CN109822604A - Can automatic turning calibration board mount - Google Patents
Can automatic turning calibration board mount Download PDFInfo
- Publication number
- CN109822604A CN109822604A CN201910248335.8A CN201910248335A CN109822604A CN 109822604 A CN109822604 A CN 109822604A CN 201910248335 A CN201910248335 A CN 201910248335A CN 109822604 A CN109822604 A CN 109822604A
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- China
- Prior art keywords
- supporting seat
- bottom plate
- calibration
- vertical supports
- supports bar
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Abstract
The present invention relates to it is a kind of can automatic turning calibration board mount, it is mounted under end effector, the stand connection being laterally arranged including one and one are mounted on the guide rail slide unit that can be slided in stand connection and along stand connection length direction and can position, and the guide rail slide unit be fixedly mounted under end effector；One turning supporting seat that can be rotated and position is installed in stand connection side；One scaling board holding frame is installed in turning supporting seat, the scaling board holding frame can overturn in turning supporting seat and position after being turned to any angle；The scaling board holding frame is T-shaped, is made of vertical supports bar and the lateral clamping part for being mounted on vertical supports bar top, and one piece is clamped on lateral clamping part for the calibration bottom plate of scaling board to be arranged.The present invention obtain can automatic turning the setting of calibration board mount flexibly, can multi-faceted flexible rotating, realize the purpose that the measured place plane of scaling board and curve surface work pieces is generally aligned in the same plane.
Description
Technical field
The present invention relates to a kind of camera calibration technical field, in particular to it is a kind of can automatic turning calibration board mount.
Background technique
Video camera be used to obtain target image in NI Vision Builder for Automated Inspection to realize the functions such as reconstruction and identification to object.
Realize above-mentioned function premise be establish on space object three-dimensional information that certain is put and its in the picture between two-dimensional coordinate information
Geometrical model, and the parameter of geometrical model is the inside and outside parameter of video camera and the optic plane equations of video camera.Inside and outside ginseng
Several and optical parameter need are obtained by experiment with calibration is calculated, therefore the precision of parameter calibration directly affects machine vision
Precision.
Currently, needing to carry out accurate calibration to its parameter using scaling board before measuring using industrial camera.?
When being demarcated to flat work pieces, it is only necessary to scaling board is placed on workpiece surface, while placing the cameras at end execution
In device (when placement, need to synchronize and be fixed on end effector on robot arm by ring flange, with guarantee end effector and
Camera is maintained at a fixed position), keep camera optical axis vertical with workpiece surface, camera can be demarcated.But according to
When camera measures curve surface work pieces, it is difficult to which plane where making scaling board and curve surface work pieces measured place plane are located at same put down
Face.To solve the above problems, application human desires design it is a kind of can automatic turning calibration board mount, in which is mounted on
If under the end effector of video camera, and can realize multi-party bit flipping, the position of scaling board is adjusted flexibly, to realize scaling board institute
It is generally aligned in the same plane in plane and curve surface work pieces measured place plane.
Summary of the invention
In view of the above-mentioned problems existing in the prior art, the object of the present invention is to provide it is a kind of can automatic turning scaling board
Bracket is solved the measurement plane of scaling board and curve surface work pieces in the prior art and is difficult in same plane by using the bracket
The problem of, improve the accuracy of measurement.
To achieve the above object, the present invention adopts the following technical scheme:
It is a kind of can automatic turning calibration board mount, be mounted under end effector, which is characterized in that it include one laterally setting
Stand connection and one be mounted in stand connection and can along stand connection length direction slide and can position
Guide rail slide unit, the guide rail slide unit is fixedly mounted under end effector；One is equipped in stand connection left or right side
A turning supporting seat that can be rotated and position, the Plane of rotation of the turning supporting seat and the left side of stand connection or right side
In parallel；One scaling board holding frame is installed in turning supporting seat, the scaling board holding frame can be overturn simultaneously in turning supporting seat
It is positioned after being turned to any angle, and the overturning face of scaling board holding frame and the surfaces of revolution of turning supporting seat are perpendicular；The mark
Fixed board holding frame is T-shaped, is made of vertical supports bar and the lateral clamping part for being mounted on vertical supports bar top, in lateral clamping
One piece is clamped in portion for the calibration bottom plate of scaling board to be arranged.
Further, the turning supporting seat is by bottom plate and two blocks of side plates for being mounted on bottom plate and being respectively placed in bottom plate two sides
Composition.
Further, be fixedly installed with a rotating electric machine in stand connection left or right side, the rotating electric machine it is defeated
Shaft is placed in stand connection outer end and output shaft is arranged along stand connection length direction, and the output shaft of rotating electric machine is fixed to be connected
It connects on the bottom plate of turning supporting seat.
Further, an overturning motor, institute are fixedly installed between the both side plate of turning supporting seat, on one of side plate
The output shaft of the output shaft and rotating electric machine of stating overturning motor is perpendicular.
Further, vertical supports bar is placed between overturning motor and the side plate for overturning motor opposite side, the vertical branch
Hack lever is fixedly connected close to the side of overturning motor with the output shaft of overturning motor, the other side of vertical supports bar and turning supporting seat
Between be rotatably coupled by a shaft.
Further, the lateral clamping part includes the transverse slat and two pieces of difference that middle part is fixedly mounted on vertical supports bar
It is placed in the grip block of transverse slat left and right ends, at least one one end is equipped with close to one end of grip block in every piece of transverse slat and transverse slat is solid
Fixed connection, the spring that the other end is fixedly connected with grip block；One is equipped with towards the side of calibration bottom plate in every piece of grip block
The card slot of bottom plate is determined for card bidding.
Further, it is respectively equipped at least one piece of limit plate in the left and right ends of transverse slat, is equipped on every piece of grip block
At least one limiting slot matched with limit plate.
Further, a mounting groove matched with vertical supports bar, the mounting groove card are equipped at the middle part of transverse slat
It is locked on the top of vertical supports bar, and by multiple fasteners.
Further, a locating notch is equipped in the left and right sides of calibration bottom plate, with grip block opposite position.
Compared with the existing technology, the present invention at least has the advantages that
1, bracket setting flexibly, can make scaling board holding frame flexible rotating in the X-axis and Y-axis both direction of bracket, in turn
Enable the calibration bottom plate being clamped on scaling board holding frame changing location therewith, realizes the measured place plane position with curve surface work pieces
In conplane purpose.
2, the structure of bracket is simple, and the rotation and positioning of scaling board holding frame are controlled by motor, can either realize mark
The quick rotation of fixed board holding frame, and can quickly position, it is easy to operate.
Detailed description of the invention
Fig. 1 is the mounting structure schematic diagram of scaling board bracket in embodiment；
Fig. 2 is the original state schematic diagram of scaling board bracket in embodiment；
Fig. 3 is to demarcate bottom plate and curve surface work pieces overlap condition schematic diagram in embodiment in scaling board bracket；
Fig. 4 is schematic diagram of the scaling board bracket under calibration state in embodiment；
Fig. 5 is the enlarged structure schematic diagram of lateral clamping part in embodiment.
In figure, 1- guide rail slide unit, 2- stand connection, 3- rotating electric machine, 4- turning supporting seat, 41- bottom plate, 42- side plate, 5-
Shaft, 6- overturn motor, 7- vertical supports bar, 8- transverse slat, 81- limit plate, 9- grip block, 91- card slot, 92- limiting slot, 10-
Spring, 11- demarcate bottom plate, 111- locating notch, 12- end effector, 13- curve surface work pieces.
Specific embodiment
Invention is further described in detail below.
As shown, it is provided in this embodiment can the calibration board mount of automatic turning be mounted under end effector, including
One stand connection 2 being laterally arranged and one are mounted in stand connection 2 and can be sliding along 2 length direction of stand connection
Guide rail slide unit 1 that is dynamic and can positioning, the guide rail slide unit 1 are fixedly mounted under end effector 12, the end effector
12 have the rectangular box of opening for a left and right ends, and a video camera (video camera is equipped in end effector 12
Camera lens it is corresponding with the opening of end effector), a ring flange is equipped at the top of end effector 12, end effector 12 passes through
The ring flange is fixedly connected with robot arm, and when operation, end effector 12 and video camera may be implemented in guide rail slide unit 1
On sliding and positioning；One turning supporting seat 4 that can be rotated and position, institute are installed in 2 left or right side of stand connection
The Plane of rotation for stating turning supporting seat 4 is parallel with the left side of stand connection 2 or right side, and turning supporting seat 4 is by 41 He of bottom plate
Two blocks of side plates 42 for being mounted on bottom plate 41 and being respectively placed in 41 two sides of bottom plate form；One calibration is installed in turning supporting seat 4
Plate holding frame, the scaling board holding frame can overturn in turning supporting seat 4 and position after being turned to any angle, and demarcate
The overturning face of plate holding frame and the surfaces of revolution of turning supporting seat 4 are perpendicular；The scaling board holding frame is T-shaped, by vertical supports bar 7
It is formed with the lateral clamping part for being mounted on 7 top of vertical supports bar, one piece of calibration bottom plate 11 is clamped on lateral clamping part,
It demarcates bottom plate 11 and is equipped with a scaling board；Vertical supports bar 7 in the present embodiment is by the connecting plate of bottom and lower end and connecting plate
The vertical mounting plate composition being fixedly connected.
In the present embodiment, the original state for demarcating board mount is as follows: the calibration bottom plate 11 in the scaling board holding frame
It is parallel with stand connection 2 with vertical supports bar 7, (as shown in Figure 2) is placed under end effector 12.It is being demarcated
Before, it needs first to have installed and fixed video camera in end effector 12, it is ensured that the mark on the camera lens and calibration bottom plate 11 of video camera
Fixed board is in sustained height, then controls scaling board holding frame in 90 degree of rotations upwards, connect scaling board bottom plate 11 with bracket
Be vertical relation between part 2, meanwhile, mobile end effector 12, make to demarcate between the imaging surface and video camera of bottom plate 11 away from
From reaching with a distance from needed for staking-out work.After the completion of above-mentioned previous work, it can be rotated by manipulation vertical supports bar 7, make to press from both sides
The calibration bottom plate 11 held on scaling board holding frame is Chong Die with the measuring surface of curve surface work pieces 13, then, controls vertical supports again
Bar 7 rotates, and stops rotating, is kept fixed after the camera lens of scaling board and video camera in calibration bottom plate 11 is in sustained height
State can be calibrated.
Specifically, in the present embodiment the rotation of turning supporting seat 4 and be located through such as flowering structure realization: in stand connection
2 left or right sides are fixedly installed with a rotating electric machine 3, and the output shaft of the rotating electric machine 3 is placed in 2 outer end of stand connection and defeated
Shaft is arranged along 2 length direction of stand connection, and the output shaft of rotating electric machine 3 is fixedly connected on the bottom plate 41 of turning supporting seat 4.
In the specific implementation, can be connected with rotating electric machine 3 by cable by PLC, use PLC to the rotation angle of rotating electric machine 3 with
And opening/closing time is controlled.When specific operation, since the output shaft of rotating electric machine 3 is fixedly connected with turning supporting seat 4, because
This, when starting rotating electric machine 3, the output shaft of rotating electric machine 3 starts to rotate, so that turning supporting seat 4 be driven to rotate together therewith.Together
When, due to being also equipped with scaling board holding frame in turning supporting seat 4, in 4 synchronous rotary of rotating electric machine 3 and turning supporting seat, installation
Scaling board holding frame in turning supporting seat 4 also can synchronous rotary, and then the drive calibration rotation of bottom plate 11 therewith.
Scaling board holding frame passes through as flowering structure realizes overturning and positions in the present embodiment: in the both side plate of turning supporting seat 4
An overturning motor 6, the output shaft and rotating electric machine 3 of the overturning motor 6 are fixedly installed between 42, on one of side plate 42
Output shaft it is perpendicular (setting can ensure that overturning motor 6 different from the direction of rotation of rotating electric machine 3).Vertical supports bar 7 is set
In overturning motor 6 and overturn between the side plate 42 of 6 opposite side of motor, the vertical supports bar 7 close to overturning motor 6 side with
The output shaft of overturning motor 6 is fixedly connected, and can be rotated between the other side and turning supporting seat 4 of vertical supports bar 7 by a shaft 5
Ground connection.In the specific implementation, can be connected with overturning motor 6 by cable by PLC, the rotation using PLC to overturning motor 6
Angle and opening/closing time are controlled.When specific operation, one end due to overturning motor 6 is fixedly connected with turning supporting seat 4,
The output shaft of the other end is fixedly connected with vertical supports bar 7, therefore when rotating electric machine 3 starts and turning supporting seat 4 is driven to rotate,
Vertical supports bar 7 can also rotate with.Simultaneously as the output shaft of overturning motor 6 is fixedly connected with vertical supports bar 7, and perpendicular
It is rotatably coupled to cradling piece 7 and turning supporting seat 4, therefore, when starting overturns motor 6, in overturning 6 output shaft of motor rotation
Under, vertical supports bar 7 can rotate with it, and realize overturning.Certainly, for ensure turning supporting seat 4 rotate when, vertical supports bar 7 it is steady
Solidity, rotating electric machine 3 and overturning motor 6 are unable to synchronous averaging, and in the case where overturning 6 inactive state of motor, vertical supports bar 7 is being turned over
In the state that 6 output shaft of rotating motor is fixed, and fixed.
When needing to carry out staking-out work, starting overturning motor 6 first, make scaling board bottom plate 11 and stand connection 2 it
Between be vertical relation, restart guide rail slide unit 1, the imaging surface for demarcating bottom plate 11 and the distance between video camera made to reach calibration work
Distance needed for making.It is determining in calibration bottom plate 11 and end effector 12 after the image-forming range of video camera, is starting rotating electric machine
3, so that calibration bottom plate 11 is overlapped (as shown in Figure 3) with the measurement of curved surface face of curve surface work pieces 13 to be measured, bottom plate 11 will be demarcated at this time
Position is denoted as measurement point.Then, curve surface work pieces 13 are lifted away from measurement point, avoid calibration 11 rotary course of bottom plate in curve surface work pieces
Interference is generated between 13.Finally, being again started up rotating electric machine 3, make to demarcate the rotation 180 degree of bottom plate 11, at this point, on calibration bottom plate 11
Scaling board and end effector 12 in video camera be on same straight line (as shown in Figure 4), at this point, being that can be calibrated work
Industry.
After calibration, calibration bottom plate 11 is rotated 180 degree, restarts overturning motor 6, will demarcate by starting selection motor 3
Bottom plate 11 is turned over to 2 direction of stand connection and is turn 90 degrees, and restarts guide rail slide unit 1, and calibration board mount is restored to not working initially
State.
Further, the lateral clamping part includes the transverse slat 8 and two pieces points that middle part is fixedly mounted on vertical supports bar 7
Be not placed in the grip block 9 of 8 left and right ends of transverse slat, every piece of transverse slat 8 close to one end of grip block 9 be equipped at least one one end with
Transverse slat 8 is fixedly connected, the spring 10 that the other end is fixedly connected with grip block 9；Every piece of grip block 9 towards calibration bottom plate 11 one
Side is equipped with the card slot 91 that bottom plate 11 is determined for blocking bidding.In this way, before card bidding determines bottom plate 11, by pulling out folder
Plate 9 is held, under the extension of spring 10, the spacing between two grip blocks 9 increases, and carries out the calibration bottom plate for adapting to different in width requirement
11 installations, meanwhile, setting, which can also facilitate, in this way engages calibration bottom plate, when installation, direct clamping one side, another side to
Outer pull-out is decontroled, i.e. restorable after calibration bottom plate 11 is engaging in place, and then realizes the clamping on both sides.
As shown in figure 5, being respectively equipped with two pieces of limit plates 81 in the left and right ends of transverse slat 8, it is equipped on every piece of grip block 9
At least one limiting slot 92 matched with limit plate 81.A positioning port is formed between two pieces of limit plates 81, in grip block 9
One end towards positioning port is equipped with a retention bead engaged with positioning port.In this way, setting limit plate 81 and limiting slot
After 92, by the engaging of limit plate 81 and limiting slot 92, transverse slat 8 and grip block 9 can be connected as an entirety, to demarcate bottom
The support of plate 11 provides advantageous guarantee, simultaneously, moreover it is possible to ensure that grip block 9 and transverse slat 8 are in the same horizontal position.And it is set
The cooperation of positioning port and retention bead further transverse slat 8 and grip block 8 can be linked together, increase the intensity of transverse slat 8,
Simultaneously, moreover it is possible to ensure that transverse slat 8 and grip block 9 are in the same horizontal position, position-limiting action can be played to grip block 9.
Further, a mounting groove matched with vertical supports bar 7, the mounting groove are equipped at the middle part of transverse slat 8
It is stuck in the top of vertical supports bar 7, and is locked by multiple fasteners.In this way, setting mounting groove after, can convenient for transverse slat 8 with
Vertical supports bar 7 is fixedly connected.
Further, a locating notch is equipped in the left and right sides of calibration bottom plate 11, with 9 opposite position of grip block
111, the locating notch 111 is located in the middle part of the side of calibration bottom plate 11.In this way, locating notch 111 can be the clamping of grip block 9
One position-limiting action is provided, grip block 9 is made to be easier to engage.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (9)
1. one kind can automatic turning calibration board mount, be mounted under end effector, which is characterized in that it include one laterally set
The stand connection set and one are mounted in stand connection and can slide and can determine along stand connection length direction
The guide rail slide unit of position, the guide rail slide unit are fixedly mounted under end effector；It is equipped in stand connection left or right side
One turning supporting seat that can be rotated and position, the Plane of rotation of the turning supporting seat and the left side of stand connection or right side
Face is parallel；One scaling board holding frame is installed in turning supporting seat, the scaling board holding frame can be overturn in turning supporting seat
And it is positioned after being turned to any angle, and the overturning face of scaling board holding frame and the surfaces of revolution of turning supporting seat are perpendicular；It is described
Scaling board holding frame is T-shaped, is made of vertical supports bar and the lateral clamping part for being mounted on vertical supports bar top, in lateral folder
It holds and is clamped with one piece in portion for the calibration bottom plate of scaling board to be arranged.
2. it is according to claim 1 can automatic turning calibration board mount, which is characterized in that the turning supporting seat is by bottom plate
The side plate composition of bottom plate two sides is mounted on bottom plate and is respectively placed in two pieces.
3. it is according to claim 2 can automatic turning calibration board mount, which is characterized in that on the left of stand connection or
Right side is fixedly installed with a rotating electric machine, and the output shaft of the rotating electric machine is placed in stand connection outer end and output shaft along bracket
The setting of connector length direction, the output shaft of rotating electric machine are fixedly connected on the bottom plate of turning supporting seat.
4. it is according to claim 3 can automatic turning calibration board mount, which is characterized in that in the both side plate of turning supporting seat
Between, be fixedly installed with an overturning motor on one of side plate, the output of the output shaft and rotating electric machine of the overturning motor
Axis is perpendicular.
5. it is according to claim 4 can automatic turning calibration board mount, which is characterized in that vertical supports bar is placed in overturning
Between motor and the side plate for overturning motor opposite side, the close side for overturning motor of the vertical supports bar is defeated with overturning motor
Shaft is fixedly connected, and is rotatably coupled between the other side and turning supporting seat of vertical supports bar by a shaft.
6. as described in claims 1 or 2 or 3 or 4 or 5 can automatic turning calibration board mount, which is characterized in that the transverse direction
Clamping part includes the grip block that the transverse slat that middle part is fixedly mounted on vertical supports bar and two pieces are respectively placed in transverse slat left and right ends,
It is equipped at least one one end close to one end of grip block in every piece of transverse slat to be fixedly connected with transverse slat, the other end is fixed with grip block
The spring of connection；One, which is equipped with, towards the side of calibration bottom plate in every piece of grip block is marked with the card slot for determining bottom plate for blocking.
7. it is according to claim 6 can automatic turning calibration board mount, which is characterized in that in left and right ends of transverse slat point
Not She You at least one piece of limit plate, at least one limiting slot matched with limit plate is equipped on every piece of grip block.
8. it is according to claim 6 can automatic turning calibration board mount, which is characterized in that the middle part of transverse slat be equipped with one
A mounting groove matched with vertical supports bar, the mounting groove is stuck in the top of vertical supports bar, and passes through multiple fasteners
Locking.
9. it is according to claim 7 or 8 can automatic turning calibration board mount, which is characterized in that calibration bottom plate a left side
Right two sides are equipped with a locating notch with grip block opposite position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910248335.8A CN109822604A (en) | 2019-03-29 | 2019-03-29 | Can automatic turning calibration board mount |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910248335.8A CN109822604A (en) | 2019-03-29 | 2019-03-29 | Can automatic turning calibration board mount |
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| Publication Number | Publication Date |
|---|---|
| CN109822604A true CN109822604A (en) | 2019-05-31 |
Family
ID=66874531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910248335.8A Pending CN109822604A (en) | 2019-03-29 | 2019-03-29 | Can automatic turning calibration board mount |
Country Status (1)
| Country | Link |
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| CN (1) | CN109822604A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112857753A (en) * | 2021-01-25 | 2021-05-28 | 悠柯(上海)智能科技有限公司 | Calibration device for visual system |
| CN113043329A (en) * | 2021-03-24 | 2021-06-29 | 清华大学 | Precision calibration test device for measurement module |
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| CN208421900U (en) * | 2018-07-13 | 2019-01-22 | 上海禾赛光电科技有限公司 | A kind of camera system parameter calibration device |
| CN208638410U (en) * | 2018-08-15 | 2019-03-22 | 陈升平 | A kind of fixture and the mobile phone support with this fixture |
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| WO2017205061A1 (en) * | 2016-05-24 | 2017-11-30 | Illinois Tool Works Inc. | Three-dimensional calibration tools and methods |
| CN107808400A (en) * | 2017-10-24 | 2018-03-16 | 上海交通大学 | A kind of camera calibration systems and its scaling method |
| CN108010088A (en) * | 2017-12-18 | 2018-05-08 | 南京理工大学 | For visible ray to be stereoscopic and the multispectral scaling board and caliberating device of infrared stereoscopic vision |
| CN208384634U (en) * | 2018-05-25 | 2019-01-15 | 深圳中科精工科技有限公司 | The equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter |
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| CN112857753A (en) * | 2021-01-25 | 2021-05-28 | 悠柯(上海)智能科技有限公司 | Calibration device for visual system |
| CN113043329A (en) * | 2021-03-24 | 2021-06-29 | 清华大学 | Precision calibration test device for measurement module |
| CN113043329B (en) * | 2021-03-24 | 2022-08-23 | 清华大学 | Precision calibration test device for measurement module |
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