CN114474156A - Automatic calibration device of robot hand-eye camera - Google Patents
Automatic calibration device of robot hand-eye camera Download PDFInfo
- Publication number
- CN114474156A CN114474156A CN202210132747.7A CN202210132747A CN114474156A CN 114474156 A CN114474156 A CN 114474156A CN 202210132747 A CN202210132747 A CN 202210132747A CN 114474156 A CN114474156 A CN 114474156A
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- shell
- fixedly connected
- dust
- calibration device
- automatic calibration
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- 239000000428 dust Substances 0.000 claims abstract description 70
- 238000004140 cleaning Methods 0.000 claims abstract description 23
- 241000883990 Flabellum Species 0.000 claims description 4
- 238000000034 method Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses an automatic calibration device for a robot hand-eye camera, which adopts the technical scheme that: the robot comprises a robot body, wherein a camera body is fixedly connected to the front side of the robot body, a shell is fixedly sleeved outside the camera body, a cleaning mechanism is arranged inside the shell and comprises a motor, the motor is fixedly connected to the top of the shell, a first cavity is formed in the top of the shell, a dust box is fixedly connected to one side of the shell, a second cavity which is communicated with each other is formed in one side of the dust box and the bottom of the shell, and two reciprocating lead screws are arranged inside the first cavity, and the robot has the advantages that: just so can make two sliding seats constantly reciprocate to drive cleaning pad constantly and reciprocate, just so can clear up the dust of adhesion on the camera body, just so can avoid the dust to influence the rate of accuracy of demarcation parameter value, and then just need not the manual work regularly to clear up the dust on the lens, can be with artificial intensity of labour greatly reduced.
Description
Technical Field
The invention relates to the technical field of industrial automation and machine vision, in particular to an automatic calibration device for a robot hand-eye camera.
Background
The industrial camera is an image acquisition sensor commonly used in machine vision and photogrammetry systems, and is widely applied to automatic production scenes for identification and detection of workpieces, vision measurement and other aspects, for example: the method is applied to workpiece feature recognition and visual positioning in scenes such as robot spraying, robot welding and the like, parameter calibration of an industrial camera is divided into internal parameter calibration and external parameter calibration, in the fields of machine vision and photogrammetry, the parameter calibration of the industrial camera is very important, and the accuracy of the machine vision and photogrammetry is determined by whether the parameter calibration is accurate or not. At present, parameter calibration of an industrial camera is mainly performed by using a checkerboard calibration plate and a circular array calibration plate. The common calibration method is a single calibration plate multi-angle calibration method, and a plurality of images of the calibration plate at multiple angles of a target measurement position are shot, a projection equation is established by using the images, and then the equations are solved in a simultaneous manner, so that parameter values of the industrial camera are obtained.
The existing automatic calibration device for the hand-eye camera of the high-precision robot does not have a cleaning function when in use, so that a lot of dust can be adhered to the lens of the camera during long-time work, and the existing device does not have the automatic cleaning function, so that the dust can influence the accuracy of the calibration parameter value, and further the dust on the lens needs to be cleaned manually at regular intervals, and the labor intensity of workers is increased.
Disclosure of Invention
Therefore, the invention provides an automatic calibration device for a robot hand-eye camera, which solves the problems in the background technology through the design of a cleaning mechanism.
In order to achieve the above purpose, the invention provides the following technical scheme: a robot hand-eye camera automatic calibration device comprises a robot body, wherein a camera body is fixedly connected to the front side of the robot body, a shell is fixedly sleeved outside the camera body, and a cleaning mechanism is arranged inside the shell;
the cleaning mechanism comprises a motor, the motor is fixedly connected to the top of the shell, a first cavity is formed in the top of the shell, a dust box is fixedly connected to one side of the shell, a second cavity communicated with each other is formed in one side of the dust box and the bottom of the shell, two reciprocating screws are arranged in the first cavity, the top ends of the reciprocating screws close to the motor are fixedly connected to an output shaft of the motor, the bottom ends of the reciprocating screws far away from the motor are connected to the inner wall of the bottom of the shell, the bottom ends of the reciprocating screws far away from the motor extend into the second cavity, the two reciprocating screws are positioned on two sides of the camera body, sliding seats are sleeved outside the two reciprocating screws and are connected with the reciprocating screws through ball nut pairs, cleaning pads are fixedly connected to the inner sides of the sliding seats and are in contact with lenses of the camera body, fan blades are arranged in the dust box, and a dust suction cover is fixedly connected to the inner wall of the top of the shell, one side of the dust suction cover is fixedly connected with a connecting pipe, one end of the connecting pipe extends into the dust box, and the connecting pipe is L-shaped.
Preferably, dust case one side is equipped with the apron, the apron passes through hinged joint with the dust case, the inside fixedly connected with of dust case links up the fishplate bar, it is located the flabellum top and links up the fishplate bar and contacts with the apron to link up the fishplate bar, the inside fixed filter screen that is equipped with that inlays of fishplate bar.
Preferably, the dust box is internally and fixedly connected with a fixed plate, the fixed plate is located at the bottom of the connecting plate and is in contact with the cover plate, the fan blade is fixedly connected with a first rotating shaft, and the bottom end of the first rotating shaft extends to the outer side of the bottom of the fixed plate.
Preferably, two the outside all fixed cover of reciprocal lead screw is equipped with sprocket one, sprocket one is located cavity one inside, two the outside cover of sprocket is equipped with chain one, two connect through a chain drive between the sprocket one.
Preferably, the reciprocating screw far away from the motor and the outside of the rotating shaft are fixedly sleeved with a second chain wheel, the second chain wheel is located inside the second cavity, the two chains are sleeved outside the second chain wheel and are connected with each other through the second chain wheel in a driving mode.
Preferably, two equal fixedly connected with stopper in the sliding seat outside, the spacing groove has all been seted up to shell both sides inner wall, the stopper inlay establish at spacing inslot portion and with spacing groove phase-match.
Preferably, the bottom of the dust box is provided with a vent hole.
Preferably, a supporting plate is fixedly connected to one side of the shell, the supporting plate is located at the top of the dust box, and the connecting pipe penetrates through the supporting plate.
Preferably, the reciprocating lead screw is connected with the shell through a bearing.
Preferably, the first rotating shaft is connected with the fixed plate through a bearing.
The invention has the beneficial effects that:
1. the motor works to drive the two reciprocating screw rods to rotate, so that the two sliding seats can be continuously moved up and down, the cleaning pad can be driven to be continuously moved up and down, dust adhered to the camera body can be cleaned, the dust can be prevented from influencing the accuracy of a calibration parameter value, the dust on the lens does not need to be cleaned manually at regular intervals, and the labor intensity of workers can be greatly reduced;
2. the invention can generate certain suction force through the design of the fan blades, so that the dust cleaned by the cleaning pad can be sucked into the dust box for collection, the cleaned dust can be prevented from floating freely in the shell, and the dust can be prevented from being adhered to the lens of the camera body again.
Drawings
FIG. 1 is a schematic view of the overall structure provided by the present invention;
FIG. 2 is a front cross-sectional view provided by the present invention;
FIG. 3 is an enlarged view taken at A in FIG. 2 according to the present invention;
FIG. 4 is a perspective view of a connection tube provided by the present invention;
in the figure: the robot comprises a robot body 1, a camera body 2, a shell 3, a motor 4, a dust box 5, a reciprocating lead screw 6, a sliding seat 7, a cleaning pad 8, fan blades 9, a dust suction cover 10, a connecting pipe 11, a cover plate 12, a connecting plate 13, a filter screen 14, a fixing plate 15, a rotating shaft I16, a chain wheel I17, a chain wheel I18, a chain wheel II 19, a chain wheel II 20, a limiting block 21 and a supporting plate 22.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
Referring to the attached drawings 1-4, the automatic calibration device for the robot hand-eye camera comprises a robot body 1, wherein a camera body 2 is fixedly connected to the front side of the robot body 1, a shell 3 is fixedly sleeved outside the camera body 2, and a cleaning mechanism is arranged inside the shell 3;
the cleaning mechanism comprises a motor 4, the motor 4 is fixedly connected to the top of a shell 3, a first cavity is formed in the top of the shell 3, a dust box 5 is fixedly connected to one side of the shell 3, a second cavity communicated with each other is formed in one side of the dust box 5 and the bottom of the shell 3, two reciprocating lead screws 6 are arranged in the first cavity, the top ends of the reciprocating lead screws 6 close to the motor 4 are fixedly connected to an output shaft of the motor 4, the bottom ends of the reciprocating lead screws 6 far away from the motor 4 are connected to the inner wall of the bottom of the shell 3, the bottom ends of the reciprocating lead screws 6 far away from the motor 4 extend into the second cavity, the two reciprocating lead screws 6 are positioned on two sides of a camera body 2, sliding seats 7 are respectively sleeved outside the two reciprocating lead screws 6, the sliding seats 7 are connected with the reciprocating lead screws 6 through ball nut pairs, cleaning pads 8 are fixedly connected to the inner sides of the two sliding seats 7, the cleaning pads 8 are in contact with lenses of the camera body 2, fan blades 9 are arranged in the dust box 5, and a dust hood 10 is fixedly connected to the inner wall of the top of the shell 3, one side of the dust hood 10 is fixedly connected with a connecting pipe 11, one end of the connecting pipe 11 extends into the dust box 5, and the connecting pipe 11 is L-shaped;
in the embodiment, when dust needs to be cleaned, the motor 4 is controlled to work to drive the left reciprocating lead screw 6 to rotate, the left reciprocating lead screw 6 rotates to drive the left chain wheel 17 to rotate, the left chain wheel 17 rotates to drive the right chain wheel 17 to rotate, the right chain wheel 17 rotates to drive the right reciprocating lead screw 6 to rotate, the two reciprocating lead screws 6 rotate to drive the two sliding seats 7 to continuously move up and down, so that the cleaning pad 8 can continuously move up and down, dust adhered to the lens of the camera body 2 can be cleaned, the dust is prevented from influencing the accuracy of a calibration parameter value, the dust on the lens is not required to be cleaned manually at regular intervals, and the labor intensity of workers can be greatly reduced;
wherein, in order to realize the purpose of conveniently clearing up the dust inside the collecting box, this device adopts following technical scheme to realize: a cover plate 12 is arranged on one side of the dust box 5, the cover plate 12 is connected with the dust box 5 through a hinge, a connecting plate 13 is fixedly connected inside the dust box 5, the connecting plate 13 is positioned at the top of the fan blades 9, the connecting plate 13 is in contact with the cover plate 12, a filter screen 14 is fixedly embedded inside the connecting plate 13, and the cover plate 12 is connected with the dust box 5 through a hinge, so that dust inside the collecting box can be conveniently cleaned;
wherein, in order to realize the purpose of transmission, this device adopts following technical scheme to realize: the inside of the dust box 5 is fixedly connected with a fixed plate 15, the fixed plate 15 is positioned at the bottom of the connecting plate 13, the fixed plate 15 is contacted with the cover plate 12, the bottom of the fan blade 9 is fixedly connected with a first rotating shaft 16, the bottom end of the first rotating shaft 16 extends to the outer side of the bottom of the fixed plate 15, the outsides of the two reciprocating screw rods 6 are respectively and fixedly sleeved with a first chain wheel 17, the first chain wheels 17 are positioned inside the first cavity, the outsides of the two first chain wheels 17 are sleeved with a first chain 18, the two first chain wheels 17 are in driving connection through the first chain 18, the outsides of the reciprocating screw rods 6 far away from the motor 4 and the outsides of the first rotating shaft 16 are respectively and fixedly sleeved with a second chain wheel 19, the second chain wheels 19 are positioned inside the second cavity, the outsides of the two second chain wheels 19 are sleeved with a second chain 20, and the two chain wheels 19 are in driving connection through the second chain 20, the two reciprocating screw rods 6 can rotate simultaneously through the first chain 18, and the rotating shaft 16 and the reciprocating screw rods 6 can rotate simultaneously through the second chain 20;
wherein, in order to realize the purpose of stable removal, this device adopts following technical scheme to realize: the outer sides of the two sliding seats 7 are fixedly connected with limiting blocks 21, the inner walls of the two sides of the shell 3 are respectively provided with a limiting groove, the limiting blocks 21 are embedded in the limiting grooves and matched with the limiting grooves, and the limiting blocks 21 can enable the sliding seats 7 to be more stable during movement;
wherein, in order to realize accelerating the purpose of the air flow rate of the interior of the dust box 5, the device adopts the following technical scheme: the bottom of the dust box 5 is provided with a vent hole which can accelerate the air flow rate in the dust box 5;
wherein, in order to realize the purpose of supporting, this device adopts following technical scheme to realize: a supporting plate 22 is fixedly connected to one side of the shell 3, the supporting plate 22 is positioned at the top of the dust box 5, the connecting pipe 11 penetrates through the supporting plate 22, and the supporting plate 22 can support the connecting pipe 11;
wherein, in order to realize the purpose of reducing the abrasion, the device adopts the following technical scheme: the reciprocating screw rod 6 is connected with the shell 3 through a bearing, the first rotating shaft 16 is connected with the fixed plate 15 through a bearing, and the abrasion can be reduced through the bearing connection.
The using process of the invention is as follows: when the cleaning machine is used, when dust needs to be cleaned, the control motor 4 works to drive the left reciprocating lead screw 6 to rotate, the left reciprocating lead screw 6 rotates to drive the left chain wheel I17 to rotate, the left chain wheel I17 rotates to drive the right chain wheel I17 to rotate, the right chain wheel I17 rotates to drive the right reciprocating lead screw 6 to rotate, the two reciprocating lead screws 6 rotate to drive the two sliding seats 7 to continuously move up and down, so that the cleaning pad 8 can be continuously moved up and down, dust adhered to the lens of the camera body 2 can be cleaned, the dust can be prevented from influencing the accuracy of a calibration parameter value, further, the dust on the lens does not need to be cleaned periodically by manpower, the labor intensity of the manpower can be greatly reduced, the left chain wheel II 19 rotates by the rotation of the right chain wheel II 19, the second sprocket 19 on the right side rotates to drive the first rotating shaft 16 to rotate, the first rotating shaft 16 rotates to drive the fan blades 9 to rotate, the fan blades 9 rotate to generate certain suction force, the dust cleaned by the cleaning pad 8 can be sucked into the dust box 5 through the design of the connecting pipe 11 and the dust suction cover 10 to be collected, so that the cleaned dust can be prevented from floating freely in the shell 3, and the dust can be prevented from adhering to the lens of the camera body 2 again.
The above is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solution described above. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an automatic calibration device of robot hand eye camera, includes robot body (1), its characterized in that: the camera body (2) is fixedly connected to the front side of the robot body (1), a shell (3) is fixedly sleeved outside the camera body (2), and a cleaning mechanism is arranged inside the shell (3);
the cleaning mechanism comprises a motor (4), the motor (4) is fixedly connected to the top of a shell (3), a first cavity is formed in the top of the shell (3), a dust box (5) is fixedly connected to one side of the shell (3), a second cavity communicated with each other is formed in one side of the dust box (5) and the bottom of the shell (3), two reciprocating lead screws (6) are arranged in the first cavity, the top ends of the reciprocating lead screws (6) close to the motor (4) are fixedly connected to an output shaft of the motor (4), the bottom ends of the reciprocating lead screws (6) far away from the motor (4) extend into the second cavity, the two reciprocating lead screws (6) are located on two sides of a camera body (2), sliding seats (7) are sleeved outside the reciprocating lead screws (6), and the sliding seats (7) are connected with the reciprocating lead screws (6) through ball nut pairs, two inboard fixedly connected with cleaning pad (8) of sliding seat (7), cleaning pad (8) contact with the lens of camera body (2), dust box (5) inside is equipped with flabellum (9), shell (3) top inner wall fixedly connected with inhales grey cover (10), inhale grey cover (10) one side fixedly connected with connecting pipe (11), connecting pipe (11) one end extends to inside dust box (5), connecting pipe (11) are the L form.
2. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: dust case (5) one side is equipped with apron (12), apron (12) pass through hinged joint with dust case (5), the inside fixedly connected with of dust case (5) links up fishplate bar (13), link up fishplate bar (13) are located flabellum (9) top and link up fishplate bar (13) and apron (12) and contact, link up fishplate bar (13) inside fixed the inlaying and be equipped with filter screen (14).
3. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: dust case (5) inside fixedly connected with fixed plate (15), fixed plate (15) are located linkage plate (13) bottom and fixed plate (15) and are contacted with apron (12), flabellum (9) bottom fixedly connected with pivot (16), pivot (16) bottom extends to fixed plate (15) bottom outside.
4. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: two outside all fixed cover of reciprocal lead screw (6) is equipped with sprocket (17), sprocket (17) are located cavity one inside, two the outside cover of sprocket (17) is equipped with chain one (18), two connect through chain one (18) drive between sprocket (17).
5. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: keep away from motor (4) reciprocal lead screw (6) and pivot one (16) outside all fixed cover are equipped with sprocket two (19), inside sprocket two (19) were located cavity two, two the outside cover of sprocket two (19) is equipped with chain two (20), two through two (20) drive connection of chain between sprocket two (19).
6. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: two equal fixedly connected with stopper (21) in sliding seat (7) outside, the spacing groove has all been seted up to shell (3) both sides inner wall, stopper (21) inlay establish at spacing inslot portion and with the spacing groove phase-match.
7. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: the bottom of the dust box (5) is provided with a vent hole.
8. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: the dust box is characterized in that a supporting plate (22) is fixedly connected to one side of the shell (3), the supporting plate (22) is located at the top of the dust box (5), and the connecting pipe (11) penetrates through the supporting plate (22).
9. The automatic calibration device for the robot hand-eye camera according to claim 1, wherein: the reciprocating screw rod (6) is connected with the shell (3) through a bearing.
10. The automatic calibration device for the robot hand-eye camera according to claim 3, wherein: the first rotating shaft (16) is connected with the fixed plate (15) through a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210132747.7A CN114474156A (en) | 2022-02-14 | 2022-02-14 | Automatic calibration device of robot hand-eye camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210132747.7A CN114474156A (en) | 2022-02-14 | 2022-02-14 | Automatic calibration device of robot hand-eye camera |
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| Publication Number | Publication Date |
|---|---|
| CN114474156A true CN114474156A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210132747.7A Pending CN114474156A (en) | 2022-02-14 | 2022-02-14 | Automatic calibration device of robot hand-eye camera |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117283270A (en) * | 2023-11-23 | 2023-12-26 | 中亿腾模塑科技（苏州）有限公司 | Automatic positioning and pressing buckling device for buckling module |
-
2022
- 2022-02-14 CN CN202210132747.7A patent/CN114474156A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117283270A (en) * | 2023-11-23 | 2023-12-26 | 中亿腾模塑科技（苏州）有限公司 | Automatic positioning and pressing buckling device for buckling module |
| CN117283270B (en) * | 2023-11-23 | 2024-01-26 | 中亿腾模塑科技（苏州）有限公司 | Automatic positioning and pressing buckling device for buckling module |
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