CN110482443A - Vision auxiliary positioning equipment - Google Patents
Vision auxiliary positioning equipment Download PDFInfo
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- CN110482443A CN110482443A CN201910898656.2A CN201910898656A CN110482443A CN 110482443 A CN110482443 A CN 110482443A CN 201910898656 A CN201910898656 A CN 201910898656A CN 110482443 A CN110482443 A CN 110482443A
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- Prior art keywords
- mobile
- tourelle
- described image
- auxiliary positioning
- support device
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- 239000000463 material Substances 0.000 claims abstract description 79
- 238000005096 rolling process Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
A kind of vision auxiliary positioning equipment is related to heavy material field of locating technology, including equipment platform, Mobile support device and image collecting device；The Mobile support device and described image acquisition device are separately positioned on the equipment platform；The Mobile support device is far from the tourelle being provided at the top of the equipment platform for carrying heavy material；The tourelle can roll, so that the heavy type material is mobile；Described image acquisition device is higher than the Mobile support device, so that described image acquisition device can acquire the image of the heavy material.The purpose of the present invention is to provide a kind of vision auxiliary positioning equipment, the technical problem that time-consuming to solve positioning existing in the prior art to a certain extent, operational hazards, setting accuracy are low.
Description
Technical field
The present invention relates to heavy material field of locating technology, in particular to a kind of vision auxiliary positioning equipment.
Background technique
Currently, generally by way of eye-observation and using Mechanical Movings heavy type materials such as manual operation fork truck, cranes
Realize heavy material positioning.However, then several tons light, heavy then several hundred tons of heavy material, volume is larger, heavier-weight, realization
Heavy material positioning is not only more demanding to the manipulation technical level of fork truck, crane operation person, but also its positioning takes a long time, grasps
Make danger, is also often difficult precise positioning.
Summary of the invention
The purpose of the present invention is to provide a kind of vision auxiliary positioning equipment, to solve to a certain extent in the prior art
The existing positioning technical problem that time-consuming, operational hazards, setting accuracy are low.
The embodiment of the present invention is achieved in that
A kind of vision auxiliary positioning equipment, including equipment platform, Mobile support device and image collecting device；The movement
Support device and described image acquisition device are separately positioned on the equipment platform；
The Mobile support device is far from the rolling dress being provided at the top of the equipment platform for carrying heavy material
It sets；The tourelle can roll, so that the heavy type material is mobile；
Described image acquisition device is higher than the Mobile support device so that described image acquisition device can acquire it is described
The image of heavy material.
In any of the above-described technical solution, optionally, the Mobile support device include mobile base, movable supporting frame and
Mobile drive deivce；The mobile base is arranged on the equipment platform；
The bottom of the movable supporting frame connects the mobile base, and top connects the tourelle；
The mobile drive deivce is arranged in the mobile base or the movable supporting frame, and the mobile driving
Device is drivingly connected the tourelle.
In any of the above-described technical solution, optionally, the Mobile support device further includes jacking apparatus；
The fixing end of the jacking apparatus is fixedly connected with the mobile base, and the mobile terminal of the jacking apparatus can be along institute
The short transverse for stating movable supporting frame moves back and forth up and down, so that the top of the mobile terminal of the jacking apparatus has higher than described
It the ejection state of the top edge of tourelle and does well with the non-top of top edge lower than the tourelle.
In any of the above-described technical solution, optionally, the Mobile support device further includes clamping device；The clamping dress
Setting can move back and forth up and down along the short transverse of the movable supporting frame, so that the top of the clamping device, which has, is higher than institute
It states the ejection state of the top edge of tourelle and the non-top with the top edge lower than the tourelle does well；
Along the rotating direction perpendicular to the tourelle, the side or two sides of the movable supporting frame are connected with described
Clamping device.
In any of the above-described technical solution, optionally, the movable supporting frame includes corresponding first support portion and
Two support portions；
First support portion and the setting of second support portion interval；
The bottom of first support portion and the bottom of second support portion are fixedly connected with the mobile base；
The tourelle is all connected at the top of the top of first support portion and second support portion.
In any of the above-described technical solution, optionally, portal frame is connected on the equipment platform；
Described image acquisition device is connect with the top of the portal frame；
Along the short transverse of the portal frame, described image acquisition device is capable of fixing the difference height in the portal frame
Degree；
Along the rotating direction of the tourelle, described image acquisition device is capable of fixing in the different positions of the portal frame
It sets.
In any of the above-described technical solution, optionally, the portal frame includes crossbeam, vertical beam and image mounting rack；It is described
The bottom of vertical beam is connect with the equipment platform；Described image mounting rack connects described image acquisition device；
Along the short transverse of the portal frame, the vertical beam is sequentially arranged at intervals with multiple and the crossbeam grafting or spiral shell
The mounting hole connect；Or the vertical beam connects the crossbeam by motor driven；
Along the rotating direction of the tourelle, the crossbeam is sequentially arranged at intervals with multiple slotting with described image mounting rack
The mounting hole for connecing or being spirally connected；Or the crossbeam connects described image mounting rack by motor driven.
In any of the above-described technical solution, optionally, the mounting hole being arranged on the vertical beam is slotted hole and/or described
The mounting hole being arranged on crossbeam is slotted hole；
Graduation mark is provided on the vertical beam and/or the crossbeam.
In any of the above-described technical solution, optionally, the quantity of described image acquisition device is two；Each described image
Acquisition device is fixedly connected with a described image mounting rack；
Along the rotating direction of the tourelle, the distance between two described image mounting racks can be adjusted.
In any of the above-described technical solution, optionally, the vision auxiliary positioning equipment includes being arranged in the movement
Device drives motor in support device；
The Mobile support device can be moved along the equipment platform, and the moving direction of the Mobile support device with
The rotating direction of the tourelle is arranged at angle；
The equipment platform is fixedly installed the lead screw or rack gear of the moving direction extension along the Mobile support device；
The device drives motor driven connects the lead screw or the rack gear, so that the Mobile support device is flat along the equipment
Platform is mobile；
Sliding rail is provided between the Mobile support device and the equipment platform.
By adopting the above technical scheme, beneficial effects of the present invention:
Vision auxiliary positioning equipment provided by the invention, including equipment platform, Mobile support device, image collecting device and
Tourelle is moved by the image of image acquisition device heavy type material in order to control heavy material with tourelle
Dynamic distance so that heavy material can safely, be fast, accurately moved to predeterminated position, realize the accurate of heavy material
Positioning, greatly facilitates the surface defects detection of heavy material, and it is fixed to solve the medium and heavy material of the prior art to a certain extent
Position take a long time, the problem of operational hazards, precise positioning difference.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the perspective view of vision auxiliary positioning equipment provided in an embodiment of the present invention；
Fig. 2 is the main view of vision auxiliary positioning equipment provided in an embodiment of the present invention；
Fig. 3 is the left view of vision auxiliary positioning equipment shown in Fig. 2；
Fig. 4 is the perspective view of vision auxiliary positioning equipment provided in an embodiment of the present invention and heavy material；
Fig. 5 is the perspective view of the Mobile support device of vision auxiliary positioning equipment provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of Mobile support device heavy material shown in fig. 5；
Fig. 7 is the main view of the Mobile support device for the vision auxiliary positioning equipment that the embodiment of the present invention one provides；
Fig. 8 is the structural schematic diagram of Mobile support device heavy material shown in Fig. 7.
In figure: 100- Mobile support device；110- mobile base；120- movable supporting frame；The first support portion of 121-；122-
Second support portion；130- mobile drive deivce；160- jacking apparatus；170- clamping device；171- holding frame；172- idler wheel；
200- heavy type material；300- equipment platform；400- image collecting device；500- tourelle；510- driving wheel；
520- driven wheel；600- portal frame；610- crossbeam；620- vertical beam；630- image mounting rack；700- device drives motor.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Embodiment
Please refer to shown in Fig. 1-Fig. 8, the present embodiment provides a kind of vision auxiliary positioning equipment, Fig. 1 be the present embodiment provides
Vision auxiliary positioning equipment perspective view, Fig. 2 be its main view, Fig. 3 be vision auxiliary positioning equipment shown in Fig. 2 left view
Figure, Fig. 4 are the perspective view of vision auxiliary positioning equipment provided in this embodiment and heavy material, use dotted line to show image in figure
The acquisition visual field of acquisition device；Fig. 5 is the perspective view of the present embodiment Mobile support device；Fig. 6 is mobile support dress shown in fig. 5
Set the structural schematic diagram of heavy material；Fig. 7 is the main view of the present embodiment Mobile support device；Fig. 8 is shifting shown in Fig. 7
The structural schematic diagram of movable support device heavy material.
Vision auxiliary positioning equipment provided in this embodiment detects heavy surface of material for cooperating optical detection apparatus
With the presence or absence of defect.The medium and heavy material of the present embodiment can be heavy parts, heavy equipment etc..
Shown in referring to figures 1-4, the vision auxiliary positioning equipment, including equipment platform 300,100 and of Mobile support device
Image collecting device 400；Mobile support device 100 and image collecting device 400 are separately positioned on equipment platform 300.Wherein,
Mobile support device 100 is fixedly connected with equipment platform 300 or mobile connection；Optionally, Mobile support device 100 being capable of edge
Equipment platform 300 is mobile.Optionally, Mobile support device 100 is first direction along the moving direction of equipment platform 300.
Mobile support device 100 is provided with the dress of the rolling for carrying heavy material 200 far from the top of equipment platform 300
Set 500；Tourelle 500 can roll, so that heavy material 200 is moved along the rotating direction of tourelle 500.Optionally,
The rotating direction of tourelle 500 is second direction, namely heavy material 200 moves in a second direction with tourelle 500；It can
Selection of land, first direction and second direction are arranged at angle；Optionally, first direction and second direction at right angle or are similar to straight
Angle setting.Optionally, the plane that first direction and second direction are formed is horizontal plane or level of approximation plane.
Image collecting device 400 is higher than Mobile support device 100, so that image collecting device 400 can acquire heavy object
The image of material 200.Optionally, image collecting device 400 is camera.
The equipment of vision auxiliary positioning described in the present embodiment, including equipment platform 300, Mobile support device 100, image are adopted
Acquisition means 400 and tourelle 500 acquire the image of heavy material 200 by image collecting device 400, in order to control weight
The mobile distance with tourelle 500 of type material 200, so that heavy material 200 can safely, be fast, accurately moved to
Predeterminated position realizes the precise positioning of heavy material, the surface defects detection of heavy material 200 is greatly facilitated, certain
Solved the problems, such as in degree the prior art medium and heavy material positioning take a long time, operational hazards, precise positioning it is poor.
Referring to shown in figure 5-8, Mobile support device 100 includes mobile base 110, movable supporting frame 120 and mobile drive
Dynamic device 130；Mobile base 110 is arranged on equipment platform 300；Optionally, first direction and second direction are propped up with mobile
The short transverse of support is vertical or near normal.
Optionally, the bottom of movable supporting frame 120 connects mobile base 110, and top connects tourelle 500；It is optional
Ground, tourelle 500 include driving wheel 510 and driven wheel 520；The top of driving wheel 510 and driven wheel 520 is for carrying heavy type
Material 200.That is, the bottom of movable supporting frame 120 connects mobile base 110, top connection driving wheel 510 and driven wheel
520；Optionally, at least partly wheel body of driving wheel 510 is higher than the top of movable supporting frame 120, and driven wheel 520 is at least partly
Wheel body is higher than the top of movable supporting frame 120, so that driving wheel 510 and driven wheel 520 can carry heavy material 200.It is optional
Ground, the diameter of driving wheel 510 are equal to, or approximately equal to the diameter of driven wheel 520.
Optionally, driving wheel 510 and the setting of the interval of driven wheel 520, and driving wheel 510 is axially parallel to driven wheel 520
Axial direction；Namely the rotation direction of driving wheel 510 is parallel to the rotation direction of driven wheel 520.
Optionally, mobile drive deivce 130 is arranged in mobile base 110 or movable supporting frame 120, and mobile driving
Device 130 is drivingly connected tourelle 500；Optionally, mobile drive deivce 130 is drivingly connected driving wheel 510.
Optionally, the top edge of all driving wheels 510 and the top edge of all driven wheels 520 are generally aligned in the same plane
On, to improve the stability of driving wheel 510 and the support of driven wheel 520, mobile heavy material 200.
In the present embodiment, in the short transverse of movable supporting frame 120, movable supporting frame 120 includes corresponding bottom
The top and.Optionally, axially vertical or basically perpendicular to movable supporting frame 120 the short transverse of driving wheel 510.
Mobile support device described in the present embodiment connects driving wheel 510 and driven wheel 520 by top, and actively
At least partly wheel body of wheel 510 is higher than the top of movable supporting frame 120, at least partly wheel body of driven wheel 520 is higher than movable supporting frame
120 top, in order to which driving wheel 510 and driven wheel 520 can carry heavy material 200；It is driven by mobile drive deivce 130
Dynamic connection driving wheel 510, driving wheel 510 can be driven to rotate, so that heavy material 200 is moved to predeterminated position.It should
The precision of Mobile support device mobile heavy material 200 to default detection position is high, greatly facilitates the heavy material 200 of detection
Surface defect.
Referring to shown in figure 5-8, in the optinal plan of the present embodiment, the Mobile support device includes jacking apparatus 160；
By jacking apparatus 160, Auxiliary support heavy type material 200 is postponed in order to be moved to default check bit in heavy material 200, with
The power that tourelle 500 is born is reduced to a certain extent, namely reduces driving wheel 510 and driven wheel 520 to a certain extent
The power of receiving, and then the service life of tourelle 500 is improved to a certain extent, namely improves driving wheel to a certain extent
510 and driven wheel 520 service life.
Optionally, the fixing end of jacking apparatus 160 is fixedly connected with mobile base 110, and the mobile terminal of jacking apparatus 160 can
Short transverse along movable supporting frame 120 moves back and forth up and down, and rolls so that the top of the mobile terminal of jacking apparatus has to be higher than
It the ejection state of the top edge of device 500 and does well with the non-top of top edge lower than tourelle 500.It can be with
It is interpreted as, the ejection state of jacking apparatus is that the top of the mobile terminal of jacking apparatus 160 is higher than the top sides of tourelle 500
Edge, the non-top of jacking apparatus, which does well, is lower than the top edge of tourelle 500 for the top of the mobile terminal of jacking apparatus 160.
It can be moved back and forth up and down by the mobile terminal of jacking apparatus 160, when so that heavy material 200 is mobile with tourelle 500, top
The mobile terminal for rising device 160 can decline, and it is mobile not influence heavy material 200；And heavy material 200 is made to be moved to default position
When setting, the mobile terminal of jacking apparatus 160 can rise the heavy material 200 of picking-up, Auxiliary support heavy type material 200.It needs to illustrate
, the fixing end of jacking apparatus 160 is for its mobile terminal.
In the optinal plan of the present embodiment, anti-slip layer is provided at the top of the mobile terminal of jacking apparatus 160；By anti-skidding
Layer, to improve the frictional force between the mobile terminal of jacking apparatus 160 and heavy material 200, so that jacking apparatus 160 is preferably auxiliary
Heavy material 200 is helped, to improve security performance when heavy material 200 is moved to predeterminated position.
Optionally, anti-slip layer is rubber perhaps silica gel or other elastic materials.
In the optinal plan of the present embodiment, fixing clamp is provided at the top of the mobile terminal of jacking apparatus 160；Fixing clamp is with top
The mobile terminal for rising device 160 moves up and down, so that the top of fixing clamp has the ejection of the top edge higher than tourelle 500
It state and does well with the non-top of top edge lower than tourelle 500.By fixing clamp, in order to jacking apparatus
160 support stationary annular weights or similar annular weight.In the present embodiment, fixing clamp has ejection state and non-ejection shape
State；It ejects the top edge that the top that state is fixing clamp is higher than tourelle 500, and non-top does well as the top of fixing clamp
Portion is lower than the top edge of tourelle 500.
Optionally, fixing clamp be in U-shape, V-arrangement or other shapes.
Optionally, the quantity of jacking apparatus 160 is 4.Optionally, 2 jacking apparatus 160 are close to driving wheel 510,2
Jacking apparatus 160 is close to driven wheel 520.
Optionally, perhaps Driven by Hydraulic Cylinder or use other modes drive for the use of jacking apparatus 160 motor, cylinder.
Referring to shown in figure 5-8, in the optinal plan of the present embodiment, the Mobile support device includes for abutting heavy type
The clamping device 170 of material 200；Clamping device 170 can be moved back and forth up and down along movable supporting frame 120, so that clamping device
Top be higher than tourelle 500 top edge ejection state and with lower than tourelle 500 top sides
The non-top of edge does well.The ejection state of clamping device is that the top of clamping device 170 is higher than the top sides of tourelle 500
Edge, the non-top of clamping device, which does well, is lower than the top edge of tourelle 500 for the top of clamping device 170.
Along the rotating direction perpendicular to tourelle, namely along the axial direction of driving wheel 510, the side of movable supporting frame 120
Or two sides are connected with clamping device 170.Heavy material 200 is kept off by clamping device 170, in order to by heavy material 200
It is firmly placed on tourelle 500, namely convenient for heavy material 200 is firmly placed in driving wheel 510 and driven wheel 520
On, security performance when heavy material 200 is moved to predeterminated position is also improved to a certain extent.
Optionally, movable supporting frame 120 is drivingly connected clamping by motor, cylinder, hydraulic cylinder or other driving methods
Device 170, so that clamping device 170 can be moved back and forth up and down along movable supporting frame 120.
Referring to shown in figure 5-8, in the optinal plan of the present embodiment, clamping device 170 includes holding frame 171；Holding frame
171 can move back and forth up and down along the height of movable supporting frame 120, so that the top of holding frame 171, which has, is higher than tourelle
The ejection state of 500 top edge, and the non-top with the top edge lower than tourelle 500 do well.
Optionally, movable supporting frame 120 is drivingly connected clamping by motor, cylinder, hydraulic cylinder or other driving methods
Frame 171, so that holding frame 171 can be moved back and forth up and down along movable supporting frame 120.
Optionally, clamping device 170 includes the multiple idler wheels 172 being arranged on holding frame 171, and multiple idler wheels 172 can
It is rolled along holding frame 171；By idler wheel 172, up and down reciprocatingly moved with reducing holding frame 171 along the height of movable supporting frame 120
Resistance when dynamic, to extend the service life of clamping device 170 to a certain extent.
In the present embodiment, clamping device 170 can also be connect using other structures with movable supporting frame 120.For example, clamping
Device 170 includes clamping sliding rail, and holding frame 171 is connect by clamping sliding rail with movable supporting frame 120；By sliding rail, to reduce
Resistance when holding frame 171 is moved back and forth up and down along the height of movable supporting frame 120, to extend clamping device to a certain extent
170 service life.
Referring to shown in figure 5-8, in the optinal plan of the present embodiment, movable supporting frame 120 includes corresponding first
Support part 121 and the second support portion 122；
First support portion 121 and the setting of the second support portion 122 interval；
The bottom of first support portion 121 and the bottom of the second support portion 122 are fixedly connected with mobile base 110；
Optionally, the top of the first support portion 121 and the top of the second support portion 122 are all connected with tourelle.
Optionally, the top of the first support portion 121 connects driving wheel 510；Optionally, the quantity of driving wheel 510 is multiple；
Multiple settings of driving wheel 510 (are not marked in figure) on driving shaft；Driving shaft is rotatably connected the first support portion 121；Optionally,
The quantity of driving wheel 510 is 2.
The top of second support portion 122 connects driven wheel 520；Optionally, the quantity of driven wheel 520 is multiple；It is multiple from
Driving wheel 520 is arranged on driven shaft；Driven shaft is rotatably connected the second support portion 122.Optionally, the quantity of driven wheel 520 is 2
It is a.Optionally, bearing is provided between driven shaft and the second support portion 122 between driving shaft and the first support portion 121；It is logical
Cross bearing, to reduce the frictional force between driving shaft and the first support portion 121, between driven shaft and the second support portion 122, with
The service life of driving shaft and driven shaft is improved to a certain extent.
The top edge of driving wheel 510 and the top edge of driven wheel 520 are in the same plane, in order to driving wheel
510 and the support of driven wheel 520, mobile heavy material 200.
Optionally, along the axial direction of driving wheel 510, the side or two sides of the first support portion 121 are connected with clamping device
170.Optionally, along the axial direction of driving wheel 510, the two sides of the first support portion 121 are connected with clamping device 170；So that clamping fills
It sets 170 and preferably clamps heavy material 200.
Optionally, along the axial direction of driving wheel 510, the side or two sides of the second support portion 122 are connected with clamping device
170.Optionally, along the axial direction of driving wheel 510, the two sides of the second support portion 122 are connected with clamping device 170；So that clamping fills
It sets 170 and preferably clamps heavy material 200.
In the optinal plan of the present embodiment, driving wheel 510 and driven wheel 520 use elastic abrasion-proof material.
In the optinal plan of the present embodiment, mobile drive deivce 130 includes driving motor；
Driving motor is drivingly connected driving shaft by conveyer belt, transmission chain or gear pair.
Optionally, driving motor is drivingly connected retarder, and retarder is connected by conveyer belt, transmission chain or gear pair driving
Connect the driving shaft.By retarder, so that the driving driving shaft that driving motor is more stable, so that heavy material 200 is more
Accurately it is moved to predeterminated position.
Shown in referring to figures 1-4, in the optinal plan of the present embodiment, portal frame 600 is connected on equipment platform 300.It can
Selection of land, first direction and second direction be vertical with the short transverse of portal frame 600 or near normal, i.e. Mobile support device
The rotating direction of 100 moving direction and tourelle 500 is vertical with the short transverse of portal frame 600 or near normal.
Image collecting device 400 is connect with the top of portal frame 600, supports image collecting device by portal frame 600
400。
Optionally, along the short transverse of portal frame 600, image collecting device 400 is capable of fixing the difference in portal frame 600
Highly；That is, the height that portal frame 600 is arranged in image collecting device 400 is adjustable；For example, can be according to heavy type
Height where material 200, by adjusting the height of image collecting device 400, so that image collecting device 400 acquires heavy object
The visual field of material 200 is optimal.
Optionally, along the rotating direction of tourelle 500, namely in a second direction, image collecting device 400 is capable of fixing
In the different location of portal frame 600.That is, the setting of image collecting device 400 exists along the rotating direction of tourelle 500
The position of portal frame 600 is adjustable；For example, can be according to the position where heavy material 200, by adjusting image collector
Setting 400 is position, so that the visual field that image collecting device 400 acquires heavy material 200 is optimal.
In the optinal plan of the present embodiment, portal frame 600 includes crossbeam 610, vertical beam 620 and image mounting rack 630；Vertical beam
620 bottom is connect with equipment platform 300；Image mounting rack 630 connects image collecting device 400；Optionally, image mounting rack
630 are connected by screw to image collecting device 400.
Optionally, along the short transverse of portal frame 600, vertical beam 620 be sequentially arranged at intervals with it is multiple with 610 grafting of crossbeam or
The mounting hole that person is spirally connected, with manually connecting cross beam and vertical beam, by crossbeam is mounted on the different height of vertical beam come
The height of crossbeam 610 is adjusted, and then adjusts the height of image collecting device 400.Optionally, the mounting hole being arranged on vertical beam 620
The height of image collecting device 400 to finely tune the height of crossbeam 610, and then is finely tuned by slotted hole for slotted hole.
It will be appreciated by persons skilled in the art that can also realize image collecting device 400 in dragon by other means
The height adjustment of door frame 600, for example, vertical beam 620 is by motor driven connecting cross beam 610, by adjusting crossbeam in a manner of electronic
610 height, and then adjust the height of image collecting device 400.
Optionally, along the rotating direction of tourelle 500, namely in a second direction, crossbeam 610 is sequentially arranged at intervals with more
It is a with image mounting rack 630 grafting or the mounting hole that is spirally connected is passed through with manually connecting cross beam and image mounting rack
Image mounting rack is mounted on the different location of crossbeam to adjust the horizontal position of image mounting rack 630, and then adjusts image and adopts
The horizontal position of acquisition means 400.Optionally, the mounting hole being arranged on crossbeam 610 is slotted hole；By slotted hole, to finely tune figure
As the horizontal position of mounting rack 630, and then finely tune the horizontal position of image collecting device 400.
It will be appreciated by persons skilled in the art that can also realize image collecting device 400 in dragon by other means
The horizontal position of door frame 600 is adjusted, for example, crossbeam 610 connects image mounting rack 630 by motor driven, to pass through electronic side
Formula adjusts the horizontal position of image mounting rack 630, and then adjusts the horizontal position of image collecting device 400.
In the optinal plan of the present embodiment, graduation mark is provided on vertical beam 620 and/or crossbeam 610；That is, on vertical beam 620
It is provided with graduation mark and is perhaps provided on graduation mark or vertical beam 620 and crossbeam 610 on crossbeam 610 and be provided with graduation mark.
By graduation mark, it is conveniently adjusted height and the horizontal position of image collecting device 400.
In the optinal plan of the present embodiment, the quantity of image collecting device 400 is two；Each image collecting device 400
It is fixedly connected with an image mounting rack 630；
Along the rotating direction of tourelle 500, namely in a second direction, the distance between two image mounting racks 630 energy
It is enough to adjust.
In the optinal plan of the present embodiment, the vision auxiliary positioning equipment includes being arranged on Mobile support device 100
Device drives motor 700；By device drives motor 700, to drive Mobile support device 100 to move along equipment platform 300.
Specifically, equipment platform 300 be fixedly installed along Mobile support device 100 moving direction extension lead screw or
Person's rack gear, device drives motor 700 are drivingly connected lead screw or rack gear, so that Mobile support device 100 is moved along equipment platform 300
It is dynamic.
Optionally, sliding rail is provided between Mobile support device 100 and equipment platform 300.By sliding rail, in certain journey
The frictional force between Mobile support device 100 and equipment platform 300 is reduced on degree, to extend the use of Mobile support device 100
Service life.
In order to be better understood by the present embodiment, the vision auxiliary positioning equipment course of work of the present embodiment described briefly below:
1. heavy material is close to the clamping device 170 of 100 side of Mobile support device and put by forklift heavier-duty material
To the driving wheel 510 and driven wheel 520 of tourelle 500.
2. moving down clamping device 170, so that clamping device 170 is lower than heavy material, clamping device 170 is avoided to influence
The Image Acquisition effect of heavy material.
3. heavy material position is taken in the combination of image collecting device 400, the deviation distance of heavy material is calculated.
4. the mobile drive deivce 130 of Mobile support device 100 drive driving wheel 510 so that heavy material in a second direction
Mobile, device drives motor 700 drives Mobile support device 100 so that heavy material is moved along first direction.
Confirmed 5. image collecting device 400 is taken pictures.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vision auxiliary positioning equipment, which is characterized in that including equipment platform, Mobile support device and image collector
It sets；The Mobile support device and described image acquisition device are separately positioned on the equipment platform；
The Mobile support device is far from the tourelle being provided at the top of the equipment platform for carrying heavy material；Institute
Stating tourelle can roll, so that the heavy type material is mobile；
Described image acquisition device is higher than the Mobile support device, so that described image acquisition device can acquire the heavy type
The image of material.
2. vision auxiliary positioning equipment according to claim 1, which is characterized in that the Mobile support device includes movement
Pedestal, movable supporting frame and mobile drive deivce；The mobile base is arranged on the equipment platform；
The bottom of the movable supporting frame connects the mobile base, and top connects the tourelle；
The mobile drive deivce is arranged in the mobile base or the movable supporting frame, and the mobile drive deivce
It is drivingly connected the tourelle.
3. vision auxiliary positioning equipment according to claim 2, which is characterized in that the Mobile support device further includes top
Rise device；
The fixing end of the jacking apparatus is fixedly connected with the mobile base, and the mobile terminal of the jacking apparatus can be along the shifting
The short transverse of dynamic support frame moves back and forth up and down, so that the top of the mobile terminal of the jacking apparatus, which has, is higher than the rolling
It the ejection state of the top edge of device and does well with the non-top of top edge lower than the tourelle.
4. vision auxiliary positioning equipment according to claim 2, which is characterized in that the Mobile support device further includes folder
Hold device；The clamping device can be moved back and forth up and down along the short transverse of the movable supporting frame, so that the clamping fills
The top set be higher than the tourelle top edge ejection state and be lower than the tourelle top
The non-top at portion edge does well；
Along the rotating direction perpendicular to the tourelle, the side or two sides of the movable supporting frame are connected with the clamping
Device.
5. vision auxiliary positioning equipment according to claim 2, which is characterized in that the movable supporting frame includes corresponding
The first support portion and the second support portion；
First support portion and the setting of second support portion interval；
The bottom of first support portion and the bottom of second support portion are fixedly connected with the mobile base；
The tourelle is all connected at the top of the top of first support portion and second support portion.
6. vision auxiliary positioning equipment according to claim 1-5, which is characterized in that connect on the equipment platform
It is connected to portal frame；
Described image acquisition device is connect with the top of the portal frame；
Along the short transverse of the portal frame, described image acquisition device is capable of fixing the different height in the portal frame；
Along the rotating direction of the tourelle, described image acquisition device is capable of fixing the different location in the portal frame.
7. vision auxiliary positioning equipment according to claim 6, which is characterized in that the portal frame includes crossbeam, vertical beam
With image mounting rack；The bottom of the vertical beam is connect with the equipment platform；Described image mounting rack connects described image acquisition
Device；
Along the short transverse of the portal frame, the vertical beam, which is sequentially arranged at intervals with, multiple with the crossbeam grafting or to be spirally connected
Mounting hole；Or the vertical beam connects the crossbeam by motor driven；
Along the rotating direction of the tourelle, the crossbeam be sequentially arranged at intervals with it is multiple with the grafting of described image mounting rack or
The mounting hole that person is spirally connected；Or the crossbeam connects described image mounting rack by motor driven.
8. vision auxiliary positioning equipment according to claim 7, which is characterized in that the mounting hole being arranged on the vertical beam is
The mounting hole being arranged on slotted hole and/or the crossbeam is slotted hole；
Graduation mark is provided on the vertical beam and/or the crossbeam.
9. vision auxiliary positioning equipment according to claim 7, which is characterized in that the quantity of described image acquisition device is
Two；Each described image acquisition device is fixedly connected with a described image mounting rack；
Along the rotating direction of the tourelle, the distance between two described image mounting racks can be adjusted.
10. vision auxiliary positioning equipment according to claim 1-5, which is characterized in that including being arranged described
Device drives motor on Mobile support device；
The Mobile support device can be moved along the equipment platform, and the moving direction of the Mobile support device with it is described
The rotating direction of tourelle is arranged at angle；
The equipment platform is fixedly installed lead screw or rack gear；The device drives motor driven connects the lead screw or institute
Rack gear is stated, so that the Mobile support device is moved along the equipment platform；
Sliding rail is provided between the Mobile support device and the equipment platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898656.2A CN110482443A (en) | 2019-09-23 | 2019-09-23 | Vision auxiliary positioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898656.2A CN110482443A (en) | 2019-09-23 | 2019-09-23 | Vision auxiliary positioning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110482443A true CN110482443A (en) | 2019-11-22 |
Family
ID=68559210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910898656.2A Pending CN110482443A (en) | 2019-09-23 | 2019-09-23 | Vision auxiliary positioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110482443A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113414623A (en) * | 2021-08-23 | 2021-09-21 | 湖南视比特机器人有限公司 | Automatic pressing plate device and material pressing and taking method |
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