm gear (31) to rotate the pressing wheel (32), and the arc-shaped slider (22) and the protrusion slider (23) are moved along the arc-shaped slide rail (21) through frictional force. ) to slide back and forth to drive the camera mount (4) to adjust the alignment direction of the camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810208610.9A CN108302298A (en) | 2018-03-14 | 2018-03-14 | A kind of camera fine-tuning stent for guiding composite material drilling robot |
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| CN201810208610.9A CN108302298A (en) | 2018-03-14 | 2018-03-14 | A kind of camera fine-tuning stent for guiding composite material drilling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112098412A (en) * | 2019-06-17 | 2020-12-18 | 苏州思善齐自动化科技有限公司 | Industrial vision detection system |
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