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
- Publication number
- 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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- Prior art keywords
- fine
- camera
- composite material
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- gradient
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- 238000005553 drilling Methods 0.000 title claims abstract description 24
- 239000002131 composite material Substances 0.000 title claims abstract description 16
- 230000006835 compression Effects 0.000 claims abstract description 5
- 238000007906 compression Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 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
Machine vision technique is applied during drilling to composite material using robot, with guided robot automatic drilling and can be carried out drilling quality detection and feedback, be improved production efficiency and drilling quality.Therefore a kind of camera fine-tuning stent for guiding composite material drilling robot is devised herein, to realize the adjustment of camera angle and gradient, which includes mainly：1 angle adjustment unit, 2 gradient fine-adjusting units, 3 compressions and gear unit, 4 camera holders.
Description
Technical field
The present invention is for carbon fibre composite drilling machining robot vision guide and to detect designed camera support,
Specifically related to a kind of camera fine-tuning stent for guiding composite material drilling robot.
Background technology
Based on manually processing, working efficiency is low for carbon fibre composite drilling at present.Using machine vision technique
It can effectively improve the working efficiency and drilling quality of carbon fibre composite drilling processing.One kind is devised herein thus to be used for
The camera fine-tuning stent for guiding composite material drilling robot carries out automatic drilling processing with auxiliary robot.
Invention content
It is a kind of for guide the camera fine-tuning stent of composite material drilling robot to include angle adjustment unit（1）, have
Finely tune turntable（11）And servo motor（12）；Gradient fine-adjusting unit（2）, have and be fixed on fine tuning turntable（11）On have slide
The arc-shaped slide rail of slot（21）, sliding rail（21）There is an arc shaped slider in top（22）, there is a convex sliding block in lower section（23）And two slideways
Baffle（24）, there is the fixed plate of one piece of connection camera holder in this element lower end（25）, unit is whole to be stood by tail end tool is threaded
Column（26）With spring（27）And lug nut（28）Fixed support；Compression and gear unit（3）, there is turbine and worm device
（31）, contact roller（32）, servo motor（33）, telescopic spring bar（34）, the fixation of fixed motor and turbine and worm device is installed
Plate（35）, turbine and worm device（31）With servo motor（33）By being bolted, and can micro adjustment fixed position；Fixed plate
（35）There are one the slots of the micro adjustment fixed position of energy for tool, and in lower end and gradient fine-adjusting unit（2）It is connected；Camera holder
（4）, pass through fixed plate（25）With gradient fine-adjusting unit（2）It is connected.
A kind of camera fine-tuning stent for guiding composite material drilling robot, it is characterised in that：It is described to incline
Gradient fine-adjusting unit（2）Angle adjusting range be 0 °~± 30 °.
A kind of camera fine-tuning stent for guiding composite material drilling robot, it is characterised in that：It is described to incline
Gradient fine-adjusting unit（2）With arc-shaped slide rail（21）, there is an arc shaped slider in sliding rail top（22）, there is a convex sliding block in lower section
（23）, two slideway baffles（24）An and camera holder fixed plate（25）, unit is whole to have threaded column by a tail end
（26）With spring（27）And lug nut（28）Fixed support.
Advantageous effect：The method have the advantage is capable of adjust camera at any time according to the pose of drilling processing robot
Angle and gradient, realize that vision guide robot automatic drilling simultaneously carries out vision-based detection, improve drilling quality.
Description of the drawings
Accompanying drawing 1 is the structural representation of the present invention.
Attached drawing 2 is that a kind of angle of the present invention adjusts example schematic.
Attached drawing 3 is arc-shaped slide rail（21）Graphics, stereogram.
Attached drawing 4 is arc shaped slider（22）Graphics, stereogram.
Attached drawing 5 is convex sliding block（23）Graphics, stereogram.
Specific embodiment
The concrete structure and embodiment further illustrated the present invention below in conjunction with attached drawing.
The structure composition of the present invention is as shown in attached drawing 1, attached drawing 2.For guiding the camera of composite material drilling robot micro-
Holder is adjusted, by angle adjustment unit（1）, gradient fine-adjusting unit（2）, compress and gear unit（3）, camera holder（4）It constitutes.Angle
Spend fine-adjusting unit（1）By fine tuning turntable（11）And servo motor（12）It constitutes, servo motor（12）It is interior that there is planetary reduction gear.Incline
Gradient fine-adjusting unit（2）Including being fixed on fine tuning turntable（11）On the arc-shaped slide rail with sliding slot（21）, sliding rail（21）Top
There is an arc shaped slider（22）, there is a convex sliding block in lower section（23）And two slideway baffles（24）, two sliding blocks can be arcuately after clamping
Sliding rail slides, and it is 0 °~± 30 ° to design sliding scale according to actual needs（0 ° of position is that sliding block is located at sliding rail middle position）, knot
Close angle degree fine-adjusting unit（1）Realize that camera is finely tuned in full angle of the robot in face of direction；There is one piece of connection phase in this element lower end
The fixed plate of engine base（25）, unit is whole to have threaded column by a tail end（26）With spring（27）And lug nut（28）Even
It connects.Compression and gear unit（3）Including turbine and worm device（31）, contact roller（32）, servo motor（33）, telescopic spring bar
（34）, installation motor and turbine and worm device fixed plate（35）, servo motor（33）It is interior that there is planetary reduction gear, turbine and worm
Device（31）With servo motor（33）By being bolted, and can micro adjustment fixed position；Fixed plate（35）There are one energy for tool
The slot of micro adjustment fixed position, and in lower end bolt and gradient fine-adjusting unit（2）It is connected.Camera holder（4）By solid
Fixed board（25）With gradient fine-adjusting unit（2）It is connected.
Specific implementation mode：In use, compression and gear unit（3）In telescopic spring bar（34）It stretches out, by turbine snail
Lever apparatus（31）With contact roller（32）It is pressed on arc shaped slider（22）On, while with bolt by turbine and worm device（31）With servo
Motor（33）It is fixed on fixed plate（25）On.During the work time, the servo motor with planetary reduction gear（12）Drive fine tuning
Turntable（11）It is rotated in the forward direction and is reversely rotated, to adjust camera rotation angle.Meanwhile servo motor（33）Drive turbine snail
Lever apparatus（31）, make contact roller（32）Rotation, by frictional force so that arc shaped slider（22）With convex sliding block（23）Arcuately slide
Rail（21）It is slid back and forth, drives camera holder（4）, adjust the aligning direction of camera.
Claims (3)
1. a kind of for guide the camera fine-tuning stent of composite material drilling robot to include angle adjustment unit（1）, have micro-
Turn platform（11）And servo motor（12）；Gradient fine-adjusting unit（2）, have and be fixed on fine tuning turntable（11）On have sliding slot
Arc-shaped slide rail（21）, sliding rail（21）There is an arc shaped slider in top（22）, there is a convex sliding block in lower section（23）And two slideway gears
Plate（24）, there is the fixed plate of one piece of connection camera holder in this element lower end（25）, unit is whole to have threaded column by a tail end
（26）With spring（27）And lug nut（28）Fixed support；Compression and gear unit（3）, there is turbine and worm device（31）,
Contact roller（32）, servo motor（33）, telescopic spring bar（34）, the fixed plate of fixed motor and turbine and worm device is installed
（35）, turbine and worm device（31）With servo motor（33）By being bolted, and can micro adjustment fixed position；Fixed plate
（35）There are one the slots of the micro adjustment fixed position of energy for tool, and in lower end and gradient fine-adjusting unit（2）It is connected；Camera holder
（4）, pass through fixed plate（25）With gradient fine-adjusting unit（2）It is connected.
2. a kind of camera fine-tuning stent for guiding composite material drilling robot according to claim 1, feature
It is：The gradient fine-adjusting unit（2）Angle adjusting range be 0 °~± 30 °.
3. a kind of camera fine-tuning stent for guiding composite material drilling robot according to claim 1, feature
It is：The gradient fine-adjusting unit（2）With arc-shaped slide rail（21）, there is an arc shaped slider in sliding rail top（22）, lower section has one
Convex sliding block（23）, two slideway baffles（24）An and camera holder fixed plate（25）, unit is whole to have screw thread by a tail end
Column（26）With spring（27）And lug nut（28）Fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810208610.9A CN108302298A (en) | 2018-03-14 | 2018-03-14 | A kind of camera fine-tuning stent for guiding composite material drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810208610.9A CN108302298A (en) | 2018-03-14 | 2018-03-14 | A kind of camera fine-tuning stent for guiding composite material drilling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108302298A true CN108302298A (en) | 2018-07-20 |
Family
ID=62849923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810208610.9A Pending CN108302298A (en) | 2018-03-14 | 2018-03-14 | A kind of camera fine-tuning stent for guiding composite material drilling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108302298A (en) |
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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| US20060239677A1 (en) * | 2005-04-26 | 2006-10-26 | Frank Friedrich | Camera Holder for Stand |
| KR20070092792A (en) * | 2006-03-09 | 2007-09-14 | 엘지전자 주식회사 | Dome camera |
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| CN106424827A (en) * | 2016-12-07 | 2017-02-22 | 江苏财经职业技术学院 | Drilling device with drill capable of automatically detecting and tracking center of suture needle end |
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-
2018
- 2018-03-14 CN CN201810208610.9A patent/CN108302298A/en active Pending
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| KR20070092792A (en) * | 2006-03-09 | 2007-09-14 | 엘지전자 주식회사 | Dome camera |
| US20120263445A1 (en) * | 2011-04-13 | 2012-10-18 | Beasley Ronald L | Device for supporting a camera in a helicopter |
| JP2013255972A (en) * | 2012-06-14 | 2013-12-26 | Shinnichi Kogyo Co Ltd | Workpiece conveying device and method for controlling the same |
| CN103920904A (en) * | 2014-03-28 | 2014-07-16 | 浙江大学 | Universal plane fuselage arc-shaped rail perforating device and method |
| CN103990829A (en) * | 2014-05-29 | 2014-08-20 | 上海飞机制造有限公司 | End effector for forming holes for aircraft assembly and using method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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