CN116448076A - A Visual Angular Orientation Mechanism - Google Patents

Abstract

The invention provides a visual angular positioning mechanism, and belongs to the technical field of machinery. The problem that the existing workpiece is easy to damage due to collision when placed on the rotary table is solved. The visual angular positioning mechanism comprises a frame body, a horizontally rotatable storage seat connected to the frame body, a visual collector, a plurality of vertically arranged receiving rods and lifting driving pieces capable of driving the receiving rods to synchronously lift, wherein the receiving rods are distributed around the storage seat, the top ends of the receiving rods are provided with receiving parts, and the receiving parts of the receiving rods can rise to be higher than the top surface of the storage seat or fall to be lower than the top surface of the storage seat under the driving of the lifting driving pieces. The visual angular positioning mechanism has the advantage of long service life.

Description

A Visual Angular Orientation Mechanism

technical field

The invention belongs to the technical field of machinery and relates to a visual angular positioning mechanism.

Background technique

In the process of lathe turning, most of the workpieces are revolving bodies. Among them, although the processing part of some workpieces is circular processing, their clamping parts are special-shaped features, or some lathes have milling functions, which will complete the surrounding of the workpiece. Drilling, tapping, milling and other processing, such workpieces often require strict angle requirements for the clamping posture of the workpiece during the processing. Especially at this stage, with the development and popularization of automation and intelligent manufacturing, before automatic clamping of such workpieces on the machine tool, the angular orientation of the workpiece must be recognized to complete the accurate positioning of the workpiece posture.

For example, people have designed a wheel hub angle visual positioning device, and applied for a Chinese patent, its application number is: 201521015739.6; its announcement number is CN205246069; the wheel hub angle visual positioning device includes a support frame, and a base is provided in the middle of the support frame , the base is provided with a rotary table, the bottom of the base is provided with a servo motor for driving the rotary table, the upper part of the support frame is provided with a visual installation unit, and the two symmetrical sides of the circular position of the rotary table are respectively provided with proximity switches, one of which is close to The upper part of the switch is connected with a photoelectric switch through a pole, and the visual installation unit, servo motor, proximity switch and photoelectric switch are respectively externally connected to the control cabinet. When the hub angle vision positioning device is in use, the workpiece is placed on the rotary table, and the servo motor drives the rotary table and the workpiece to rotate in the circumferential direction. Judging whether the angular positioning of the workpiece meets the requirements.

However, the hub angle vision positioning device is directly placed on the rotary table with the manipulator when placing the workpiece. Due to the interference of the clamping position of the manipulator and the dimensional error between the bottom surface and the surface of the blank workpiece, the distance between the manipulator and the rotary table when releasing the workpiece There must be a vertical spacing or deflection between them, and when the manipulator releases the workpiece, the workpiece is instantly separated from the manipulator and hits the rotary table. The collision caused damage to the workpiece or the rotary table, which not only affects the service life, but also the position of the workpiece after placement and the horizontal state of the rotary table are also easily affected by the collision and offset, which affects the angular positioning accuracy of the visual camera when taking pictures and comparing .

Contents of the invention

The object of the present invention is to solve the above-mentioned problems in the prior art, and propose a visual angular positioning mechanism, which solves the problem that existing workpieces are easily damaged due to collisions when they are placed on the rotary table.

The purpose of the present invention can be achieved through the following technical solutions:

A visual angular positioning mechanism, including a frame body, a horizontally rotatable storage seat connected to the frame body, and a visual collector. It is characterized in that the visual angular positioning mechanism also includes several vertically established rod-shaped The material receiving rod and the lifting drive that can drive several of the material receiving rods to rise and fall synchronously. The material receiving portion of the material receiving rod can rise above the top surface of the storage seat or drop below the top surface of the storage seat under the drive of the above-mentioned lifting driving member.

When the visual angular positioning mechanism is in use, the lifting drive parts drive several material receiving rods to rise synchronously and make the material receiving part at the top of the material receiving rod higher than the top surface of the storage seat, and the workpiece is grabbed manually or by a manipulator, and placed The workpiece is placed on the upper side of the material receiving part of several material receiving rods, and the material receiving rods undertake the workpiece. Afterwards, the lifting driving part drives several material receiving rods to descend synchronously and slowly until the material receiving part of the material receiving rod is lower than the top surface of the storage seat, because several material receiving rods are distributed around the storage seat, so when the material receiving rod is lowered, the workpiece Naturally placed on the upper side of the storage stand. After the workpiece is placed, the storage seat can be rotated to rotate the workpiece, and the picture or photo of the current angular position of the workpiece can be collected through the visual collector to judge whether the workpiece has rotated to the required angular position, and stop placing the object when the angular position is determined The rotation of the seat completes the angular position positioning of the workpiece.

During this process, the workpiece is pre-received by a vertical rod-shaped receiving rod. Relying on the rod-shaped structure, a larger gap is left for the manipulator to extend in, reducing the interference when the manipulator places the workpiece, so that the workpiece is placed Reduce collisions when on the receiving rod, keep the workpiece intact and stable, and then slowly lower the receiving rod, that is, slowly place the workpiece on the storage seat set in the middle of several receiving rods in a slow-down manner, instead of The workpiece breaks off instantly and hits the storage seat. Even if there is a dimensional error at the bottom of the workpiece, a part of the bottom of the workpiece first abuts against the upper side of the storage seat during the slow down of the receiving rod. At the same time, other positions of the workpiece are still controlled by several The receiving rod supports and descends slowly. The receiving rod plays the role of auxiliary support and buffer, which not only reduces and alleviates the collision, but also ensures the quality, and makes the workpiece can be placed on the upper side of the storage seat more stably, ensuring that the visual collector Accuracy when collecting pictures or photos, thereby improving the accuracy of judgment and positioning of the angular position of the workpiece.

In the aforementioned visual angular positioning mechanism, there are at least three material receiving rods, and the material receiving part is the top surface of the material receiving rods. The workpiece is supported by the top surface of several receiving rods, which further reduces the interference with the manipulator when receiving the workpiece, and facilitates the part of the manipulator to snap in when placing the workpiece to reduce the vertical distance between the workpiece and the top surface of the receiving rod. Reducing collisions and ensuring the stability of workpiece placement ensures the accuracy of the vision collector when collecting pictures or photos, thereby improving the accuracy of judging and locating the angular position of the workpiece.

As another situation, in the above-mentioned visual angular positioning mechanism, the several material receiving parts are all in the shape of circular arc plates and arranged horizontally, and the several material receiving parts are distributed in a ring shape. The arc-shaped plate-shaped material receiving part can increase the area of receiving the workpiece, thereby improving the stability of the workpiece receiving, and at the same time can avoid the interference with the storage seat when the material receiving rod is lowered, ensuring that the visual collector can collect pictures or The accuracy of the photo will improve the accuracy of the judgment and positioning of the angular position of the workpiece.

In the above-mentioned visual angular positioning mechanism, the visual angular positioning mechanism also includes an integrated lifting member, the lower ends of several receiving rods are connected with the lifting member, and the output end of the lifting drive member Connect with the lifter. The setting of the lifting parts provides support for the lower ends of several receiving rods. At the same time, the lifting driving part can ensure the synchronization of lifting and lowering of several receiving rods by driving the lifting parts, thereby improving the stability of receiving workpieces and transferring work, ensuring It improves the accuracy of the vision collector when collecting pictures or photos, and then improves the accuracy of the judgment and positioning of the angular position of the workpiece.

In the above-mentioned visual angular positioning mechanism, there is a workbench on the frame, the object holder is connected above the workbench, and several of the receiving rods pass through the workbench from bottom to top . The setting of the workbench provides support for the placement of the storage seat and the workpiece. At the same time, it can also cooperate with the lifting parts to provide two-point support for the receiving rod and guide the lifting process of the receiving rod to ensure the stability of the receiving material and the visual The accuracy of the collector to collect pictures or photos improves the accuracy of the judgment and positioning of the angular position of the workpiece.

In the above-mentioned visual angular positioning mechanism, the frame body further includes a fixed frame fixed on the lower side of the workbench, the lifting drive part is fixed on the fixed frame and the output end of the lifting drive part faces set up. The lifting driving part is fixed on the fixed frame fixed to the worktable, so that the lifting driving part, lifting part, material receiving rod, etc. form a whole with the working table and the storage seat, further improving the stability of the structure and material receiving, while the fixed frame Fixed on the lower side of the workbench, it can avoid the impact and interference on the workpiece placement and workpiece shooting on the upper side of the workbench, and improve the accuracy and stability of angular positioning.

In the above-mentioned visual angular positioning mechanism, the frame body includes an adjustment frame, an elevating seat connected to the adjustment frame, and an adjustment driving member capable of driving the elevating seat to move up and down relative to the adjustment frame, and the vision collector is connected to the The lifting seat is located on one side of the storage seat. The height position of the vision collector is adjusted by adjusting the driving part, so that the vision collector can be directly aligned with the recognition feature position of the workpiece placed on the object holder, thereby improving recognition efficiency and recognition accuracy.

In the above-mentioned visual angular positioning mechanism, the frame body also includes a connection seat one connected to the adjustment frame and capable of turning over horizontally relative to the adjustment frame, and a connection seat one connected to the connection seat one and capable of vertically turning relative to the connection seat one. The connecting seat 2 is turned straight, and the above-mentioned visual collector is fixed on the connecting seat 2. The deflection angle of the visual collector relative to the workpiece in the horizontal direction and the vertical direction can be adjusted through the connecting seat 1 and the connecting seat 2, so that the visual collector can face the recognition feature conveniently, and the recognition efficiency and recognition accuracy can be improved.

In the above-mentioned visual angular positioning mechanism, a ring-shaped base is fixed on the workbench, and a transmission rod is vertically pierced inside the base, and the upper end of the transmission rod passes through the base and is connected with the above-mentioned storage. The seat is fixed, and the lower end of the transmission rod passes through the workbench and is in drive connection with the rotary drive member fixed on the lower side of the workbench. Both the base and the rotating drive are fixed to the workbench to form an integrated body, which makes the transmission process more stable, and the way of placing the rotating drive below can avoid the storage seat and the workpiece, reducing interference.

In the above-mentioned visual angular positioning mechanism, sensors capable of detecting whether there is a workpiece on the upper side of the object holder are respectively fixed on the upper side of the workbench at both sides of the object holder. The sensor detects whether the workpiece is in place, and then controls the work of the rotary drive, vision collector and other structures to avoid dry running.

Compared with the prior art, during the working process of the visual angular positioning mechanism, the vertical rod-shaped receiving rod is used to pre-accept the workpiece, relying on the rod-shaped structure, leaving a larger gap for the manipulator to extend. It reduces the interference when the manipulator places the workpiece, reduces the collision when the workpiece is placed on the receiving rod, and keeps the integrity and stability of the workpiece. In addition, the receiving rod is slowly lowered so that the workpiece is slowly placed on the storage seat set in the middle of several receiving rods, which not only reduces and alleviates the collision, ensures the quality, but also makes the workpiece more stable on the storage seat On the side, it ensures the accuracy of the vision collector when collecting pictures or photos, thereby improving the accuracy of judging and locating the angular position of the workpiece.

Description of drawings

Fig. 1 is a structural schematic diagram of Embodiment 1 of the visual angular positioning mechanism.

Fig. 2 is a schematic structural view of the workpiece targeted by the visual angular positioning mechanism.

Fig. 3 is a structural schematic diagram of the lifting structure in Embodiment 1 of the visual angular positioning mechanism.

Fig. 4 is a schematic cross-sectional structural view of the object holder in the visual angular positioning mechanism.

Fig. 5 is a schematic structural view of the visual collector in the visual angular positioning mechanism.

Fig. 6 is a schematic diagram of the structure of the visual angular positioning mechanism when it picks up the workpiece.

In the figure, 1. Frame body; 11. Workbench; 12. Fixed frame; 13. Adjusting frame; 14. Lifting seat; ;3. Visual collector; 4. Material receiving rod; 41. Material receiving part; 5. Lifting drive part; 6. Lifting part; 7. Base; 8. Transmission rod; , the workpiece; 101a, the first identification feature; 101b, the second identification feature.

Detailed ways

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

As shown in Figure 2, the visual angular positioning mechanism is used for angular positioning of a circular workpiece 101, the outer surface of the workpiece 101 is distributed along the circumferential direction with protruding ribs as identification features-101a and As the boss of the identification feature 2 101b.

Embodiment one

As shown in Figure 1, the visual angular positioning mechanism includes a frame body 1, a horizontally rotatable storage seat 2 connected to the frame body 1, a visual collector 3, and several vertically established rod-shaped material receiving devices. Rod 4 and the lifting drive member 5 that can drive several receiving rods 4 to rise and fall synchronously. Several receiving rods 4 are distributed around the storage seat 2 and several receiving rods 4 have a receiving part 41 at the top. The material receiving portion 41 can rise to be higher than the top surface of the storage seat 2 or drop to be lower than the top surface of the storage seat 2 under the driving of the lifting driving member 5 . In this embodiment, there are at least three material receiving rods 4, and the material receiving part 41 is a flat top surface of the material receiving rod 4; the visual collector 3 includes a visual camera; the lifting drive member 5 is an air cylinder.

As shown in FIG. 3 , there is a workbench 11 on the frame body 1 , and the object holder 2 is connected above the workbench 11 . The upper side of the workbench 11 is provided with a recessed annular liquid guide groove around the object holder 2 . The lower side of the workbench 11 is fixed with a fixed frame 12, and the fixed frame 12 includes a plate-shaped fixed plate arranged horizontally below the workbench 11 and several fixed rods vertically connected to the upper side of the fixed plate. Distributed at the edge of the fixed plate and the upper ends of several fixed rods are all fixed to the lower side of the workbench 11. The lifting driving part 5 is fixed on the lower side of the fixing plate and the piston rod of the lifting driving part 5 passes through the fixing plate upwards. Between the fixed plate and the workbench 11, there is a plate-shaped integrated lifting member 6, the lower side of the lifting member 6 is fixed with the output end of the lifting drive member 5, and the lower ends of several material receiving rods 4 are all connected to the lifting device. The parts 6 are fixedly connected, and the upper ends of several receiving rods 4 pass through the workbench 11 from bottom to top. In this implementation, the upper side of the workbench 11 is located at the opposite sides of the object holder 2 and is respectively fixed with a sensor 10 capable of detecting whether there is a workpiece 101 on the upper side of the object holder 2. Here, the sensor 10 adopts a through-beam sensor 10, which can be It is an infrared sensor 10 or a photoelectric sensor 10 or the like.

As shown in Figure 4, a ring-shaped base 7 is fixed on the workbench 11, and a transmission rod 8 is vertically pierced in the base 7. The upper end of the transmission rod 8 passes through the base 7 and is fixed with the lower side of the storage seat 2, and the transmission The lower end of the rod 8 passes through the workbench 11 and is transmission-connected with a rotary drive member 9 fixed on the underside of the workbench 11 . In this embodiment, the rotary driving member 9 is a driving motor.

As shown in Figure 5, the frame body 1 includes an adjustment frame 13 connected to the upper side of the workbench 11, a lifting seat 14 connected to the adjustment frame 13, and an adjustment driver 15 that can drive the lifting seat 14 to lift relative to the adjustment frame 13, The vision collector 3 is connected on the lifting base 14 and is positioned at one side of the storage base 2 .

Specifically, the adjustment frame 13 includes at least three vertical bars fixed on the upper side of the workbench 11 and a horizontal plate fixed on the top of several vertical bars. Several vertical bars pass through the lifting seat 14, and the adjustment driver 15 is fixed. On the lower side of the horizontal plate and the output end is downward and connected with the lifting seat 14 . The frame body 1 also includes a connection seat one 16 which is connected to the adjustment frame 13 and can be turned over horizontally with respect to the adjustment frame 13, and a connection seat two 17 which is connected on the connection seat one 16 and can be vertically turned over with respect to the connection seat one 16, Vision collector 3 is fixed on connection seat two 17. In this embodiment, the connecting seat 16 is in the shape of an annular block and is sheathed on the outside of one of the vertical rods. One side of the connecting seat 16 has an opening, and the opening is horizontally pierced with a clamp that can make the opening open or contract. Screw; connecting seat two 17 includes a seat body fixed with the visual collector 3 and a round rod-shaped rod body, the rod body is arranged horizontally, one end is fixed with the seat body, and the other end is passed through the ring-shaped adjusting part on the connecting seat one 16 , one side of the adjusting part is open, and a locking screw that enables the opening to expand or contract is pierced through the opening.

As shown in Figure 6, when the visual angular positioning mechanism is in use, the lifting drive member 5 drives several material receiving rods 4 to rise synchronously and makes the material receiving part 41 at the top of the material receiving rod 4 higher than the top surface of the storage seat 2 , grab the workpiece 101 manually or by a robot, and place the workpiece 101 on the upper side of the receiving portion 41 of several receiving rods 4, and the receiving rod 4 receives the workpiece 101.

Afterwards, the lifting driver 5 drives several material receiving rods 4 to synchronously and slowly descend until the material receiving part 41 of the material receiving rod 4 is lower than the top surface of the storage seat 2, and several material receiving rods 4 are distributed around the storage seat 2, that is, the storage seat 2 is located at the central position of several receiving rods 4. Therefore, when the receiving rod 4 is lowered, the workpiece 101 is naturally placed on the upper side of the storage seat 2 .

After the workpiece 101 is placed, the rotating drive member 9 can drive the storage seat 2 to rotate to rotate the workpiece 101, and collect pictures or photos of the current angular position of the workpiece 101 through the visual collector 3 to determine whether the workpiece 101 has rotated to the required angular position. position, and stop the rotation of the object holder 2 when the angular position is determined, and complete the angular position positioning of the workpiece 101.

Embodiment two

The technical solution of this embodiment is roughly the same as that of Embodiment 1, the difference is that: several material receiving parts 41 are all in the shape of circular arc plates and are arranged horizontally, and several material receiving parts 41 are distributed in a ring shape and form a roughly ring-shaped structure. shape.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Claims (10)

1. A visual angular positioning mechanism, comprising a frame (1), a horizontally rotatable storage seat (2) connected to the frame (1) and a visual collector (3), characterized in that the visual angular The positioning mechanism also includes several vertically set up rod-shaped material receiving rods (4) and a lifting drive member (5) that can drive several of the material receiving rods (4) to rise and fall synchronously. Rods (4) are distributed around the storage seat (2) and the tops of several material receiving rods (4) have material receiving parts (41), and the material receiving parts (41) of several said material receiving rods (4) can be Driven by the above-mentioned lifting driving member (5), it rises to be higher than the top surface of the storage seat (2) or falls below the top surface of the storage seat (2). 2. A visual angular positioning mechanism according to claim 1, characterized in that the number of the receiving rods (4) is at least three, and the receiving part (41) is the receiving rod (4) top surface. 3. A kind of visual angular positioning mechanism according to claim 1, characterized in that, several of the material receiving parts (41) are all in the shape of circular arc plates and are arranged horizontally, and several of the material receiving parts (41) are arranged horizontally. 41) in a circular distribution. 4. A visual angular positioning mechanism according to claim 1, 2 or 3, characterized in that the visual angular positioning mechanism also includes an integrated lifting member (6), and several of the receiving rods (4 ) are all connected to the lifting member (6), and the output end of the lifting drive member (5) is connected to the lifting member (6). 5. A visual angular positioning mechanism according to claim 1, 2 or 3, characterized in that, the frame (1) has a workbench (11), and the storage seat (2) is connected to the Above the workbench (11), several of the receiving rods (4) pass through the workbench (11) from bottom to top. 6. A visual angular positioning mechanism according to claim 5, characterized in that, the frame (1) also includes a fixing frame (12) fixed on the underside of the workbench (11), the The lifting drive part (5) is fixed on the fixed frame (12) and the output end of the lifting drive part (5) is set upward. 7. A visual angular positioning mechanism according to claim 1, 2 or 3, characterized in that, the frame body (1) includes an adjustment frame (13), a lifting seat connected to the adjustment frame (13) (14) and an adjustment driver (15) that can drive the lift seat (14) to lift relative to the adjustment frame (13), the vision collector (3) is connected to the lift seat (14) and is located in the storage One side of the seat (2). 8. A visual angular positioning mechanism according to claim 7, characterized in that, the frame body (1) also includes a horizontal tilting device that is connected to the adjustment frame (13) and can be turned horizontally relative to the adjustment frame (13). Connecting seat one (16) and connecting seat two (17) which are connected on the connecting seat one (16) and can be turned vertically relative to the connecting seat one (16), the above-mentioned visual collector (3) is fixed on the described connecting seat Two (17) up. 9. A visual angular positioning mechanism according to claim 5, characterized in that, a ring-shaped base (7) is fixed on the workbench (11), and the base (7) vertically passes through A transmission rod (8) is provided, the upper end of the transmission rod (8) passes through the base (7) and is fixed with the above-mentioned storage seat (2), the lower end of the transmission rod (8) passes through the workbench (11) and It is transmission-connected with the rotary driving member (9) fixed on the lower side of the workbench (11). 10. A visual angular positioning mechanism according to claim 5, characterized in that, the upper side of the workbench (11) is respectively fixed with detectable object holders (2) on both sides of the object holder (2). ) whether there is a sensor (10) of workpiece (101) on the upper side.