CN109454666B - Visual acquisition fixing mechanism for multi-shaft industrial robot - Google Patents
Visual acquisition fixing mechanism for multi-shaft industrial robot Download PDFInfo
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- CN109454666B CN109454666B CN201811378503.7A CN201811378503A CN109454666B CN 109454666 B CN109454666 B CN 109454666B CN 201811378503 A CN201811378503 A CN 201811378503A CN 109454666 B CN109454666 B CN 109454666B
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- lifting seat
- gear
- industrial robot
- rotating shaft
- shell
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- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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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
Technical Field
The invention relates to the technical field of industrial robots, in particular to a visual acquisition fixing mechanism for a multi-axis industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can receive human commands and can also run according to a pre-programmed program, and a modern industrial robot can also perform actions according to a principle formulated by an artificial intelligence technology;
visual tracking means that the moving target in the image sequence is detected, extracted, identified and tracked, so that the motion parameters of the moving target are obtained, further, the next step of processing can be performed according to basic data such as the position, the speed, the acceleration, the motion trail and the like of the moving target, finally, the behavior of the moving target is understood, when the industrial robot performs visual acquisition, the visual acquisition device is easily influenced by the external environment, and further, the acquisition effect is unsatisfactory, and therefore, the visual acquisition fixing mechanism for the multi-axis industrial robot is provided.
Disclosure of Invention
The invention aims to provide a visual acquisition fixing mechanism for a multi-shaft industrial robot, which comprises hanging parts, a shell, a lifting seat and a visual acquisition device, wherein two hanging parts are symmetrically welded on the left side wall of the shell, pin holes are formed in the hanging parts, a welding working motor is fixed on 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, two ends of the rotating shaft are rotatably connected with the side wall of the shell, a second gear is fixedly welded at the middle position of the rotating shaft, the first gear is meshed with the second 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; when solving at industrial robot and carrying out vision collection, vision collection system receives external environment's influence easily, and then leads to the unsatisfactory problem of collection effect.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a be used for multiaxis formula industrial robot vision to gather fixed establishment, includes pendant, casing, lift seat and vision collection system, two pendants of casing left side wall symmetric welding, the installation pinhole on the pendant, the fixed weldment work motor in casing inner chamber top, the fixed first gear of welding of work motor left side output, first gear below sets up the pivot, and the pivot both ends are rotated and are connected casing lateral wall, the fixed welding second gear of pivot intermediate position, first gear and second gear meshing.
As a further scheme of the invention: the automatic welding device is characterized in that a lifting seat is arranged below the rotating shaft, a welding connecting rod is fixedly arranged in the middle of the lower surface of the lifting seat, a vision acquisition device is fixedly welded at the lower end of the connecting rod, two first bevel gears are symmetrically welded on the rotating shaft, a second bevel gear is arranged on the left lower side of the first bevel gear, the first bevel gears are meshed with the second bevel gear, a welding screw rod is fixedly arranged below the second bevel gear, the lower end of the screw rod penetrates through the lifting seat and extends to the lower portion of the lifting seat, an internal thread sleeve is arranged at the contact position of the screw rod and the lifting seat, and the internal thread sleeve is in threaded connection with the screw rod.
As a still further scheme of the invention: the positioning rod is arranged between the rotating shaft and the lifting seat, two sides of the positioning rod are fixedly welded on two side walls of the shell, the positioning rod is in sliding connection with the lead screw, a sliding rod is fixedly welded in the middle of the positioning rod, the lower end of the sliding rod penetrates through the lifting seat and is fixedly welded on the lower wall of the shell, and the sliding rod is in sliding connection with the lifting seat.
As a still further scheme of the invention: the lifting seat is characterized in that guide rods are arranged below the lifting seat in parallel, two ends of each guide rod are fixedly connected with two side walls of the shell through bolts, sliders are symmetrically arranged on the guide rods and sleeved on the guide rods, the sliders are connected with the lifting seat through hinge rods, two ends of each hinge rod are hinged to the lifting seat and the sliders respectively, and clamp plates are welded below the sliders.
As a still further scheme of the invention: the water draining tank is fixedly welded to the upper portion of the shell, the bottom surface of the water draining tank is obliquely arranged, a plurality of water draining holes are horizontally arranged on the left side wall of the water draining tank, and a heat radiating opening is formed in the side wall of the shell.
A multi-axis industrial robot comprises the vision acquisition fixing mechanism for the multi-axis industrial robot.
Compared with the prior art, the invention has the beneficial effects that: the shell can be fixed through the arrangement of the hanging piece, the hanging piece is convenient to detach and beneficial to visual collection, the positioning rod has a function of limiting the screw rod, the sliding rod has a function of limiting the lifting seat, the visual collection device can be fully protected through the arrangement of the clamping plate, the lifting seat moves up and down and can push the sliding block to slide left and right along the guide rod, and therefore the visual collection device is fully protected; 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.
Drawings
Fig. 1 is a schematic structural diagram of a visual acquisition fixing mechanism for a multi-axis industrial robot.
Fig. 2 is a front view of a visual acquisition fixing mechanism for a multi-axis industrial robot.
Fig. 3 is a schematic structural diagram of a drainage channel in a visual acquisition fixing mechanism for a multi-axis industrial robot.
Fig. 4 is a partially enlarged schematic view of a in fig. 1.
In the figure: the device comprises a hanger, a shell, a drainage groove, a heat dissipation port, a drainage hole, a working motor, a first gear, a second gear, a rotating shaft, a screw rod, a positioning rod, a lifting seat, a guide rod, a sliding block, a clamping plate, a vision acquisition device, a sliding rod, a first bevel gear, a second bevel gear, a sleeve with internal threads, a hinge rod and a connecting rod, wherein the hanger comprises 1-a hanger, 2-a shell, 3-a drainage groove, 4-a heat dissipation port, 5-a drainage hole, 6-a working motor, 7-a first gear, 8-a second gear, 9-a rotating shaft, 10-a screw rod, 11-a positioning rod, 12-a lifting seat, 13-a guide rod, 14-a sliding block, 15-a clamping plate, 16-a vision acquisition device, 17-a sliding rod, 18-a first bevel gear, 19-a second bevel gear, 20-an internal thread sleeve, 21-a hinge rod and 22-a connecting rod.
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.
Example 1
Referring to fig. 1 to 4, in the embodiment of the invention, a visual acquisition fixing mechanism for a multi-axis industrial robot includes a suspension member 1, a housing 2, a lifting seat 12 and a visual acquisition device 16, wherein two suspension members 1 are symmetrically welded on the left side wall of the housing 2, pin holes are installed on the suspension members 1, the suspension members 1 can be fixed on the housing 2, and are convenient to detach, so that the visual acquisition is facilitated, a working motor 6 is fixedly welded on the top of an inner cavity of the housing 2, a first gear 7 is fixedly welded at the left output end of the working motor 6, a rotating shaft 9 is arranged below the first gear 7, two ends of the rotating shaft 9 are rotatably connected with the side wall of the housing 2, a second gear 8 is fixedly welded at the middle position of the rotating shaft 9, and the first gear 7 is meshed with the second gear 8;
a lifting seat 12 is arranged below the rotating shaft 9, a connecting rod 22 is fixedly welded at the middle position of the lower surface of the lifting seat 12, a vision acquisition device 16 is fixedly welded at the lower end of the connecting rod 22, two first bevel gears 18 are symmetrically welded on the rotating shaft 9, a second bevel gear 19 is arranged below the left side of the first bevel gear 18, the first bevel gears 18 are meshed with the second bevel gears 19, a lead screw 10 is fixedly welded below the second bevel gears 19, the lower end of the lead screw 10 penetrates through the lifting seat 12 and extends to the lower part of the lifting seat 12, an internal threaded sleeve 20 is arranged at the contact position of the lead screw 10 and the lifting seat 12, the internal threaded sleeve 20 is in threaded connection with the lead screw 10, the working motor 6 is started, the working motor 6 drives the first gear 7 to rotate, the first gear 7 drives the second gear 8 and the rotating shaft 9 to rotate, so that the rotating shaft 9 drives the lead screw 10 to rotate, and the lifting seat 12 and the vision acquisition device 16 are driven by the lead screw 10 to move up and down, thereby achieving the purpose of flexibly adjusting the height of the vision acquisition device 16;
a positioning rod 11 is arranged between the rotating shaft 9 and the lifting seat 12, two sides of the positioning rod 11 are fixedly welded on two side walls of the shell 2, the positioning rod 11 is connected with the screw rod 10 in a sliding manner, and the positioning rod 11 has a limiting effect on the screw rod 10;
a sliding rod 17 is fixedly welded in the middle of the positioning rod 11, the lower end of the sliding rod 17 penetrates through the lifting seat 12 and is fixedly welded on the lower wall of the shell 2, the sliding rod 17 is connected with the lifting seat 12 in a sliding manner, and the sliding rod 17 has a limiting effect on the lifting seat 12;
a guide rod 13 is arranged below the lifting seat 12 in parallel, two ends of the guide rod 13 are fixedly connected with two side walls of the shell 2 through bolts, sliding blocks 14 are symmetrically arranged on the guide rod 13, the sliding blocks 14 are sleeved on the guide rod 13, the sliding blocks 14 are connected with the lifting seat 12 through a hinge rod 21, and two ends of the hinge rod 21 are respectively hinged with the lifting seat 12 and the sliding blocks 14;
a clamping plate 15 is welded below the sliding block 14, the vision acquisition device 16 can be fully protected due to the arrangement of the clamping plate 15, and the lifting seat 12 can move up and down and can push the sliding block 14 to slide left and right along the guide rod 13, so that the vision acquisition device 16 can be fully protected;
a drainage groove 3 is fixedly welded on the upper part of the shell 2, the bottom surface of the drainage groove 3 is obliquely arranged, a plurality of drainage holes 5 are horizontally arranged on the left side wall of the drainage groove 3, and the drainage holes 5 are favorable for drainage;
the side wall of the shell 2 is provided with a heat dissipation port 4.
Example 2
A multi-axis industrial robot comprising the vision acquisition fixing mechanism for a multi-axis industrial robot as described in embodiment 1.
The working principle of the invention is as follows: the working motor 6 is started, the working motor 6 drives the first gear 7 to rotate, 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 rod 10 to rotate, the screw rod 10 drives the lifting seat 12 and the vision acquisition device 16 to move up and down, the purpose of flexibly adjusting the height of the vision acquisition device 16 is achieved, the lifting seat 12 can move up and down to push the sliding block 14 to slide left and right along the guide rod 13, and therefore the sufficient protection on the vision acquisition device 16 is achieved; the invention can fully protect the acquisition device 16, can flexibly adjust the height of the vision acquisition device 16 and is beneficial to the industrial robot to perform vision acquisition.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are only for the convenience of description of the invention and to simplify the description, and do not indicate or imply that the referred device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (5)
1. The visual acquisition fixing mechanism for the multi-axis industrial robot comprises hanging pieces (1), a shell (2), a lifting seat (12) and a visual acquisition device (16), wherein two hanging pieces (1) are symmetrically welded on the left side wall of the shell (2), pin holes are formed in the hanging pieces (1), and the visual acquisition fixing mechanism is characterized in that a welding working motor (6) is fixed on the top of an inner cavity of the shell (2), a first gear (7) is fixedly welded at the left side output end of the working motor (6), a rotating shaft (9) is arranged below the first gear (7), two ends of the rotating shaft (9) are rotatably connected with the side wall of the shell (2), a second gear (8) is fixedly welded at the middle position of the rotating shaft (9), and the first gear (7) is meshed with the second gear (8);
a lifting seat (12) is arranged below the rotating shaft (9), a welding connecting rod (22) is fixedly arranged in the middle of the lower surface of the lifting seat (12), a welding vision acquisition device (16) is fixedly arranged at the lower end of the connecting rod (22), two first bevel gears (18) are symmetrically welded on the rotating shaft (9), a second bevel gear (19) is arranged below the left side of the first bevel gear (18), the first bevel gear (18) is meshed with the second bevel gear (19), a lead screw (10) is fixedly welded below the second bevel gear (19), the lower end of the lead screw (10) penetrates through the lifting seat (12) and extends to the lower part of the lifting seat (12), an internal thread sleeve (20) is arranged at the contact position of the lead screw (10) and the lifting seat (12), the internal thread sleeve (20) is in threaded connection with the lead screw (10), a positioning rod (11) is arranged between the rotating shaft (9) and the lifting seat (12), two side walls of the shell (2) are fixedly welded at two sides of the positioning rod (11), the positioning rod (11) is in sliding connection with the lead screw (10), a welding lower wall (17) is fixedly welded at the middle of the sliding seat (17), and the lower wall of the sliding rod (17) is fixed and penetrates through the lower wall of the lifting seat (17), slide bar (17) with lift seat (12) sliding connection, lift seat (12) below parallel arrangement guide bar (13), guide bar (13) both ends bolt fixed connection casing (2) both sides wall, the symmetry sets up slider (14) on guide bar (13), slider (14) cover is established on guide bar (13), slider (14) with lift seat (12) are connected through hinge bar (21), hinge bar (21) both ends are articulated respectively lift seat (12) and slider (14).
2. The vision acquisition fixation mechanism for multi-axis industrial robots according to claim 1 characterized in that a clamping plate (15) is welded under the slide (14).
3. The visual acquisition fixing mechanism for the multi-axis industrial robot according to claim 2, wherein a drainage groove (3) is fixedly welded on the upper part of the housing (2), the bottom surface of the drainage groove (3) is obliquely arranged, and a plurality of drainage holes (5) are horizontally arranged on the left side wall of the drainage groove (3).
4. The vision collection fixing mechanism for the multi-axis industrial robot as claimed in claim 3, characterized in that the side wall of the housing (2) is provided with a heat dissipation opening (4).
5. A multi-axis industrial robot comprising the vision-acquiring holding mechanism for a multi-axis industrial robot as claimed in any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811378503.7A CN109454666B (en) | 2018-11-19 | 2018-11-19 | Visual acquisition fixing mechanism for multi-shaft industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811378503.7A CN109454666B (en) | 2018-11-19 | 2018-11-19 | Visual acquisition fixing mechanism for multi-shaft industrial robot |
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| Publication Number | Publication Date |
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| CN109454666A CN109454666A (en) | 2019-03-12 |
| CN109454666B true CN109454666B (en) | 2022-11-01 |
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| CN201811378503.7A Active CN109454666B (en) | 2018-11-19 | 2018-11-19 | Visual acquisition fixing mechanism for multi-shaft industrial robot |
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| CN112092001B (en) * | 2020-09-09 | 2021-07-27 | 深圳市智美高科技有限公司 | Locking device of industrial clamping robot with emergency stop function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106370216B (en) * | 2016-08-18 | 2020-01-07 | 上海交通大学 | Visual acquisition inclined table with adjustable angle and use method thereof |
| CN106341582A (en) * | 2016-08-31 | 2017-01-18 | 易瓦特科技股份公司 | Image acquisition equipment |
| CN107995426A (en) * | 2017-12-14 | 2018-05-04 | 南京甄视智能科技有限公司 | Intelligent face recognition system |
| CN108190061A (en) * | 2018-01-22 | 2018-06-22 | 顾志裕 | A kind of food packaging material compaction apparatus |
| CN108297135A (en) * | 2018-03-23 | 2018-07-20 | 埃华路（芜湖）机器人工程有限公司 | One kind acquiring fixed mechanism for multiaxial type industrial robot vision |
| CN108532598B (en) * | 2018-05-30 | 2020-06-30 | 张显 | Concrete pile head breaker |
| CN108772507A (en) * | 2018-06-12 | 2018-11-09 | 新昌县盛南建材有限公司 | A kind of reinforcing bar comprehensive process device |
| CN108632520A (en) * | 2018-08-16 | 2018-10-09 | 常州信息职业技术学院 | A kind of outdoor monitoring electronic eyes |
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