CN109454666B - Visual acquisition fixing mechanism for multi-shaft industrial robot - Google Patents

Abstract

The invention discloses a visual acquisition fixing mechanism for a multi-axis industrial robot, belongs to the technical field of industrial robots, and solves the problem that when the industrial robot performs visual acquisition, a visual acquisition device is easily influenced by the external environment, so that the acquisition effect is not ideal; the technical characteristics are as follows: the visual inspection device comprises hanging pieces, a shell, a lifting seat and a visual acquisition device, wherein two hanging pieces are symmetrically welded on the left side wall of the shell, pin holes are formed in the hanging pieces, a welding working motor is fixedly arranged at the top of an inner cavity of the shell, a first gear is fixedly welded at the output end of the left side of the working motor, a rotating shaft is arranged below the first gear, the lifting seat is arranged below the rotating shaft, a connecting rod is fixedly welded at the middle position of the lower surface of the lifting seat, and the visual acquisition device is fixedly welded at the lower end of the connecting rod; the invention can fully protect the acquisition device, can flexibly adjust the height of the visual acquisition device and is beneficial to the industrial robot to perform visual acquisition.

Description

A vision acquisition and fixing mechanism for multi-axis industrial robots

technical field

The invention relates to the technical field of industrial robots, in particular to a vision acquisition and fixing mechanism for multi-axis industrial robots.

Background technique

An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can accept human command or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology;

Visual tracking refers to the detection, extraction, identification and tracking of the moving target in the image sequence, so as to obtain the motion parameters of the moving target, and then carry out the next step based on the basic data such as the position, speed, acceleration and trajectory of the moving target. processing, and finally realize the behavioral understanding of moving targets. When industrial robots perform visual acquisition, the visual acquisition device is easily affected by the external environment, which leads to unsatisfactory acquisition results. Therefore, we propose a vision acquisition system for multi-axis industrial robots. fixed mechanism.

Contents of the invention

The purpose of the present invention is to provide a multi-axis industrial robot vision acquisition and fixing mechanism, including a pendant, a housing, a lifting seat and a vision acquisition device. Two pendants are welded symmetrically on the left side wall of the housing, and Pin holes are installed, the working motor is fixedly welded on the top of the inner cavity of the housing, the left output end of the working motor is fixedly welded to the first gear, a rotating shaft is arranged below the first gear, and both ends of the rotating shaft are connected to the side wall of the housing by rotation, The middle position of the rotating shaft is fixedly welded with the second gear, the first gear meshes with the second gear, a lifting seat is arranged under the rotating shaft, a connecting rod is fixedly welded at the middle position of the lower surface of the lifting seat, and the lower end of the connecting rod is fixedly welded Visual acquisition device: to solve the problem that the visual acquisition device is easily affected by the external environment when the industrial robot performs visual acquisition, which leads to unsatisfactory acquisition effect.

To achieve the above object, the present invention provides the following technical solutions:

A vision acquisition and fixing mechanism for a multi-axis industrial robot, including a pendant, a housing, a lifting seat and a vision acquisition device, two pendants are symmetrically welded to the left side wall of the housing, pin holes are installed on the pendant, and the The working motor is fixedly welded on the top of the inner cavity of the housing, the first gear is fixedly welded to the left output end of the working motor, a rotating shaft is arranged below the first gear, both ends of the rotating shaft are connected to the side wall of the housing by rotation, and the middle position of the rotating shaft is fixed Weld the second gear, the first gear meshes with the second gear.

As a further solution of the present invention: a lifting seat is arranged below the rotating shaft, a welding connecting rod is fixed in the middle of the lower surface of the lifting seat, a welding visual acquisition device is fixed at the lower end of the connecting rod, and two first cones are symmetrically welded on the rotating shaft. Gear, the second bevel gear is set on the lower left side of the first bevel gear, the first bevel gear meshes with the second bevel gear, the welding screw is fixed under the second bevel gear, and the lower end of the screw rod shown passes through the The lifting seat, and extended to the bottom of the lifting seat, the screw rod and the contact position of the lifting seat are installed with an internal thread sleeve, and the internal thread sleeve is threadedly connected with the screw rod.

As a further solution of the present invention: a positioning rod is arranged between the rotating shaft and the lifting seat, the two sides of the positioning rod are fixedly welded to the two side walls of the housing, the positioning rod is slidably connected to the screw rod, and the A sliding rod is fixedly welded at the middle position of the positioning rod, the lower end of the sliding rod passes through the lifting seat, and is fixedly welded to the lower wall of the housing, and the sliding rod is slidably connected with the lifting seat.

As a further solution of the present invention: a guide rod is arranged in parallel under the lifting seat, the two ends of the guide rod are fixedly connected to the two side walls of the housing by bolts, and sliders are arranged symmetrically on the guide rod, and the sliders are sleeved on the On the guide rod, the slider is connected to the lifting seat through a hinged rod, the two ends of the hinged rod are respectively hinged to the lifting seat and the slider, and a splint is welded below the slider.

As a further solution of the present invention: the upper part of the housing is fixed with a welded drainage groove, the bottom surface of the drainage groove is inclined, and the left side wall of the drainage groove is horizontally arranged with a plurality of drainage holes, and the side wall of the housing is opened. cooling vents.

A multi-axis industrial robot includes the vision acquisition and fixing mechanism for the multi-axis industrial robot.

Compared with the prior art, the beneficial effect of the present invention is that the setting of the pendant can realize the fixing of the housing, and at the same time, it is easy to disassemble, which is beneficial to visual collection, and the positioning rod has the function of limiting the position of the screw rod. The slide bar has the function of limiting the position of the lifting seat, the setting of the splint can fully protect the vision acquisition device, and the lifting seat moves up and down to push the slider along the guide The rod slides left and right, thereby realizing sufficient protection for the visual collection device; the present invention can realize sufficient protection for the collection device, and can flexibly adjust the height of the visual collection device, which is beneficial for industrial robots to carry out visual collection.

Description of drawings

Fig. 1 is a structural schematic diagram of a multi-axis industrial robot vision acquisition and fixing mechanism.

Fig. 2 is a front view of a multi-axis industrial robot vision acquisition and fixing mechanism.

Fig. 3 is a structural schematic diagram of a drain tank used in a multi-axis industrial robot vision acquisition and fixing mechanism.

FIG. 4 is a partially enlarged schematic diagram of A in FIG. 1 .

In the figure: 1- pendant, 2- shell, 3- drainage groove, 4- heat dissipation port, 5- drainage hole, 6- working motor, 7- first gear, 8- second gear, 9- rotating shaft, 10- Screw rod, 11-positioning rod, 12-lift seat, 13-guide rod, 14-slider, 15-splint, 16-vision acquisition device, 17-sliding rod, 18-first bevel gear, 19-second cone Gear, 20-internal threaded sleeve, 21-hinged rod, 22-connecting rod.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

Please refer to Figures 1 to 4. In an embodiment of the present invention, a multi-axis industrial robot vision acquisition and fixing mechanism includes a pendant 1, a housing 2, a lifting seat 12 and a vision acquisition device 16. The left side of the housing 2 Two pendants 1 are welded symmetrically on the side wall. Pin holes are installed on the pendant 1. The setting of the pendant 1 can realize the fixing of the housing 2. At the same time, it is easy to disassemble and facilitate visual collection. The top of the inner cavity of the housing 2 is fixed Welding the working motor 6, the output end on the left side of the working motor 6 is fixedly welded to the first gear 7, the rotating shaft 9 is arranged below the first gear 7, the two ends of the rotating shaft 9 are connected to the side wall of the housing 2 in rotation, and the rotating shaft 9 The middle position is fixedly welded to the second gear 8, and the first gear 7 is meshed with the second gear 8;

A lifting seat 12 is arranged below the rotating shaft 9, and the middle position of the lower surface of the lifting seat 12 is fixed with a welding connecting rod 22. Gear 18, the second bevel gear 19 is arranged on the lower left side of the first bevel gear 18, the first bevel gear 18 meshes with the second bevel gear 19, and the welding screw 10 is fixed below the second bevel gear 19, The lower end of the screw rod 10 shown passes through the lifting seat 12 and extends to the bottom of the lifting seat 12. The screw rod 10 is installed at the contact position with the lifting seat 12. An internally threaded sleeve 20 is installed. The internally threaded sleeve 20 Screwed with the screw mandrel 10, start the working motor 6, the working motor 6 drives the first gear 7 to rotate, and the first gear 7 drives the second gear 8 and the rotating shaft 9 to rotate, so that The rotating shaft 9 drives the screw mandrel 10 to rotate, and the screw mandrel 10 drives the lifting seat 12 and the visual acquisition device 16 to move up and down, thereby realizing the purpose of flexibly adjusting the height of the visual acquisition device 16;

A positioning rod 11 is arranged between the rotating shaft 9 and the lifting seat 12, the two sides of the positioning rod 11 are fixedly welded to the two side walls of the housing 2, the positioning rod 11 is slidably connected to the screw rod 10, and the The positioning rod 11 has the function of limiting the screw rod 10;

The middle position of the positioning rod 11 is fixedly welded with a sliding rod 17, the lower end of the sliding rod 17 passes through the lifting seat 12, and is fixedly welded to the lower wall of the housing 2, and the sliding rod 17 is slidably connected with the lifting seat 12 , the sliding rod 17 has the function of limiting the lifting seat 12;

The guide rod 13 is arranged in parallel below the lifting seat 12, and the two ends of the guide rod 13 are fixedly connected to the two side walls of the housing 2 by bolts. On the rod 13, the slider 14 is connected to the lifting seat 12 through a hinged rod 21, and the two ends of the hinged rod 21 are respectively hinged to the lifting seat 12 and the slider 14;

The splint 15 is welded below the slider 14, the setting of the splint 15 can fully protect the visual acquisition device 16, and the lifting seat 12 moves up and down to push the slider 14 along the guide rod. 13 slides left and right, thereby realizing sufficient protection to the visual collection device 16;

The upper part of the housing 2 is fixedly welded with a drainage groove 3, the bottom surface of the drainage groove 3 is inclined, and a plurality of drainage holes 5 are arranged horizontally on the left side wall of the drainage groove 3, and the setting of the drainage holes 5 is conducive to drainage;

The side wall of the housing 2 is provided with a cooling port 4 .

Example 2

A multi-axis industrial robot includes the vision acquisition and fixing mechanism for a multi-axis industrial robot as described in Embodiment 1.

The working principle of the present invention is: start the working motor 6, the working motor 6 drives the first gear 7 to rotate, and the first gear 7 drives the second gear 8 and the rotating shaft 9 to rotate, so that the The rotating shaft 9 drives the screw mandrel 10 to rotate, and the screw mandrel 10 drives the lifting seat 12 and the visual collection device 16 to move up and down, thereby realizing the purpose of flexibly adjusting the height of the visual collection device 16, and the lifting seat 12 moves up and down. Move, can push described slide block 14 to slide left and right along described guide rod 13, thereby realized the sufficient protection to vision acquisition device 16; The height of the collection device 16 is beneficial to the visual collection of the industrial robot.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention. and simplified descriptions, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (5)

1. A vision acquisition and fixing mechanism for a multi-axis industrial robot, comprising a pendant (1), a housing (2), a lifting seat (12) and a vision acquisition device (16), the left side of the housing (2) Two pendants (1) are welded symmetrically on the wall, and pin holes are installed on the pendants (1). The left output end is fixedly welded to the first gear (7), and a rotating shaft (9) is arranged below the first gear (7). 9) The second gear (8) is fixedly welded at the middle position, and the first gear (7) meshes with the second gear (8); An elevating seat (12) is arranged below the rotating shaft (9), a welding connecting rod (22) is fixed at the middle position of the lower surface of the elevating seat (12), and a welding visual acquisition device (16) is fixed at the lower end of the connecting rod (22), Two first bevel gears (18) are symmetrically welded on the rotating shaft (9), and a second bevel gear (19) is arranged on the lower left side of the first bevel gear (18). The second bevel gear (19) meshes, and the welding screw (10) is fixed under the second bevel gear (19). The lower end of the screw (10) passes through the lifting seat (12) and extends to the Below the lifting seat (12), an internal thread sleeve (20) is installed at the contact position between the screw mandrel (10) and the lifting seat (12), and the internal thread sleeve (20) and the screw mandrel (10) Threaded connection, a positioning rod (11) is arranged between the rotating shaft (9) and the lifting seat (12), the two sides of the positioning rod (11) are fixedly welded to the two side walls of the housing (2), and the positioning rod (11) is slidingly connected with the screw rod (10), the middle position of the positioning rod (11) fixes the welding slide bar (17), and the lower end of the slide bar (17) passes through the lifting seat (12) and is fixed The lower wall of the housing (2) is welded, the sliding rod (17) is slidably connected with the lifting seat (12), and a guide rod (13) is arranged in parallel below the lifting seat (12), and the guide rod (13) Bolts at both ends are fixedly connected to the two side walls of the housing (2), and sliders (14) are symmetrically arranged on the guide rod (13), and the slider (14) is sleeved on the guide rod (13). The sliding block (14) is connected to the lifting seat (12) through a hinged rod (21), and the two ends of the hinged rod (21) are respectively hinged to the lifting seat (12) and the sliding block (14). 2. The vision acquisition and fixing mechanism for multi-axis industrial robots according to claim 1, characterized in that a splint (15) is welded under the slider (14). 3. The vision acquisition and fixing mechanism for multi-axis industrial robots according to claim 2, characterized in that, the upper part of the housing (2) is fixed with a welded drainage groove (3), and the bottom surface of the drainage groove (3) is It is arranged obliquely, and a plurality of drainage holes (5) are arranged horizontally on the left side wall of the drainage groove (3). 4. The vision acquisition and fixing mechanism for multi-axis industrial robots according to claim 3, characterized in that, the side wall of the casing (2) is provided with a heat dissipation port (4). 5. A multi-axis industrial robot, characterized in that it comprises the vision acquisition and fixing mechanism for a multi-axis industrial robot according to any one of claims 1-4.

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