CN115847492A - Industrial robot vision sensor measuring device - Google Patents
Industrial robot vision sensor measuring device Download PDFInfo
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- CN115847492A CN115847492A CN202310119611.7A CN202310119611A CN115847492A CN 115847492 A CN115847492 A CN 115847492A CN 202310119611 A CN202310119611 A CN 202310119611A CN 115847492 A CN115847492 A CN 115847492A
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- 230000001681 protective effect Effects 0.000 claims description 6
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Abstract
The invention relates to the technical field of automatic measuring devices, in particular to a measuring device for a visual sensor of an industrial robot. The invention sets multiple data sensors: the base vision sensor is arranged on the measuring base; the horizontal vision sensor is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor is arranged at the vertical measuring end of the mechanical arm. The base vision sensor, the camera, the mechanical arm, the horizontal vision sensor and the vertical vision sensor are all in communication connection with the measurement control module in the control base. The distance of a target to be measured in the horizontal direction is measured by utilizing a plurality of groups of horizontal vision sensors, the target to be measured is measured by utilizing a vertical vision sensor, and the target measurement under different industrial environments is completed by utilizing multiple data summarization, so that the measurement precision and the automation degree are improved.
Description
Technical Field
The invention relates to the technical field of automatic measuring devices, in particular to a measuring device of a visual sensor of an industrial robot.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, and can realize specific size measurement of materials or processing occasions in an industrial environment by matching with a vision sensor. The visual sensor is a direct source of information of a visual system of the industrial robot, mainly comprises a pattern sensor and is sometimes matched with a light projector and other auxiliary equipment.
The utility model discloses a utility model CN217475953U discloses an industrial robot vision sensor measuring device, the degree of depth vision sensor organism of rotating the steering wheel outer end through the bottom is convenient for transmit the location, the drive through the bottom rotation steering wheel, change the position of fixed spacing arm and regulation moving arm, set up the second driving motor who adjusts the moving arm outer end, make the position of the spacing rudder of effective change front side, set up the folding driving motor of the spacing rudder outer end of front side, thereby change the angle of robot fixed disk. The device has the advantages that the position is adjusted through limiting movement, and the technical effect of measuring is changed through fine adjustment.
However, the above technical solutions have the following disadvantages: the measuring device belongs to an automatic measuring device in a single working environment, and a measuring base of the measuring device is fixed and cannot move in an industrial production complex environment, so that the automatic measuring effect on different occasions cannot be solved. Moreover, the measuring device only has a single measuring sensor, and the measuring data is single, so that the requirement of various data integration of workers cannot be met.
Disclosure of Invention
The invention provides a measuring device of an industrial robot vision sensor, aiming at the technical problems in the background technology.
The technical scheme of the invention is as follows: the utility model provides an industrial robot vision sensor measuring device, is including measuring base, base vision sensor, mounting bracket, control seat, camera, arm, horizontal vision sensor and perpendicular vision sensor.
The mounting frame is arranged on the measuring base; the control seat is arranged on the mounting frame and internally comprises a measurement control module; the mechanical arm is arranged on the control seat. The camera is arranged on the mounting frame; the base vision sensor is arranged on the measuring base; the horizontal vision sensor is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor is arranged at the vertical measuring end of the mechanical arm; the base vision sensor, the camera, the mechanical arm, the horizontal vision sensor and the vertical vision sensor are all in communication connection with the measurement control module in the control base.
Preferably, the device also comprises a moving wheel mounting frame, moving wheels and a protective frame; the movable wheel mounting rack is arranged on the measuring base; the moving wheel is arranged on the moving wheel mounting frame; the protective frame is arranged on the outer edges of the measuring base and the movable wheel mounting frame.
Preferably, the device further comprises a detachable base vision sensor mounting frame; the detachable base vision sensor mounting frame is detachably arranged on the measuring base; the base vision sensor is arranged on the detachable base vision sensor mounting frame.
Preferably, the mechanical arm comprises a mechanical arm mounting seat, a front arm, a first driving cylinder, a second driving cylinder, a rear arm and a sensor mounting seat; the mechanical arm mounting seat is arranged on the control seat; a front arm driven by the first driving cylinder is rotatably arranged on the mechanical arm mounting base; the rear arm driven by the driving cylinder II is rotatably arranged at one end of the front arm; the sensor mounting seat is arranged at one end of the rear arm; the horizontal vision sensor and the vertical vision sensor are arranged on the sensor mounting seat.
Preferably, the device also comprises a driving cylinder III, a horizontal adjusting frame I and a horizontal adjusting frame II; the driving cylinders III are arranged in multiple groups and are respectively arranged on the horizontal adjusting frame I and the horizontal adjusting frame II; the horizontal adjusting frame I is rotatably connected with the horizontal adjusting frame II and is arranged on the sensor mounting seat; the horizontal vision sensor is arranged on the first horizontal adjusting frame and the second horizontal adjusting frame, and the horizontal vision sensors on the first horizontal adjusting frame and the second horizontal adjusting frame are arranged oppositely.
Preferably, the device also comprises a connecting rod and a laminated frame; the connecting rod is detachably arranged on the first horizontal adjusting frame and the second horizontal adjusting frame; the stacking frame is arranged on the connecting rod, the stacking frame, the first horizontal adjusting frame and the second horizontal adjusting frame are arranged in parallel, and a horizontal visual sensor is arranged on the stacking frame.
Preferably, the vision sensor mounting frame also comprises a driving cylinder IV, an adjusting rod, an adjusting arm, a rotating arm and a vertical vision sensor mounting frame; the adjusting rod is rotatably arranged on the sensor mounting seat; the adjusting arm driven by the driving cylinder IV is rotationally arranged on the adjusting rod; the rotating arm is rotatably arranged on the adjusting arm; the vertical vision sensor mounting rack is arranged on the rotating arm; the vertical vision sensor is arranged on the vertical vision sensor mounting frame.
Preferably, the device also comprises a driving motor, a communication connecting pipe, a rotating shaft, a driving bevel gear and a meshing bevel gear; the driving motor, the communication connecting pipe, the rotating shaft, the driving bevel gear, the meshing bevel gear and the rotating arm driving shaft are arranged on the driving shaft; the rotating shaft driven by the driving motor is rotationally arranged on the adjusting arm; the driving bevel gear is arranged on the rotating shaft; the rotating arm driving shaft is rotatably arranged on the adjusting arm; the rotating arm is arranged on the rotating arm driving shaft; the meshing helical gear is arranged on the rotating arm driving shaft and is in meshing connection with the driving helical gear; the vertical vision sensor is in communication connection with the control base through a communication connecting pipe.
Preferably, the device also comprises a sensor connecting circuit, a vertical vision sensor mounting seat, a fixing piece and a protection wheel; the vertical vision sensor is in communication connection with the control base through a sensor connecting circuit; the vertical vision sensor mounting base is adjustably arranged on the vertical vision sensor mounting frame through a fixing piece; the vertical vision sensor is arranged on the vertical vision sensor mounting frame; the protection wheel is arranged on the rotating arm driving shaft.
An industrial robot vision sensor measuring device, the use method of the device comprises the following steps:
s1, controlling a moving wheel through a control module in a control seat, and driving a measuring base to move in an industrial manufacturing environment by using the moving wheel.
S2, the detachable base vision sensor mounting frame is arranged at a position, where the distance between the measuring base and an industrial manufacturing environment is convenient to measure, of the measuring base, the base vision sensor is used for identifying the moving distance of the measuring base and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base is achieved.
And S3, controlling the movement of the front arm and the rear arm by using the first driving cylinder and the second driving cylinder to drive the sensor mounting seat to be close to a target to be measured.
And S4, driving the first horizontal adjusting frame and the second horizontal adjusting frame to be connected in a rotating mode through the third driving cylinder, so that the distance of the target to be measured in the horizontal direction is measured through the multiple groups of horizontal vision sensors, and data are fed back to the control module.
S5, driving the adjusting arm and the adjusting rod to rotate by the driving air cylinder, driving the rotating arm to rotate by the driving motor, controlling the vertical vision sensor mounting frame to be close to the target to be measured, measuring the target to be measured by the vertical vision sensor, and feeding data back to the control module.
Compared with the prior art, the technical scheme of the invention has the following beneficial technical effects: by setting multiple data sensors: the base vision sensor is arranged on the measuring base; the horizontal vision sensor is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor is arranged at the vertical measuring end of the mechanical arm. The base vision sensor, the camera, the mechanical arm, the horizontal vision sensor and the vertical vision sensor are all in communication connection with the measurement control module in the control base. And measuring the distance of the target to be measured in the horizontal direction by utilizing a plurality of groups of horizontal vision sensors, and feeding back data to the control module. And measuring the target to be measured by using the vertical vision sensor, and feeding back data to the control module. Utilize multiple data to gather, control module carries out operation analysis to upload the high in the clouds, provide data and give the staff, accomplish the target measurement under the different industrial environment, improve measuring precision and degree of automation, it is single to have solved the measuring equipment measuring result among the prior art, measures nimble degree low, can't satisfy the problem of the measurement demand under the different industrial environment.
Drawings
Fig. 1 is a first structural diagram of an embodiment of the present invention.
Fig. 2 is a second structural diagram of an embodiment of the present invention.
Fig. 3 is a schematic structural diagram three of a sensor mounting base according to an embodiment of the present invention.
Fig. 4 is a partially enlarged structural view of a portion a in fig. 3.
Reference numerals: 1. a measuring base; 2. a moving wheel mounting frame; 3. a moving wheel; 4. protecting the frame; 5. a detachable base vision sensor mounting bracket; 6. a base vision sensor; 7. a mounting frame; 8. a control seat; 9. a camera; 10. a mechanical arm mounting seat; 11. a forearm; 12. driving a first air cylinder; 13. a second driving cylinder; 14. a rear arm; 15. a sensor mount; 16. a driving cylinder III; 17. a first horizontal adjusting frame; 18. a horizontal vision sensor; 19. a connecting rod; 20. a stacking rack; 21. a second horizontal adjusting frame; 23. driving a cylinder IV; 24. adjusting a rod; 25. an adjustment arm; 26. a drive motor; 27. a communication connecting pipe; 28. a rotating shaft; 29. driving the helical gear; 30. engaging the helical gear; 31. a rotating arm; 32. a vertical vision sensor mounting bracket; 33. a sensor connection line; 34. a vertical vision sensor mount; 35. a fixing member; 36. a vertical vision sensor; 37. a protection wheel; 38. the arm drive shaft is rotated.
Detailed Description
Example one
The industrial robot vision sensor measuring device provided by the embodiment comprises a measuring base 1, a base vision sensor 6, a mounting frame 7, a control seat 8, a camera 9, a mechanical arm, a horizontal vision sensor 18 and a vertical vision sensor 36.
As shown in fig. 1-2, a mounting frame 7 is provided on the measuring base 1. Control cabinet 8 sets up on mounting bracket 7, includes measurement control module in the control cabinet 8. The measuring base 1 is moved in an industrial manufacturing environment. The base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, and uploading data to the control module, so that the automatic movement of the measuring base 1 is realized.
The mechanical arm is arranged on the control seat 8. The camera 9 is arranged on the mounting frame 7, and the industrial measurement environment in front of the measurement base 1 is monitored and fed back to the control module by the camera 9.
The base vision sensor 6 is provided on the measurement base 1. The horizontal vision sensor 18 is arranged at the horizontal measuring end of the mechanical arm; a vertical vision sensor 36 is provided at the vertical measurement end of the robot arm. The base vision sensor 6, the camera 9, the mechanical arm, the horizontal vision sensor 18 and the vertical vision sensor 36 are all in communication connection with a measurement control module in the control base 8. The distance in the horizontal direction of the target to be measured is measured with the plurality of sets of horizontal vision sensors 18, and the data is fed back to the control module. The target to be measured is measured with the vertical vision sensor 36 and the data is fed back to the control module. The multi-data collection is utilized, the control module conducts operation analysis, the data are uploaded to the cloud, the data are provided for workers, target measurement under different industrial environments is completed, and the measurement precision and the automation degree are improved.
Example two
The industrial robot vision sensor measuring device provided by the embodiment comprises a measuring base 1, a base vision sensor 6, a mounting frame 7, a control seat 8, a camera 9, a mechanical arm, a horizontal vision sensor 18 and a vertical vision sensor 36.
As shown in fig. 1-2, the mounting frame 7 is disposed on the measurement base 1; the control seat 8 is arranged on the mounting frame 7, and a measurement control module is arranged in the control seat 8; the mechanical arm is arranged on the control seat 8. The camera 9 is arranged on the mounting frame 7; the base vision sensor 6 is arranged on the measuring base 1; the horizontal vision sensor 18 is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor 36 is arranged at the vertical measuring end of the mechanical arm; the base vision sensor 6, the camera 9, the mechanical arm and horizontal vision sensor 18 and the vertical vision sensor 36 are all in communication connection with a measurement control module in the control base 8.
Further, the device also comprises a moving wheel mounting frame 2, a moving wheel 3 and a protective frame 4; the movable wheel mounting frame 2 is arranged on the measuring base 1; the moving wheel 3 is arranged on the moving wheel mounting frame 2; a protective frame 4 is provided on the outer edges of the measuring bed 1 and the moving wheel mounting 2. The arrangement of the moving wheel 3 realizes the automatic movement of the measuring base 1.
Further, the device also comprises a visual sensor mounting frame 5 with a detachable base; the detachable base vision sensor mounting frame 5 is detachably arranged on the measuring base 1; the base vision sensor 6 is arranged on the detachable base vision sensor mounting frame 5.
In the present embodiment, the moving wheel 3 is controlled by the control module inside the control seat 8, and the measuring base 1 is driven by the moving wheel 3 to move in the industrial manufacturing environment. The detachable base vision sensor mounting frame 5 is arranged at a position where the distance between the industrial manufacturing environment and the measuring base 1 can be conveniently measured, the base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base 1 is achieved. The first driving air cylinder 12 and the second driving air cylinder 13 are used for controlling the movement of the front arm 11 and the rear arm 14, and the sensor mounting seat 15 is driven to be close to an object to be measured. And the driving cylinder III 16 is used for driving the horizontal adjusting frame I17 and the horizontal adjusting frame II 21 to be rotatably connected, so that the distance of the target to be measured in the horizontal direction is measured by using a plurality of groups of horizontal vision sensors 18, and data are fed back to the control module. The driving cylinder four 23 is used for driving the adjusting arm 25 and the adjusting rod 24 to rotate, the driving motor 26 is used for driving the rotating arm 31 to rotate, so that the vertical vision sensor mounting frame 32 is controlled to be close to the target to be measured, the vertical vision sensor 36 is used for measuring the target to be measured, and data are fed back to the control module.
EXAMPLE III
The industrial robot vision sensor measuring device provided by the embodiment comprises a measuring base 1, a base vision sensor 6, a mounting frame 7, a control seat 8, a camera 9, a mechanical arm, a horizontal vision sensor 18 and a vertical vision sensor 36.
As shown in fig. 1-2, the mounting frame 7 is disposed on the measurement base 1; the control seat 8 is arranged on the mounting frame 7, and a measurement control module is arranged in the control seat 8; the mechanical arm is arranged on the control seat 8. The camera 9 is arranged on the mounting frame 7; the base vision sensor 6 is arranged on the measuring base 1; the horizontal vision sensor 18 is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor 36 is arranged at the vertical measuring end of the mechanical arm; the base vision sensor 6, the camera 9, the mechanical arm, the horizontal vision sensor 18 and the vertical vision sensor 36 are all in communication connection with a measurement control module in the control base 8.
Further, the mechanical arm comprises a mechanical arm mounting seat 10, a front arm 11, a first driving cylinder 12, a second driving cylinder 13, a rear arm 14 and a sensor mounting seat 15; the mechanical arm mounting seat 10 is arranged on the control seat 8; a front arm 11 driven by a first driving cylinder 12 is rotatably arranged on the mechanical arm mounting base 10; a rear arm 14 driven by a second driving cylinder 13 is rotatably arranged at one end of the front arm 11; a sensor mount 15 is provided at one end of the rear arm 14; the horizontal vision sensor 18 and the vertical vision sensor 36 are provided on the sensor mount 15.
In the present embodiment, the moving wheel 3 is controlled by the control module inside the control seat 8, and the measuring base 1 is driven by the moving wheel 3 to move in the industrial manufacturing environment. The detachable base vision sensor mounting frame 5 is arranged at a position where the distance between the industrial manufacturing environment and the measuring base 1 can be conveniently measured, the base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base 1 is achieved. The first driving air cylinder 12 and the second driving air cylinder 13 are used for controlling the movement of the front arm 11 and the rear arm 14, and the sensor mounting seat 15 is driven to be close to an object to be measured. And the driving cylinder III 16 is used for driving the horizontal adjusting frame I17 and the horizontal adjusting frame II 21 to be rotatably connected, so that the distance of the target to be measured in the horizontal direction is measured by using a plurality of groups of horizontal vision sensors 18, and data are fed back to the control module. The driving cylinder four 23 is used for driving the adjusting arm 25 and the adjusting rod 24 to rotate, the driving motor 26 is used for driving the rotating arm 31 to rotate, so that the vertical vision sensor mounting frame 32 is controlled to be close to the target to be measured, the vertical vision sensor 36 is used for measuring the target to be measured, and data are fed back to the control module.
Example four
The industrial robot vision sensor measuring device provided by the embodiment comprises a measuring base 1, a base vision sensor 6, a mounting frame 7, a control seat 8, a camera 9, a mechanical arm, a horizontal vision sensor 18 and a vertical vision sensor 36.
As shown in fig. 1-4, the mounting frame 7 is disposed on the measurement base 1; the control seat 8 is arranged on the mounting frame 7, and a measurement control module is arranged in the control seat 8; the mechanical arm is arranged on the control seat 8. The camera 9 is arranged on the mounting frame 7; the base vision sensor 6 is arranged on the measuring base 1; the horizontal vision sensor 18 is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor 36 is arranged at the vertical measuring end of the mechanical arm; the base vision sensor 6, the camera 9, the mechanical arm and horizontal vision sensor 18 and the vertical vision sensor 36 are all in communication connection with a measurement control module in the control base 8.
Further, the mechanical arm comprises a mechanical arm mounting seat 10, a front arm 11, a first driving cylinder 12, a second driving cylinder 13, a rear arm 14 and a sensor mounting seat 15; the mechanical arm mounting seat 10 is arranged on the control seat 8; a front arm 11 driven by a driving cylinder I12 is rotationally arranged on the mechanical arm mounting base 10; a rear arm 14 driven by a second driving cylinder 13 is rotatably arranged at one end of the front arm 11; a sensor mount 15 is provided at one end of the rear arm 14; the horizontal vision sensor 18 and the vertical vision sensor 36 are disposed on the sensor mount 15.
Further, the device also comprises a driving cylinder III 16, a horizontal adjusting frame I17 and a horizontal adjusting frame II 21; the driving cylinders III 16 are provided with a plurality of groups, and the plurality of groups of driving cylinders III 16 are respectively arranged on the horizontal adjusting frames I17 and II 21; the first horizontal adjusting frame 17 is rotatably connected with the second horizontal adjusting frame 21 and is arranged on the sensor mounting seat 15; the horizontal vision sensor 18 is arranged on the first horizontal adjusting frame 17 and the second horizontal adjusting frame 21, and the horizontal vision sensors 18 on the first horizontal adjusting frame 17 and the second horizontal adjusting frame 21 are arranged oppositely.
Further, the device also comprises a connecting rod 19 and a stacking rack 20; the connecting rod 19 is detachably arranged on the first horizontal adjusting frame 17 and the second horizontal adjusting frame 21; the stacking frame 20 is arranged on the connecting rod 19, the stacking frame 20 is arranged in parallel with the first horizontal adjusting frame 17 and the second horizontal adjusting frame 21, and the horizontal vision sensor 18 is arranged on the stacking frame 20. The stacking frame 20 is arranged, so that the horizontal vision sensor 18 can be added to the first horizontal adjusting frame 17 and the second horizontal adjusting frame 21, and the measurement precision is improved.
In the present embodiment, the moving wheel 3 is controlled by the control module inside the control seat 8, and the measuring base 1 is driven by the moving wheel 3 to move in the industrial manufacturing environment. The detachable base vision sensor mounting frame 5 is arranged at a position where the distance between the industrial manufacturing environment and the measuring base 1 can be conveniently measured, the base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base 1 is achieved. The first driving air cylinder 12 and the second driving air cylinder 13 are used for controlling the movement of the front arm 11 and the rear arm 14, and the sensor mounting seat 15 is driven to be close to an object to be measured. And the driving cylinder III 16 is used for driving the horizontal adjusting frame I17 and the horizontal adjusting frame II 21 to be rotationally connected, so that the distance of the target to be measured in the horizontal direction is measured by using a plurality of groups of horizontal vision sensors 18, and data are fed back to the control module. The driving cylinder four 23 is used for driving the adjusting arm 25 and the adjusting rod 24 to rotate, the driving motor 26 is used for driving the rotating arm 31 to rotate, so that the vertical vision sensor mounting frame 32 is controlled to be close to the target to be measured, the vertical vision sensor 36 is used for measuring the target to be measured, and data are fed back to the control module.
EXAMPLE five
The industrial robot vision sensor measuring device provided by the embodiment comprises a measuring base 1, a base vision sensor 6, a mounting frame 7, a control seat 8, a camera 9, a mechanical arm, a horizontal vision sensor 18 and a vertical vision sensor 36.
As shown in fig. 1 to 4, the mounting frame 7 is provided on the measurement base 1; the control seat 8 is arranged on the mounting frame 7, and a measurement control module is arranged in the control seat 8; the mechanical arm is arranged on the control seat 8. The camera 9 is arranged on the mounting frame 7; the base vision sensor 6 is arranged on the measuring base 1; the horizontal vision sensor 18 is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor 36 is arranged at the vertical measuring end of the mechanical arm; the base vision sensor 6, the camera 9, the mechanical arm, the horizontal vision sensor 18 and the vertical vision sensor 36 are all in communication connection with a measurement control module in the control base 8.
Further, the mechanical arm comprises a mechanical arm mounting seat 10, a front arm 11, a first driving cylinder 12, a second driving cylinder 13, a rear arm 14 and a sensor mounting seat 15; the mechanical arm mounting seat 10 is arranged on the control seat 8; a front arm 11 driven by a first driving cylinder 12 is rotatably arranged on the mechanical arm mounting base 10; a rear arm 14 driven by a second driving cylinder 13 is rotatably arranged at one end of the front arm 11; a sensor mount 15 is provided at one end of the rear arm 14; the horizontal vision sensor 18 and the vertical vision sensor 36 are provided on the sensor mount 15.
Further, the device also comprises a driving cylinder four 23, an adjusting rod 24, an adjusting arm 25, a rotating arm 31 and a vertical vision sensor mounting frame 32; the adjusting rod 24 is rotatably arranged on the sensor mounting seat 15; an adjusting arm 25 driven by the driving cylinder four 23 is rotatably arranged on the adjusting rod 24; the rotating arm 31 is rotatably arranged on the adjusting arm 25; a vertical vision sensor mounting bracket 32 is provided on the rotating arm 31; the vertical vision sensor 36 is disposed on the vertical vision sensor mount 32. The vertical vision sensor mounting bracket 32 is moved by the adjustment arm 25 and the swivel arm 31 so that the vertical vision sensor 36 is brought close to the object to be measured.
Further, the device also comprises a driving motor 26, a communication connecting pipe 27, a rotating shaft 28, a driving bevel gear 29 and a meshing bevel gear 30; a driving motor 26, a communication connection pipe 27, a rotating shaft 28, a driving bevel gear 29, a meshing bevel gear 30 and a rotating arm driving shaft 38; a rotating shaft 28 driven by a driving motor 26 is rotatably provided on the adjusting arm 25; the driving bevel gear 29 is provided on the rotating shaft 28; the rotating arm driving shaft 38 is rotatably provided on the adjusting arm 25; the rotating arm 31 is provided on the rotating arm drive shaft 38; the meshing bevel gear 30 is arranged on the rotating arm driving shaft 38, and the meshing bevel gear 30 is in meshing connection with the driving bevel gear 29; the vertical vision sensor 36 is communicatively connected to the control console 8 via a communication connection 27.
Further, the device also comprises a sensor connecting line 33, a vertical vision sensor mounting seat 34, a fixing piece 35 and a protection wheel 37; the vertical vision sensor 36 is in communication connection with the control seat 8 through a sensor connecting line 33; the vertical vision sensor mounting base 34 is adjustably arranged on the vertical vision sensor mounting frame 32 through a fixing piece 35; the vertical vision sensor 36 is disposed on the vertical vision sensor mount 32; the guard wheel 37 is provided on the rotating arm drive shaft 38.
In the present embodiment, the moving wheel 3 is controlled by the control module inside the control seat 8, and the measuring base 1 is driven by the moving wheel 3 to move in the industrial manufacturing environment. The detachable base vision sensor mounting frame 5 is arranged at a position where the distance between the industrial manufacturing environment and the measuring base 1 can be conveniently measured, the base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base 1 is achieved. The first driving cylinder 12 and the second driving cylinder 13 are used for controlling the movement of the front arm 11 and the rear arm 14, and the sensor mounting seat 15 is driven to be close to a target to be measured. And the driving cylinder III 16 is used for driving the horizontal adjusting frame I17 and the horizontal adjusting frame II 21 to be rotatably connected, so that the distance of the target to be measured in the horizontal direction is measured by using a plurality of groups of horizontal vision sensors 18, and data are fed back to the control module. The driving cylinder four 23 is used for driving the adjusting arm 25 and the adjusting rod 24 to rotate, the driving motor 26 is used for driving the rotating arm 31 to rotate, so that the vertical vision sensor mounting frame 32 is controlled to be close to the target to be measured, the vertical vision sensor 36 is used for measuring the target to be measured, and data are fed back to the control module.
An industrial robot vision sensor measuring device, the use method of the device comprises the following steps:
s1, the moving wheel 3 is controlled through a control module in the control base 8, and the moving wheel 3 is utilized to drive the measuring base 1 to move in an industrial manufacturing environment.
S2, the detachable base vision sensor mounting frame 5 is arranged at a position where the distance between the industrial manufacturing environment and the measuring base 1 is convenient to measure, the base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base 1 is achieved.
And S3, controlling the movement of the front arm 11 and the rear arm 14 by using the first driving air cylinder 12 and the second driving air cylinder 13, and driving the sensor mounting seat 15 to be close to a target to be measured.
And S4, driving the first horizontal adjusting frame 17 and the second horizontal adjusting frame 21 to be rotatably connected by using the third driving air cylinder 16, so that the distances of the target to be measured in the horizontal direction are measured by using a plurality of groups of horizontal vision sensors 18, and data are fed back to the control module.
And S5, driving the adjusting arm 25 and the adjusting rod 24 to rotate by using the driving cylinder IV 23, driving the rotating arm 31 to rotate by using the driving motor 26, so as to control the vertical vision sensor mounting frame 32 to be close to the target to be measured, measuring the target to be measured by using the vertical vision sensor 36, and feeding data back to the control module.
In the present embodiment, the moving wheel 3 is controlled by the control module inside the control seat 8, and the measuring base 1 is driven by the moving wheel 3 to move in the industrial manufacturing environment. The detachable base vision sensor mounting frame 5 is arranged at a position where the distance between the industrial manufacturing environment and the measuring base 1 can be conveniently measured, the base vision sensor 6 is used for identifying the moving distance of the measuring base 1 and the coordinate distance of the target to be measured, data are uploaded to the control module, and automatic movement of the measuring base 1 is achieved. The first driving air cylinder 12 and the second driving air cylinder 13 are used for controlling the movement of the front arm 11 and the rear arm 14, and the sensor mounting seat 15 is driven to be close to an object to be measured. And the driving cylinder III 16 is used for driving the horizontal adjusting frame I17 and the horizontal adjusting frame II 21 to be rotatably connected, so that the distance of the target to be measured in the horizontal direction is measured by using a plurality of groups of horizontal vision sensors 18, and data are fed back to the control module. The four driving cylinders 23 are used for driving the adjusting arms 25 and the adjusting rods 24 to rotate, the driving motor 26 is used for driving the rotating arms 31 to rotate, so that the vertical vision sensor mounting frame 32 is controlled to be close to the target to be measured, the vertical vision sensor 36 is used for measuring the target to be measured, and data are fed back to the control module.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A measuring device of an industrial robot vision sensor comprises a measuring base (1), and is characterized by comprising a base vision sensor (6), a mounting frame (7), a control base (8), a camera (9), a mechanical arm, a horizontal vision sensor (18) and a vertical vision sensor (36);
the mounting rack (7) is arranged on the measuring base (1); the control seat (8) is arranged on the mounting rack (7), and the control seat (8) comprises a measurement control module; the mechanical arm is arranged on the control seat (8);
the camera (9) is arranged on the mounting frame (7); the base vision sensor (6) is arranged on the measuring base (1); the horizontal vision sensor (18) is arranged at the horizontal measuring end of the mechanical arm; the vertical vision sensor (36) is arranged at the vertical measuring end of the mechanical arm; the base vision sensor (6), the camera (9), the mechanical arm, the horizontal vision sensor (18) and the vertical vision sensor (36) are all in communication connection with a measurement control module in the control base (8).
2. An industrial robot vision sensor measurement arrangement according to claim 1, characterized by further comprising a moving wheel mounting (2), a moving wheel (3) and a protective frame (4); the movable wheel mounting rack (2) is arranged on the measuring base (1); the moving wheel (3) is arranged on the moving wheel mounting frame (2); the protective frame (4) is arranged on the outer edges of the measuring base (1) and the movable wheel mounting frame (2).
3. An industrial robot vision sensor measurement arrangement according to claim 1, characterized by further comprising a detachable base vision sensor mounting frame (5); the detachable base vision sensor mounting rack (5) is detachably arranged on the measuring base (1); the base vision sensor (6) is arranged on the detachable base vision sensor mounting frame (5).
4. The industrial robot vision sensor measuring device of claim 1, characterized in that the mechanical arm comprises a mechanical arm mounting seat (10), a front arm (11), a first driving cylinder (12), a second driving cylinder (13), a rear arm (14) and a sensor mounting seat (15); the mechanical arm mounting seat (10) is arranged on the control seat (8); a front arm (11) driven by a driving cylinder I (12) is rotationally arranged on the mechanical arm mounting base (10); a rear arm (14) driven by a second driving cylinder (13) is rotatably arranged at one end of the front arm (11); the sensor mounting seat (15) is arranged at one end of the rear arm (14); the horizontal vision sensor (18) and the vertical vision sensor (36) are arranged on the sensor mounting seat (15).
5. An industrial robot vision sensor measuring device according to claim 4, characterized by further comprising a driving cylinder three (16), a horizontal adjusting bracket one (17) and a horizontal adjusting bracket two (21); a plurality of groups of driving cylinders III (16) are arranged, and the plurality of groups of driving cylinders III (16) are respectively arranged on the horizontal adjusting frame I (17) and the horizontal adjusting frame II (21); the horizontal adjusting frame I (17) is rotationally connected with the horizontal adjusting frame II (21) and is arranged on the sensor mounting seat (15); the horizontal vision sensor (18) is arranged on the first horizontal adjusting frame (17) and the second horizontal adjusting frame (21), and the horizontal vision sensors (18) on the first horizontal adjusting frame (17) and the second horizontal adjusting frame (21) are arranged oppositely.
6. An industrial robot vision sensor measurement arrangement according to claim 5, characterized by further comprising a connecting rod (19) and a stacking rack (20); the connecting rod (19) is detachably arranged on the first horizontal adjusting frame (17) and the second horizontal adjusting frame (21); the stacking frame (20) is arranged on the connecting rod (19), the stacking frame (20) is arranged in parallel with the first horizontal adjusting frame (17) and the second horizontal adjusting frame (21), and the stacking frame (20) is provided with a horizontal visual sensor (18).
7. An industrial robot vision sensor measuring device according to claim 4, characterized by further comprising a driving cylinder four (23), an adjusting rod (24), an adjusting arm (25), a rotating arm (31) and a vertical vision sensor mounting frame (32); the adjusting rod (24) is rotatably arranged on the sensor mounting seat (15); an adjusting arm (25) driven by a driving cylinder four (23) is rotationally arranged on the adjusting rod (24); the rotating arm (31) is rotatably arranged on the adjusting arm (25); the vertical vision sensor mounting frame (32) is arranged on the rotating arm (31); the vertical vision sensor (36) is disposed on the vertical vision sensor mount (32).
8. An industrial robot vision sensor measuring device according to claim 7, characterized by further comprising a driving motor (26), a communication connection pipe (27), a rotation shaft (28), a driving bevel gear (29) and an engaging bevel gear (30); a driving motor (26), a communication connecting pipe (27), a rotating shaft (28), a driving bevel gear (29), a meshing bevel gear (30) and a rotating arm driving shaft (38); a rotating shaft (28) driven by a driving motor (26) is rotationally arranged on the adjusting arm (25); the driving bevel gear (29) is arranged on the rotating shaft (28); the rotating arm driving shaft (38) is rotatably arranged on the adjusting arm (25); the rotating arm (31) is arranged on the rotating arm driving shaft (38); the meshing helical gear (30) is arranged on the rotating arm driving shaft (38), and the meshing helical gear (30) is in meshing connection with the driving helical gear (29); the vertical vision sensor (36) is in communication connection with the control seat (8) through a communication connecting pipe (27).
9. An industrial robot vision sensor measurement arrangement according to claim 7, characterized by further comprising sensor connection lines (33), vertical vision sensor mounting seats (34), fixtures (35), protection wheels (37); the vertical vision sensor (36) is in communication connection with the control base (8) through a sensor connecting line (33); the vertical vision sensor mounting seat (34) is adjustably arranged on the vertical vision sensor mounting frame (32) through a fixing piece (35); the vertical vision sensor (36) is arranged on the vertical vision sensor mounting frame (32); a guard wheel (37) is provided on the rotating arm drive shaft (38).
10. An industrial robot vision sensor measuring device according to any of the claims 1-9, the use of the device being characterized by the following steps:
s1, controlling a moving wheel (3) through a control module in a control seat (8), and driving a measuring base (1) to move in an industrial manufacturing environment by using the moving wheel (3);
s2, arranging the detachable base vision sensor mounting frame (5) at a position where the distance between the measuring base (1) and an industrial manufacturing environment is convenient to measure, identifying the moving distance of the measuring base (1) and the coordinate distance of an object to be measured by using the base vision sensor (6), uploading data to the control module, and realizing the automatic movement of the measuring base (1);
s3, controlling the front arm (11) and the rear arm (14) to move by using the first driving cylinder (12) and the second driving cylinder (13) to drive the sensor mounting seat (15) to be close to a target to be measured;
s4, driving a first horizontal adjusting frame (17) and a second horizontal adjusting frame (21) to be rotatably connected by using a third driving cylinder (16), so that the distance of the target to be measured in the horizontal direction is measured by using a plurality of groups of horizontal vision sensors (18), and data are fed back to a control module;
s5, driving the adjusting arm (25) and the adjusting rod (24) to rotate by using the driving cylinder IV (23), driving the rotating arm (31) to rotate by using the driving motor (26), so that the vertical vision sensor mounting frame (32) is controlled to be close to a target to be measured, measuring the target to be measured by using the vertical vision sensor (36), and feeding data back to the control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310119611.7A CN115847492B (en) | 2023-02-16 | Industrial robot vision sensor measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310119611.7A CN115847492B (en) | 2023-02-16 | Industrial robot vision sensor measuring device |
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| Publication Number | Publication Date |
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| CN115847492A true CN115847492A (en) | 2023-03-28 |
| CN115847492B CN115847492B (en) | 2024-04-26 |
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