CN209665436U - A kind of measuring device based on industrial robot deep vision sensor - Google Patents
A kind of measuring device based on industrial robot deep vision sensor Download PDFInfo
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- CN209665436U CN209665436U CN201920071304.5U CN201920071304U CN209665436U CN 209665436 U CN209665436 U CN 209665436U CN 201920071304 U CN201920071304 U CN 201920071304U CN 209665436 U CN209665436 U CN 209665436U
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Abstract
The utility model discloses robot and a kind of measuring devices based on industrial robot deep vision sensor in intelligent equipment technology field, including industrial robot, the top of industrial robot has been bolted collets, the outer wall of collets is uniformly equipped with anti-collision sensor, the top of anti-collision sensor has been bolted T-type pinboard, the top of T-type pinboard has been bolted fixed connecting rod, the top of fixed connecting rod has been bolted steering engine mounting bracket A, the utility model combines steering engine, link mechanism and anti-collision sensor, devising one kind can be with the industrial robot measuring device of flexible transformation deep vision sensor attitude.It can go deep into container of the diameter greater than 60mm measuring, and in the case where industrial robot pose is constant, realize 11*12 totally 121 kinds of posture changings, sufficiently meet the needs of deep vision sensor is to measurement distance and measurement angle.
Description
Technical field
It is specially a kind of to be regarded based on industrial robot depth the utility model relates to robot and intelligent equipment technology field
Feel the measuring device of sensor.
Background technique
Currently, deep vision sensor is mounted on industrial robot and carries out measuring device, usually all in industrial circle
Only simply by a fixed mounting bracket, deep vision sensor and robot ring flange are fixed.Pass through completely
The attitudes vibration of industrial robot come realize to detection pose requirement.It is more if necessary to be measured to the space in container
Half by industrial robot using hanging upside down or being realized by selecting the industrial robot with extension arm, if the internal junction of container
Structure is more complicated, then is adapted to using the more industrial robots of the number of axle.It is all by changing industrial machine from thinking
Human body system solves the problems, such as.
Solve the problems, such as that measurement posture can bring following defect by changing industrial robot main body system:
1, robot is either hung upside down and or selects the industrial robot system with extension arm or 7 axis by higher cost
System, all price than conventional industrial robot system are 1.5~2.5 times high.
2, each axis of industrial robot is by servo-drive, and volume can not reduce, if it is smaller to encounter entrance
Container, can not just detect.
3, industrial robot is with can be so stoppage protection equipment in motor overload, but itself does not have fine anti-collision
Function is hit, and deep vision sensor belongs to precision optics and sophisticated electronics, is easy when colliding impaired.
Based on this, the utility model devises a kind of measuring device based on industrial robot deep vision sensor, with
It solves the above problems.
Utility model content
The purpose of this utility model is to provide a kind of measuring device based on industrial robot deep vision sensor, with
Solve the problems mentioned above in the background art.
To achieve the above object, the utility model provides the following technical solutions: one kind being based on industrial robot deep vision
The measuring device of sensor, including industrial robot, the top of the industrial robot has been bolted collets, described
The outer wall of collets is uniformly equipped with anti-collision sensor, and the top of the anti-collision sensor has been bolted T-type and has turned
Fishplate bar, the top of the T-type pinboard have been bolted fixed connecting rod, and the top of the fixed connecting rod is bolted
There is steering engine mounting bracket A, the inner cavity of the steering engine mounting bracket A has been bolted steering engine A, the output shaft of the steering engine A
End has been bolted movable rod, and the top of the movable rod is provided with steering engine mounting bracket B, the steering engine installation branch
The inner cavity of frame B has been bolted steering engine B, and the output shaft end of steering engine B connects by the way that the top of bolt and movable rod is fixed
It connects, the bottom of the steering engine mounting bracket B has been bolted sensor pinboard, and the bottom of the sensor pinboard is logical
It crosses bolt and is fixed with deep vision sensor.
Preferably, the right end of the collets is provided with the connecting flange A matched with industrial robot, the collets
Left end be provided with the connecting flange B matched with T-type pinboard.
Preferably, the T-type pinboard be 7075 aluminium T-shaped plates, and the bottom of T-type pinboard and side plate offer with
The fixed jack that bolt matches.
Preferably, the fixed connecting rod includes the fixation top plate with steering engine mounting bracket A to connection, the fixed top plate
Connecting rod is welded among bottom, the bottom of the fixed top plate offers fixed slot about connecting rod central symmetry, described
The side wall of connecting rod offers groove A and connection jack, and connects the top that connecting rod is arranged in jack.
Preferably, the both ends of the movable rod are provided with the connection circle that the end defeated with steering engine A and steering engine B matches
Plate, the side wall of the movable rod offer groove B.
Preferably, the steering engine A and steering engine B is the steering engine of 30 ° of indexing, and the output shaft end of steering engine A and steering engine B are equal
It is socketed with steering wheel.
Compared with prior art, the utility model has the beneficial effects that the utility model combine steering engine, link mechanism and
Anti-collision sensor, devising one kind can be with the industrial robot measuring device of flexible transformation deep vision sensor attitude.It can
To go deep into container of the diameter greater than 60mm measuring, and in the case where industrial robot pose is constant, realize 11*12
Totally 121 kinds of posture changings sufficiently meet the needs of deep vision sensor is to measurement distance and measurement angle, and the present apparatus installs additional
Anti-collision sensor adequately protects to deep vision sensor, uses loss of weight in design and designs, makes the whole of device
Body weight is less than 5kg, can match most 6 shaft industrial robots on the market.
Certainly, any product for implementing the utility model does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model collets, anti-collision sensor structural schematic diagram；
Fig. 3 is the utility model T-type adapter plate structure schematic diagram；
Fig. 4 is the fixed link mechanism schematic diagram of the utility model；
Fig. 5 is the utility model movable rod structural schematic diagram.
In attached drawing, parts list represented by the reference numerals are as follows:
1- industrial robot, 2- collets, 21- connecting flange A, 22- connecting flange B, 3- anti-collision sensor, 4-T type
Pinboard, 41- fixed jack, the fixed connecting rod of 5-, the fixed top plate of 51-, 52- connecting rod, 53- fixed slot, 54- groove A,
6- steering engine mounting bracket A, 7- steering engine A, 8- movable rod, 81- connection plectane, 82- groove B, 9- steering engine mounting bracket B,
10- steering engine B, 11- sensor pinboard, 12- deep vision sensor.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-5 is please referred to, the utility model provides a kind of technical solution: one kind is sensed based on industrial robot deep vision
The measuring device of device, including industrial robot 1, the top of industrial robot 1 have been bolted collets 2, collets 2
Outer wall is uniformly equipped with anti-collision sensor 3, and the top of anti-collision sensor 3 has been bolted T-type pinboard 4, T-type
The top of pinboard 4 has been bolted fixed connecting rod 5, and the top of fixed connecting rod 5 has been bolted steering engine installation branch
Frame A6, the inner cavity of steering engine mounting bracket A6 have been bolted steering engine A7, and the output shaft end of steering engine A7 has been bolted
Movable rod 8, the top of movable rod 8 are provided with steering engine mounting bracket B 9, and the inner cavity of steering engine mounting bracket B 9 passes through bolt
It is fixed with steering engine B10, and the output shaft end of steering engine B10 is fixedly connected by bolt with the top of movable rod 8, steering engine installation branch
The bottom of frame B 9 has been bolted sensor pinboard 11, and the bottom of sensor pinboard 11 has been bolted depth
Spend visual sensor 12.
Wherein, the right end of collets 2 is provided with the connecting flange A 21 matched with industrial robot 1, a left side for collets 2
End is provided with the connecting flange B 22 matched with T-type pinboard 4, facilitates collets 2 and industrial robot 1 and T-type pinboard
Being fixedly connected between 4, while playing the role of insulation, T type pinboard 4 are 7075 aluminium T-shaped plates, and T-type pinboard 4
Bottom and side plate offer the fixed jack 41 matched with bolt, facilitate the connection between collets 2 and fixed connecting rod 5,
Fixed connecting rod 5 includes the fixation top plate 51 with steering engine mounting bracket A 6 to connection, is welded among the bottom of fixed top plate 51
The bottom of connecting rod 52, fixed top plate 51 offers fixed slot 53, the side wall of connecting rod 52 about 52 central symmetry of connecting rod
Groove A 54 and connection jack are offered, and connects the top that connecting rod 52 is arranged in jack, facilitates fixed connecting rod 5 and T-type
Pinboard 4 is fixedly connected with steering engine mounting bracket A's 6, and is used hollow out loss of weight and designed, and the both ends of movable rod 8 are respectively provided with
The connection plectane 81 for having the end defeated with steering engine A 7 and steering engine B10 to match, the side wall of movable rod 8 offer groove B 82,
Portable propelling connecting rod 8 is fixedly connected with steering wheel on steering engine A 7 and steering engine B10, and is used hollow out loss of weight and designed, steering engine A7 and
Steering engine B10 is the steering engine of 30 ° of indexing, and the output shaft end of steering engine A7 and steering engine B10 are socketed with steering wheel, facilitate steering engine A 7
Being fixedly connected between steering engine B10 and movable rod 8 reduces the damage of steering engine A7 and steering engine B10 output shaft, reduces steering engine A7
With the maintenance cost in steering engine B10 later period.
One concrete application of the present embodiment are as follows: when the utility model is used, collets 2 are mounted on industrial robot
On 1 flange, anti-collision sensor 3 is mounted on collets 2, T-type pinboard 4 is mounted on collets 2, steering engine is pacified
It fills bracket A6 and fixed connecting rod 5 connects, steering engine A7 is mounted on steering engine mounting bracket A6, movable rod 8 is mounted on steering engine
On A7, steering engine B10 is mounted on movable rod 8, steering engine mounting bracket B 9 is mounted on steering engine B10, sensor is transferred
Plate 11 is mounted on steering engine mounting bracket B 9, by fixed connecting rod 5, steering engine mounting bracket A6, steering engine A7, steering engine mounting bracket B
9, the integral installation that steering engine B10, sensor pinboard 11 form is on T-type pinboard 4, finally, by deep vision sensor 12
It is installed on sensor pinboard 11, so that industrial robot 1 is increased two additional freedom by steering engine A 7 and steering engine B10
Degree, two steering engines are all made of the steering engines of 30 ° of indexing, for steering engine A7 at 0 °, deep vision sensor 12 and anticollision sensing
Device 3 can interfere, in addition to this, 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °
This 11 angles can use, and for steering engine B10, can be used comprising 12 angles all including 0 °, cooperate six axis
Industrial robot 1 is particularly suitable for measuring large piece and small-caliber vessel, in the present solution, all metalworks are all adopted
With 7075 aluminiums, to guarantee the rigidity of components, and weight is reduced by hollow design；The steering engine indexed using 30 °, structure are small
Ingeniously, it is not easy to and measurement object interferes, and more simpler than the control of stepper motor and servo motor；Anti-collision is installed additional
Hit sensor 3, can effective protection deep vision sensor 12 be unlikely to damage when colliding.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the utility model
In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or
Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory
The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably
The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this
Utility model.The utility model is limited only by the claims and their full scope and equivalents.
Claims (6)
1. a kind of measuring device based on industrial robot deep vision sensor, including industrial robot (1), feature exists
In: the top of the industrial robot (1) has been bolted collets (2), and the outer wall of the collets (2) is uniformly installed
Have anti-collision sensor (3), the top of the anti-collision sensor (3) has been bolted T-type pinboard (4), the T-type
The top of pinboard (4) has been bolted fixed connecting rod (5), and the top of the fixed connecting rod (5) has been bolted
The inner cavity of steering engine mounting bracket A (6), the steering engine mounting bracket A (6) have been bolted steering engine A (7), the steering engine A
(7) output shaft end has been bolted movable rod (8), and the top of the movable rod (8) is provided with steering engine installation branch
The inner cavity of frame B (9), the steering engine mounting bracket B (9) have been bolted steering engine B (10), and the output shaft of steering engine B (10)
End is fixedly connected by bolt with the top of movable rod (8), and the bottom of the steering engine mounting bracket B (9) is bolted
Have sensor pinboard (11), the bottom of the sensor pinboard (11) has been bolted deep vision sensor
(12)。
2. a kind of measuring device based on industrial robot deep vision sensor according to claim 1, feature exist
In: the right end of the collets (2) is provided with the connecting flange A (21) matched with industrial robot (1), the collets
(2) left end is provided with the connecting flange B (22) matched with T-type pinboard (4).
3. a kind of measuring device based on industrial robot deep vision sensor according to claim 1, feature exist
In: the T-type pinboard (4) is 7075 aluminium T-shaped plates, and the bottom of T-type pinboard (4) and side plate offer and bolt phase
The fixed jack (41) of cooperation.
4. a kind of measuring device based on industrial robot deep vision sensor according to claim 1, feature exist
In: the fixed connecting rod (5) includes the fixation top plate (51) with steering engine mounting bracket A (6) to connection, the fixed top plate (51)
Bottom among be welded with connecting rod (52), the bottom of the fixed top plate (51) is offered about connecting rod (52) central symmetry
Fixed slot (53), the side wall of the connecting rod (52) offer groove A (54) and connection jack, and connect jack setting and exist
The top of connecting rod (52).
5. a kind of measuring device based on industrial robot deep vision sensor according to claim 1, feature exist
In: the both ends of the movable rod (8) are provided with the connection plectane that the end defeated with steering engine A (7) and steering engine B (10) matches
(81), the side wall of the movable rod (8) offers groove B (82).
6. a kind of measuring device based on industrial robot deep vision sensor according to claim 1, feature exist
In the steering engines that: the steering engine A (7) and steering engine B (10) are 30 ° of indexing, and the output shaft end of steering engine A (7) and steering engine B (10) are equal
It is socketed with steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920071304.5U CN209665436U (en) | 2019-01-16 | 2019-01-16 | A kind of measuring device based on industrial robot deep vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920071304.5U CN209665436U (en) | 2019-01-16 | 2019-01-16 | A kind of measuring device based on industrial robot deep vision sensor |
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| Publication Number | Publication Date |
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| CN209665436U true CN209665436U (en) | 2019-11-22 |
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| CN201920071304.5U Active CN209665436U (en) | 2019-01-16 | 2019-01-16 | A kind of measuring device based on industrial robot deep vision sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753563A (en) * | 2021-09-02 | 2021-12-07 | 张莉 | Commodity circulation transportation process prevents goods collision system |
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2019
- 2019-01-16 CN CN201920071304.5U patent/CN209665436U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753563A (en) * | 2021-09-02 | 2021-12-07 | 张莉 | Commodity circulation transportation process prevents goods collision system |
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