CN109732648A - A kind of binocular regulating mechanism connecting robot and filature - Google Patents
A kind of binocular regulating mechanism connecting robot and filature Download PDFInfo
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- CN109732648A CN109732648A CN201910031634.6A CN201910031634A CN109732648A CN 109732648 A CN109732648 A CN 109732648A CN 201910031634 A CN201910031634 A CN 201910031634A CN 109732648 A CN109732648 A CN 109732648A
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Abstract
The invention discloses a kind of binocular regulating mechanism for connecting robot and filature, which includes pedestal, filature installation and fixed hole position, the general hole location in industrial robot end, elevating mechanism, weight loss groove, lifting part rack gear, telescopic rod, industrial camera, camera fixed area, telescopic section rack gear, elevating function knob, the locked knob of lifting, flexible adjustment knob, stretching locks knob, lifting meshing gear and flexible meshing gear.The bottom of pedestal is equipped with filature installation and fixed hole position, and installed by filature makes filature be connected with main component with fixed hole position；Elevating function knob goes up and down locked knob, flexible adjustment knob and flexible locked knob and is fixed on elevating mechanism back by the backboard of elevating mechanism, realizes the adjusting of corresponding function.Overall mechanism of the present invention is highly integrated, and there are multiple functions to be integrated, compact-sized, has the characteristics that precision is high, stationarity is strong.
Description
Technical field
The present invention relates to a kind of regulating mechanisms for connecting robot and gathering filature and biocular systems, for twisting for bolt
Tightly with assembly, belong to latching mechanism assembly and Automated assembly field.
Background technique
Bolt fastening structure is simple, and connection is reliable, easy to loading and unloading, is widely used in various assemblies.In automation
In intelligent production line, bolt screwed portion is indispensable a part, while being also technological difficulties place.
In practical application, more traditional method is to pass through industrial robot in industrial robot end connecting screw machine
It drives filature to go to predetermined position to tighten screw.But in open environment or bolt hole small distance position occur inclined
From conventional method will be unable to smoothly complete the task that bolt is aligned and tightens with bolt hole, need to introduce vision system to bolt
Hole carries out differentiation and measurement of coordinates, and then makes robot that bolt are more accurately screwed into predetermined hole.Therefore a kind of mechanism is needed
The filature tightened will be acted, play the biocular systems of vision positioning and execute the industrial robot of spatial position transformation
Three is linked together, while vision system has the robot end bindiny mechanism of multiple degrees of freedom adjusting.
Summary of the invention
The technical problem to be solved by the present invention is to drag screw for industrial robot during bolt automatic tightening
The problem of screw can not be precisely aligned by machine with screw hole, providing one kind can connect industrial robot while integrated binocular system
System is with screw tightening system in the regulating device of one, the precision for facilitating industrial automation bolt to assemble and accuracy.
The technical scheme of the invention to solve the technical problem is: a kind of binocular for connecting robot and filature
Regulating mechanism, the binocular regulating mechanism include pedestal, filature installation and fixed hole position 1, the general hole location in industrial robot end
2, elevating mechanism 3, weight loss groove 4, lifting part rack gear 5, telescopic rod 6, industrial camera 7, camera fixed area 8, telescopic section tooth
Item 9, elevating function knob 10 go up and down locked knob 11, flexible adjustment knob 12, flexible locked knob 13, lifting meshing gear
14 and flexible meshing gear 15.
The bottom of pedestal is equipped with filature installation and fixed hole position 1, makes filature with fixed hole position 1 by filature installation
It is connected with main component；The back of pedestal is equipped with the general hole location 2 in industrial robot end, general by industrial robot end
Hole location 2 is expanded mouth with robot end and is attached；The centre of pedestal is elevating mechanism 3, among the main part of elevating mechanism 3
Equipped with weight loss groove 4, weight loss groove 4 is the structure hollowed out, guarantees the weight of the main part of elevating mechanism 3.The main body of elevating mechanism 3
Part two sides are equipped with lifting part rack gear 5, and lifting part rack gear is engaged with the lifting gear 14 inside elevating mechanism 3, realize and rise
Function drops；Be respectively provided with two telescopic rods 6 in the upper rear portion of elevating mechanism 3 and lower step, lower section in top telescopic rod and
Telescopic section rack gear 9 is equipped with above the telescopic rod of lower part, two flexible rack gears 9 are engaged with flexible meshing gear；
The side of telescopic rod 6 is connect by camera fixed area 8 with industrial camera 7；Elevating function knob 10, go up and down locked knob 11,
Flexible adjustment knob 12 and flexible locked knob 13 are fixed on 3 back of elevating mechanism by the backboard of elevating mechanism 3, realize corresponding
The adjusting of function.
Filature installation and fixed hole position 1 in mechanism body member bottom section, to facilitate the installation of filature and consolidate
It is fixed；The mechanism body component back side has the general hole location 2 in industrial robot end of standard, convenient to expand with industrial robot end
Mouth is attached；Main component center has rectangular weight loss groove 4, the loss of weight for integral device；Main component two sides dress
There is lifting part rack gear 5.
There is the elevating mechanism 3 of vertical adjusting on main component top, there are two elevating functions for 3 inside two sides of elevating mechanism
Gear knob 10 is engaged by the gear parts of two gear knobs 10 and the lifting part rack gear 5 of main component two sides
It clamps, constrains the horizontal force of elevating mechanism 3, prevent from shaking；It is semi-closed shape outside the elevating mechanism 3 of vertical adjusting
Shell, shell wrap wheel and rack, the gear of 3 two sides of elevating mechanism by rotating the vertical adjusting, make gear with
Lifting part rack gear 5 on main component generates relative rolling, and the realization of elevating mechanism 3 for dragging the vertical adjusting moves up and down.
At the same time, two telescopic rods 6, mechanism are passed through above and below respectively in the horizontal back direction of lifting section mechanism 3
Middorsal vertical direction is equipped with flexible adjustment gear knob 11；
Described two telescopic rods are respectively equipped with a telescopic section gear bar 9 relative to the gear knob at center, are in top
The rack gear of the rack gear of telescopic rod, the gear parts of gear knob and lower part scaling platform is sequentially connected between three；Described three
The external of person installs shell, and the rolling moving constraint of three's vertical direction is lived, while guaranteeing central gear knob and upper and lower rack gear
Engagement；By rotating the flexible adjustment gear knob, gear and two rack gears is set to generate relative motion, upper and lower rack gear is opposite
The direction of motion is on the contrary, two telescopic rods of synchronous drive realize the adjustment of distance between two industrial cameras 7.The one of telescopic rod 6
There is camera fixed area 8 at end, and the region surface has rubber pad, by the nut among plane, can realize that camera is fixed
The firm of camera position is kept while the angle of axis rotation two cameras of adjustment.Rotation there are five having in the case back of telescopic rod
Button is arranged successively, and two of them elevating function knob is in two sides, and one is in most central for telescopic adjustment knob, and lifting is locked
Knob 11, flexible locked 13 two locked knobs of knob lock above-mentioned two freedom degree respectively.
The present invention has the advantages that overall mechanism is highly integrated, there are multiple functions to be integrated, it is compact-sized, it is protecting
Light-weight technologg as far as possible while demonstrate,proving function.Wherein industrial robot interface is general-purpose interface, compatible and polytypic robot
Connection, filature interface are also that mainstream mounting means reserves installing port.The adjusting of industrial camera realizes that multiple degrees of freedom is adjusted, and meets
The adjusting application demand of various environment, while being adjusted by rack-and-pinion, have the characteristics that precision is high, stationarity is strong.
Detailed description of the invention
Fig. 1 is the main structure chart for connecting the binocular regulating mechanism of robot and filature.
Fig. 2 is the rear body structural schematic diagram of the mechanism.
Fig. 3 is elevating mechanism schematic internal view.
Fig. 4 is telescoping mechanism schematic internal view.
In figure: 1 --- filature installation and fixed hole position；2 --- the general hole location of robot end；3 --- elevating mechanism；
4 --- weight loss groove；5 --- lifting part rack gear；6 --- telescopic rod；7 --- in industrial camera: 8 --- camera fixed area；
9 --- telescopic section rack gear；10 --- elevating function knob；11 --- go up and down locked knob；12 --- flexible adjustment knob；
13 --- flexible locked knob；14 --- lifting meshing gear；15 --- flexible meshing gear
Specific embodiment
The invention is described in further detail with reference to the accompanying drawings of the specification.
Referring to Fig.1-it is shown in Fig. 4 connection robot and filature binocular regulating mechanism, include filature and industry
The height of robot mounting location and binocular industrial camera adjusts part and level adjustment part.
Connected first by the subsequent four standard industrial robot's connectors 2 in mechanism body part and industrial robot end
It connects.Filature is embedded in by the filature groove 1 of mechanism lower end and passes through 1 three screw holes and is fixed.Industrial camera is pacified
8 industrial camera installation regions are attached to, wherein 8 surfaces have rubber material, rotation angle of the camera relative to bolt hole is adjusted, twists
Tight bolt makes camera be bonded holding stability with 8 rubber surface.The work of hardware connection at this time is basically completed, followed by phase
Machine pose adjustment.According to Operating condition adjustment camera heights, two height adjustment knobs 10 of rotating body two sides, the knob other end is
Gear is engaged gear with mechanism body two sides rack gear 10 by rotating knob, so that two gears be allowed to drive entire rise
Descending mechanism 3 carries out vertical adjusting, is adjusted to appropriate location rotation raw rubber and locks knob 11, the knob and elevating mechanism pass through threaded hole
Connection makes knob one end and rack gear side withstand to keep stability inflexibly by rotating the torsion.Next two cameras of adjustment
Spacing.Binocular spacing appropriate is selected according to application environment, rotates telescopic adjustment knob 12, the gear by knob end is same
When be engaged with upper and lower two rack gears 9, two rack gears be separately connected left and right two telescoping rods 6 reach adjust spacing mesh
, by the rotation of a gear, while left and right camera synchronization telescope is driven, keeps two cameras opposite while adjusting spacing
Symmetry in mechanism center.When camera is in appropriate location, flexible locked knob 13 is rotated, it is same to lock knob with height
Reason, makes the knob other end contact and withstand with flexible rack gear 9, restricts its movement by nut with threaded hole relative motion.So far,
To be stably connected with, industrial camera also completes multivariant adjusting according to working environment and fixes for robot and filature.
Claims (5)
1. it is a kind of connect robot and filature binocular regulating mechanism, it is characterised in that: the binocular regulating mechanism include pedestal,
Filature installation and fixed hole position (1), the general hole location in industrial robot end (2), elevating mechanism (3), weight loss groove (4), lifting
Partial racks (5), telescopic rod (6), industrial camera (7), camera fixed area (8), telescopic section rack gear (9), elevating function rotation
Button (10), go up and down locked knob (11), flexible adjustment knob (12), flexible locked knob (13), lifting meshing gear (14) and
Flexible meshing gear (15)；
The bottom of pedestal is equipped with filature installation and fixed hole position (1), makes filature with fixed hole position (1) by filature installation
It is connected with main component；The back of pedestal is equipped with the general hole location in industrial robot end (2), logical by industrial robot end
Mouth is expanded with robot end with hole location (2) to be attached；The centre of pedestal is elevating mechanism (3), the main body of elevating mechanism (3)
Part is intermediate to be equipped with weight loss groove (4), and weight loss groove (4) is the structure hollowed out, guarantees the weight of the main part of elevating mechanism (3)；
The main part two sides of elevating mechanism (3) are equipped with lifting part rack gear (5), lifting part rack gear and elevating mechanism (3) inside
Meshing gear (14) engagement is gone up and down, realizes elevating function；Two are respectively provided in the upper rear portion of elevating mechanism (3) and lower step to stretch
Contracting bar (6), lower section in top telescopic rod and is equipped with telescopic section rack gear (9), two above the telescopic rod of lower part
Telescopic section rack gear (9) is engaged with flexible meshing gear；The side of telescopic rod (6) passes through camera fixed area (8) and work
Industry camera (7) connection；Elevating function knob (10) goes up and down locked knob (11), flexible adjustment knob (12) and flexible locked rotation
Button (13) is fixed on elevating mechanism (3) back by the backboard of elevating mechanism (3), realizes the adjusting of corresponding function.
2. a kind of binocular regulating mechanism for connecting robot and filature according to claim 1, it is characterised in that: be in
Filature installation and fixed hole position (1) of mechanism body member bottom section, to facilitate the installation and fixation of filature；Mechanism body
The component back side has the general hole location in industrial robot end (2) of standard, convenient to be connected with industrial robot end expansion mouth
It connects；Main component center has rectangular weight loss groove (4), the loss of weight for integral device；Main component two sides are equipped with lifting
Partial racks (5).
3. a kind of binocular regulating mechanism for connecting robot and filature according to claim 1, it is characterised in that: in master
Body member upper has the elevating mechanism (3) of vertical adjusting, and there are two elevating function knobs for the internal two sides of elevating mechanism (3)
(10), it is nibbled by the gear parts of two elevating function knobs (10) and the lifting part rack gear (5) of main component two sides
Co-clip is tight, constrains the horizontal force of elevating mechanism (3), prevents from shaking；It is semi-closed outside the elevating mechanism (3) of vertical adjusting
The shell of shape, shell wrap wheel and rack, the gear of elevating mechanism (3) two sides by rotating the vertical adjusting,
The lifting part rack gear (5) on gear and main component is set to generate relative rolling, the elevating mechanism (3) for dragging the vertical adjusting is real
Now move up and down.
4. a kind of binocular regulating mechanism for connecting robot and filature according to claim 1, it is characterised in that: in institute
The horizontal back direction for stating elevating mechanism (3) passes through two telescopic rods (6), the middorsal vertical direction of mechanism above and below respectively
Knob (11) are locked equipped with going up and down.
5. a kind of binocular regulating mechanism for connecting robot and filature according to claim 1, it is characterised in that: described
Two telescopic rods are respectively equipped with a telescopic section rack gear (9) relative to the gear knob at center, rack gear in top telescopic rod,
The rack gear of the gear parts of gear knob and lower part scaling platform is sequentially connected between three；In the external installation of the three
Shell lives the rolling moving constraint of three's vertical direction, while guaranteeing engaging for central gear knob and upper and lower rack gear；By turning
The flexible adjustment gear knob is moved, gear and two rack gears is made to generate relative motion, upper and lower rack gear direction of relative movement phase
Instead, two telescopic rods of synchronous drive realize the adjustment of distance between two industrial cameras (7)；There is phase in one end of telescopic rod (6)
Machine fixed area (8), the region surface have rubber pad, by the nut among plane, are realizing camera fixed-axis rotation tune
The firm of camera position is kept while the angle of whole two cameras；It is successively arranged in the case back tool of telescopic rod there are five knob
Column, two of them elevating function knob are in two sides, and one is in most central for telescopic adjustment knob, go up and down locked knob
(11), locked (13) the two locked knobs of knob that stretch lock above-mentioned two freedom degree respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031634.6A CN109732648B (en) | 2019-01-14 | 2019-01-14 | Binocular adjusting mechanism for connecting robot and screw machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031634.6A CN109732648B (en) | 2019-01-14 | 2019-01-14 | Binocular adjusting mechanism for connecting robot and screw machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109732648A true CN109732648A (en) | 2019-05-10 |
| CN109732648B CN109732648B (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910031634.6A Active CN109732648B (en) | 2019-01-14 | 2019-01-14 | Binocular adjusting mechanism for connecting robot and screw machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113114898A (en) * | 2021-04-13 | 2021-07-13 | 盛天智能机器人(广东)有限责任公司 | 3D vision positioning system for live working robot |
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| CN101612736A (en) * | 2009-07-23 | 2009-12-30 | 上海交通大学 | Robot MIG welding binocular vision sensing system |
| CN203661165U (en) * | 2013-12-10 | 2014-06-18 | 吉林大学 | Multi freedom degree binocular stereo vision device |
| CN204883155U (en) * | 2015-08-28 | 2015-12-16 | 厦门大学 | Binocular vision camera supporting |
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| CN107364406A (en) * | 2017-08-22 | 2017-11-21 | 辽宁工业大学 | The installation stand and its control method of a kind of vehicle-mounted binocular vision system |
| CN206717914U (en) * | 2017-04-20 | 2017-12-08 | 南京信息工程大学 | A kind of binocular image harvester |
| CN207779410U (en) * | 2018-02-07 | 2018-08-28 | 杨凌职业技术学院 | A kind of binocular vision navigation device |
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2019
- 2019-01-14 CN CN201910031634.6A patent/CN109732648B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101612736A (en) * | 2009-07-23 | 2009-12-30 | 上海交通大学 | Robot MIG welding binocular vision sensing system |
| CN203661165U (en) * | 2013-12-10 | 2014-06-18 | 吉林大学 | Multi freedom degree binocular stereo vision device |
| CN204883155U (en) * | 2015-08-28 | 2015-12-16 | 厦门大学 | Binocular vision camera supporting |
| CN105806242A (en) * | 2016-04-15 | 2016-07-27 | 同济大学 | Surface type measuring device adopting laser rotary scanning |
| CN106595594A (en) * | 2016-11-18 | 2017-04-26 | 华南理工大学 | Adjustable double eye visual sensing device and method |
| CN206717914U (en) * | 2017-04-20 | 2017-12-08 | 南京信息工程大学 | A kind of binocular image harvester |
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| CN113114898A (en) * | 2021-04-13 | 2021-07-13 | 盛天智能机器人(广东)有限责任公司 | 3D vision positioning system for live working robot |
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Effective date of registration: 20200720 Address after: 100124 Chaoyang District, Beijing Ping Park, No. 100 Applicant after: Beijing University of Technology Applicant after: BEIJING XINGHANG MECHANICAL-ELECTRICAL EQUIPMENT Co.,Ltd. Address before: 100124 Chaoyang District, Beijing Ping Park, No. 100 Applicant before: Beijing University of Technology |
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