CN117656089A - Vision device and robot - Google Patents
Vision device and robot Download PDFInfo
- Publication number
- CN117656089A CN117656089A CN202311602891.3A CN202311602891A CN117656089A CN 117656089 A CN117656089 A CN 117656089A CN 202311602891 A CN202311602891 A CN 202311602891A CN 117656089 A CN117656089 A CN 117656089A
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- China
- Prior art keywords
- groove
- boss
- vision device
- housing
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000009434 installation Methods 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000007789 sealing Methods 0.000 claims description 26
- 230000000694 effects Effects 0.000 abstract description 6
- 239000000428 dust Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a vision device and a robot. The upper part of the mounting part is provided with a mounting opening, and the mounting part is connected with a rotating arm of the robot through the mounting opening; the visual body comprises a shell, an upper cover, a lower cover, a transparent guard board, a control board and a camera, wherein two ends of the shell are provided with openings, the control board is electrically connected with the camera and is arranged in the shell, the upper cover and the lower cover are correspondingly and hermetically connected to the openings at the two ends of the shell, a through hole is formed in the middle of the lower cover, the transparent guard board is covered on the through hole, and the transparent guard board is positioned below a lens of the camera; the installation part is detachably connected with the visual body through the connection part. The vision device and the robot have good protection effect and wide application range.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a vision device and a robot.
Background
The robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, can realize various industrial processing and manufacturing functions by means of self power energy and control capability, and is widely applied to various industrial fields such as electronics, logistics, chemical industry and the like. The robot with the vision system can acquire and identify the image of the workpiece through the vision device, so that the operation accuracy is improved. For the working environment with high dust concentration, high humidity and steam, the existing robot does not have corresponding protection capability, so that the robot is extremely easy to fail and cause safety accidents.
Disclosure of Invention
The invention aims to provide a vision device and a robot, which have good protection effect and wide application range.
In order to achieve the above object, the present invention provides, in a first aspect, a vision apparatus comprising:
the upper part of the mounting part is provided with a mounting opening, and the mounting part is connected with a rotating arm of the robot through the mounting opening;
the visual body comprises a shell, an upper cover, a lower cover, a transparent guard board, a control board and a camera, wherein the two ends of the shell are provided with openings, the control board is electrically connected with the camera and is arranged in the shell, the upper cover and the lower cover are correspondingly and hermetically connected to the openings at the two ends of the shell, a through hole is formed in the middle of the lower cover, the transparent guard board is covered on the through hole, and the transparent guard board is positioned below a lens of the camera; and
the installation part is detachably connected with the visual body through the connection part.
In some embodiments, the housing comprises an upper housing part and a housing seat in sealing connection with the bottom end of the upper housing part, the control board is arranged in the upper housing part, the camera is arranged in the housing seat, the upper cover is arranged at the top end of the upper housing part, and the lower cover is arranged at the bottom end of the housing seat.
In some embodiments, the top end of the upper shell portion protrudes upwards to form a first boss, the upper cover is arranged on the periphery of the first boss, a first groove is formed in one side, close to the first boss, of the bottom end of the upper cover, a first sealing ring is arranged in the first groove, and the upper cover is connected with the upper shell portion through the first sealing ring.
In some embodiments, the top end of the housing seat protrudes upwards to form a second boss, the bottom end of the upper housing part is arranged on the periphery of the second boss, a second groove is formed in one side, close to the second boss, of the bottom end of the upper housing part, a second sealing ring is arranged in the second groove, and the upper housing part is connected with the housing seat through the second sealing ring.
In some embodiments, the upper surface of the lower cover protrudes upwards to form a third boss, the bottom end of the housing seat is arranged on the periphery of the third boss, a third groove is formed in one side, close to the third boss, of the bottom end of the housing seat, a third sealing ring is arranged in the third groove, and the housing seat is connected with the lower cover through the third sealing ring.
In some embodiments, a fourth groove is formed in the third boss, the fourth groove is communicated with the through hole, and the transparent guard plate is inlaid in the fourth groove.
In some embodiments, waterproof plugs are provided on both the vision body and the mounting portion, and the waterproof plugs are electrically connected with the control board.
In some embodiments, the connecting portion comprises a first connecting portion and a second connecting portion, wherein the first connecting portion is in a step shape and is in a round shape, the first step portion is connected with the shell, an annular groove is formed in the upper surface of the second connecting portion, the bottom of the mounting portion protrudes downwards to form an annular protruding portion, and the protruding portion is arranged in the groove.
In some embodiments, two sides of the second connection portion respectively extend downwards to form a connection plate, and a mounting hole is formed in the connection plate.
In a second aspect, the invention provides a robot, which comprises a manipulator, an electric cabinet and the vision device, wherein the electric cabinet is electrically connected with the control board of the vision device.
Compared with the prior art, the invention provides the vision device and the robot, which have the beneficial effects that:
the control panel that sets up with the camera electricity is connected and all locates in the casing, the upper cover with the lower cover correspond sealing connection in the both ends opening part of casing for the protection effect is good, can normal use in dust concentration height, humidity height and the operational environment who contains steam. The middle part of lower cover that sets up is equipped with the through-hole, transparent backplate closing cap in on the through-hole, and transparent backplate is located camera's camera lens below can normally work under sealed state for the range of application is wide.
Drawings
Fig. 1 is a schematic diagram of a first perspective structure of a vision device according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a second perspective structure of a vision device according to an embodiment of the present disclosure.
Fig. 3 is a schematic cross-sectional structure of a vision device according to an embodiment of the present disclosure.
FIG. 4 is a schematic view of a partially enlarged structure at A in FIG. 3
Fig. 5 is a partially enlarged schematic structural view of fig. 3 at B.
Fig. 6 is a partially enlarged schematic structural view of fig. 3 at C.
Fig. 7 is an enlarged schematic view of a lower cover of a vision device according to an embodiment of the present disclosure.
Fig. 8 is a schematic diagram of a connection structure of a vision device according to an embodiment of the present disclosure.
Fig. 9 is a schematic bottom structure of a mounting portion of a vision device according to an embodiment of the present disclosure.
In the figure: 1. a mounting part; 11. a mounting port; 12. a boss; 2. a visual body; 21. a housing; 211. an upper shell portion; 211a, a first boss; 211b, a second groove; 212. a housing base; 212a, a second boss; 212b, a third groove; 22. an upper cover; 22a, a first groove; 23. a lower cover; 23a, a third boss; 231. a through hole; 232. a fourth groove; 24. a transparent guard board; 25. a control board; 26. a camera; 3. a connection part; 31. a first connection portion; 32. a second connecting portion; 321. a groove; 322. a connecting plate; 323. a mounting hole; 4. a first seal ring; 5. a second seal ring; 6. a third seal ring; 7. a waterproof plug; 8. and (5) an end plug.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application.
It should be understood that in the description of the present application, the terms "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, i.e., features defining "first," "second," may explicitly or implicitly include one or more such features. Furthermore, unless otherwise indicated, the meaning of "a plurality" is two or more.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.
As shown in fig. 1 to 9, an embodiment of the present invention provides a vision apparatus including a mounting part 1, a vision body 2, and a connection part 3. The upper part of the mounting part 1 is provided with a mounting opening 11, and the mounting part 1 is connected with a rotating arm of the robot arm through the mounting opening 11; the visual body 2 comprises a shell 21, an upper cover 22, a lower cover 23, a transparent guard plate 24, a control board 25 and a camera 26, wherein the two ends of the shell 21 are arranged in an opening manner, the control board 25 is electrically connected with the camera 26 and is arranged in the shell 21, the upper cover 22 and the lower cover 23 are correspondingly and hermetically connected to the openings at the two ends of the shell 21, a through hole 231 is formed in the middle of the lower cover 23, the transparent guard plate 24 is covered on the through hole 231, and the transparent guard plate 24 is positioned below a lens of the camera 26; the mounting part 1 is detachably connected with the vision body 2 through the connecting part 3.
In use, the mounting portion 1 of the vision device is connected with the rotating arm of the robot via the mounting opening 11. The upper cover 22 and the lower cover 23 are correspondingly and hermetically connected to the openings at the two ends of the shell 21, so that the vision body has protection capability on external dust, splash and other scenes, and can prevent external dust, splash, greasy dirt and other impurities from entering the inside of the shell 21. The installation department 1 can dismantle with vision body 2 through connecting portion 3 and be connected, in addition, can dismantle the installation to other positions according to demand vision body 2 and use, do not influence protective capacities.
Based on the above arrangement, the vision device of this embodiment has a good protection effect and a wide application range.
As shown in fig. 1 and 2, in one embodiment, the housing 21 includes an upper housing part 211 and a housing seat 212 sealingly connected to a bottom end of the upper housing part 211, the control board 25 is provided in the upper housing part 211, the camera 26 is provided in the housing seat 212, the upper cover 22 is provided at a top end of the upper housing part 211, and the lower cover 23 is provided at a bottom end of the housing seat 212. In order to further enhance the protection effect, the internal cavity of the upper shell 211 and the internal cavity of the housing seat 212 are isolated from each other, and when the housing 21 is damaged due to an unexpected situation, the probability of damage to the control board 25 and the camera 26 at the same time can be reduced due to the closed state between the upper shell 211 and the housing seat 212.
As shown in fig. 3 and 4, in one embodiment, the top end of the upper shell portion 211 protrudes upward to form a first boss 211a, the upper cover 22 is disposed on the outer periphery of the first boss 211a, specifically, the upper cover 22 is connected with the first boss 211a through threads, a first groove 22a is formed on one side, close to the first boss 211a, of the bottom end of the upper cover 22, a first sealing ring 4 is disposed in the first groove 22a, the upper cover 22 is connected with the upper shell portion 211 through the first sealing ring 4, and when the upper cover 22 is screwed on the upper shell portion 211, the first sealing ring 4 is extruded to deform, so as to realize sealing connection between the upper cover 22 and the upper shell portion 211.
As shown in fig. 3 and 5, in one embodiment, the top end of the housing seat 212 protrudes upward to form a second boss 212a, the bottom end of the upper shell 211 is disposed on the periphery of the second boss 212a, specifically, the upper shell 211 is in threaded connection with the second boss 212a, a side of the bottom end of the upper shell 211, which is close to the second boss 212a, is provided with a second groove 211b, a second sealing ring 5 is disposed in the second groove 211b, and the upper shell 211 is connected with the housing seat 212 through the second sealing ring 5. When the upper shell 211 is screwed on the shell seat 212, the second sealing ring 5 is extruded to deform, so that the upper shell 211 and the shell seat 212 are in sealing connection.
As shown in fig. 3 and 6, in one embodiment, the upper surface of the lower cover 23 protrudes upwards to form a third boss 23a, the bottom end of the housing seat 212 is disposed at the periphery of the third boss 23a, specifically, the housing seat 212 is in threaded connection with the third boss 23a, a third groove 212b is formed at one side of the bottom end of the housing seat 212 near the third boss 23a, a third sealing ring 6 is disposed in the third groove 212b, and the housing seat 212 is connected with the lower cover 23 through the third sealing ring 6. When the lower cover 23 is screwed on the bottom of the housing seat 212, the third sealing ring 6 is extruded to deform, so that the sealing connection between the lower cover 23 and the housing seat 212 is realized.
As shown in fig. 1 and 7, in one embodiment, in order not to obstruct the shooting range of the camera 26, a fourth groove 232 is formed in the third boss 23a, the fourth groove 232 is disposed on the through hole 231 in a communicating manner, the transparent guard plate 24 is embedded in the fourth groove 232, specifically, the transparent guard plate 24 is adhered in the fourth groove 232 by glue, so as to prevent the transparent guard plate 24 from loosening, and prevent external moisture and dust from entering the housing seat 212 through a gap between the transparent guard plate 24 and the lower cover 23. Further, in order to maintain the sealability of the installation of the transparent cover 24, the area of the fourth groove 232 is larger than the area of the through hole 231, and the area of the transparent cover 24 is adapted to the area of the fourth groove 232.
In one embodiment, the vision body 2 and the mounting portion 1 are provided with waterproof plugs 7, the waterproof plugs 7 are electrically connected with the control board 25, and the mounting portion 1 is further provided with terminal plugs 8 electrically connected with the control board 25. Waterproof plug 7 fixed mounting is on casing 21 and installation department 1, and waterproof plug 7 has seal structure with the fixed position of casing 21 and installation department 1, prevents outside dust or steam and gets into in casing 21 and the installation department 1 through the junction, and waterproof plug 7 external wiring harness on the vision body 2 is connected with waterproof plug 7 on the installation department 1, and waterproof plug 7 inscription pencil on the vision body 2 is connected with control panel 25, provides power and transmission signal for control panel 25. The terminal plug 8 includes a power cord and a communication cord for connection to an external device, such as a jaw, via the terminal plug, and the terminal plug 8 is also electrically connected to the control board 25.
As shown in fig. 1 and 8, in one embodiment, the connection part 3 includes a first connection part 31 having a stepped shape and a second connection part 32 having a circular shape, the first connection part 31 is connected with the housing 21 using a bolt, the upper surface of the second connection part 32 is provided with a groove 321 having a ring shape, the bottom of the mounting part 1 protrudes downward to form a protruding part 12 having a ring shape, the protruding part 12 is provided in the groove 321, and the mounting part 1 is connected with the second connection part 32 by the bolt. In order to facilitate the installation of the connecting portion 3, positioning holes are formed in the first connecting portion 31 and the second connecting portion 32, positioning pins are arranged in the positioning holes, and when the connecting portion is installed, the positioning pins are inserted into the positioning holes formed in the shell 21 and the installation portion 1 respectively to achieve positioning, and then the mounting bolts are fixed, so that the accuracy of the installation position is guaranteed.
Further, the two sides of the second connecting portion 32 respectively extend downward to form a connecting plate 322, and the connecting plate 322 is provided with a mounting hole 323. The mounting holes 323 can be used to mount end tools and jaws to perform the desired work.
Another embodiment of the present invention provides a robot, including a manipulator, an electric cabinet and the above vision device, where the electric cabinet is electrically connected with a control board 25 of the vision device. The robot has good protection effect and wide application range.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (10)
1. A vision device, comprising:
the upper part of the mounting part is provided with a mounting opening, and the mounting part is connected with a rotating arm of the robot through the mounting opening;
the visual body comprises a shell, an upper cover, a lower cover, a transparent guard board, a control board and a camera, wherein the two ends of the shell are provided with openings, the control board is electrically connected with the camera and is arranged in the shell, the upper cover and the lower cover are correspondingly and hermetically connected to the openings at the two ends of the shell, a through hole is formed in the middle of the lower cover, the transparent guard board is covered on the through hole, and the transparent guard board is positioned below a lens of the camera; and
the installation part is detachably connected with the visual body through the connection part.
2. The vision device of claim 1, wherein the housing comprises an upper housing portion and a housing seat sealingly connected to a bottom end of the upper housing portion, the control board is disposed in the upper housing portion, the camera is disposed in the housing seat, the upper cover is disposed on a top end of the upper housing portion, and the lower cover is disposed on a bottom end of the housing seat.
3. The vision device of claim 2, wherein the top end of the upper shell portion protrudes upwards to form a first boss, the upper cover is arranged on the periphery of the first boss, a first groove is formed in one side, close to the first boss, of the bottom end of the upper cover, a first sealing ring is arranged in the first groove, and the upper cover is connected with the upper shell portion through the first sealing ring.
4. The vision device according to claim 2, wherein the top end of the housing seat protrudes upwards to form a second boss, the bottom end of the upper housing part is arranged on the periphery of the second boss, a second groove is formed in one side, close to the second boss, of the bottom end of the upper housing part, a second sealing ring is arranged in the second groove, and the upper housing part is connected with the housing seat through the second sealing ring.
5. The vision device according to claim 2, wherein the upper surface of the lower cover protrudes upwards to form a third boss, the bottom end of the housing seat is arranged on the periphery of the third boss, a third groove is formed in one side, close to the third boss, of the bottom end of the housing seat, a third sealing ring is arranged in the third groove, and the housing seat is connected with the lower cover through the third sealing ring.
6. The vision device of claim 5, wherein a fourth groove is formed in the third boss, the fourth groove is communicated with the through hole, and the transparent guard plate is inlaid in the fourth groove.
7. The vision device of claim 1, wherein the vision body and the mounting portion are each provided with a waterproof plug, and the waterproof plug is electrically connected with the control board.
8. The vision device according to claim 1, wherein the connecting portion comprises a first connecting portion which is integrally formed and is in a step shape and a second connecting portion which is integrally formed and is in a round shape, the first step portion is connected with the housing, an annular groove is formed in the upper surface of the second connecting portion, the bottom of the mounting portion protrudes downwards to form an annular protruding portion, and the protruding portion is arranged in the groove.
9. The vision apparatus of claim 8, wherein two sides of the second connection portion extend downward to form connection plates, and the connection plates are provided with mounting holes.
10. A robot comprising a manipulator, an electric cabinet and a vision device as claimed in any one of claims 1-9, said electric cabinet being electrically connected to said control board of said vision device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311602891.3A CN117656089A (en) | 2023-11-28 | 2023-11-28 | Vision device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311602891.3A CN117656089A (en) | 2023-11-28 | 2023-11-28 | Vision device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117656089A true CN117656089A (en) | 2024-03-08 |
Family
ID=90070635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311602891.3A Pending CN117656089A (en) | 2023-11-28 | 2023-11-28 | Vision device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117656089A (en) |
-
2023
- 2023-11-28 CN CN202311602891.3A patent/CN117656089A/en active Pending
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