CN211639918U - Binocular stereoscopic vision device for needle valve intelligent processing robot - Google Patents
Binocular stereoscopic vision device for needle valve intelligent processing robot Download PDFInfo
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- CN211639918U CN211639918U CN201922227569.2U CN201922227569U CN211639918U CN 211639918 U CN211639918 U CN 211639918U CN 201922227569 U CN201922227569 U CN 201922227569U CN 211639918 U CN211639918 U CN 211639918U
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- stereoscopic vision
- binocular stereoscopic
- needle valve
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Abstract
The utility model discloses a needle valve intelligence processing robot is with two mesh stereovision devices relates to needle valve processing technology field, including arm, two mesh stereovision mechanisms, bracing piece, first gear, sliding plate, motor, second gear, first spout, connecting plate, servo electric jar and spring, the connecting plate bottom is equipped with the accessory plate, the arm inside be equipped with accessory plate assorted second spout. The utility model discloses can realize adjusting binocular stereovision mechanism's rotation, be convenient for gather the image of equidirectional not, can realize adjusting binocular stereovision mechanism's horizontal position, be convenient for gather the image of different distances, image data gathers more comprehensively, binocular stereovision device's detection is more comprehensive, the location is more accurate, the suitability is good, can carry out elastic buffer, the life of extension fixture can strengthen the stability that the connecting plate removed the in-process, make binocular stereovision device more stable.
Description
Technical Field
The utility model relates to a needle valve processing technology field, more specifically say, the utility model relates to a needle valve intelligent processing robot is with two mesh stereovision devices.
Background
The needle valve is a valve which can be accurately adjusted, and has wide application, such as cutting distance for flame cutting, and a knob for adjusting flame temperature is the needle valve. With the increased market competition with the notable features of globalization, dynamism, and user drive, the manufacturing industry is facing opportunities brought by technological advances, and processing systems are evolving into intelligent manufacturing systems, becoming an important part of high-end manufacturing industries. The intelligent processing robot for needle valves is mainly used for intelligent processing and manufacturing of needle valves, binocular stereo vision is an important form of machine vision, and is a method for acquiring three-dimensional geometric information of an object by acquiring two images of the object to be measured from different positions by using imaging equipment based on a parallax principle and calculating position deviation between corresponding points of the images.
The binocular stereoscopic vision device of the existing intelligent processing robot is inconvenient to adjust and low in applicability.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above-mentioned defect of prior art, the embodiment of the utility model provides a needle type valve intelligence processing robot is with two mesh stereovision devices, the utility model aims to solve the problem that: how to realize the convenience that binocular stereoscopic vision device used increases the suitability.
In order to achieve the above object, the utility model provides a following technical scheme: a binocular stereoscopic vision device for a needle valve intelligent processing robot comprises a mechanical arm and a binocular stereoscopic vision mechanism, wherein the binocular stereoscopic vision mechanism is movably arranged at the top of the mechanical arm, a supporting rod is arranged at the bottom of the binocular stereoscopic vision mechanism, a first gear is arranged on the outer wall of the supporting rod and inside the mechanical arm, a movably connected sliding plate is arranged below the first gear inside the mechanical arm, the bottom of the supporting rod is rotatably connected with the sliding plate, a motor is arranged at one side of the supporting rod at the top of the sliding plate, a second gear meshed with the first gear is sleeved on an output shaft of the motor, a first sliding groove matched with the sliding plate is arranged inside the mechanical arm, a connecting plate is arranged at the bottom of the sliding plate, a servo electric cylinder is arranged below the first sliding groove inside the mechanical arm, one end of the servo electric cylinder is, the two sides of the inner wall of the first sliding groove are symmetrically provided with a plurality of springs, the bottom of the connecting plate is provided with an auxiliary plate, and a second sliding groove matched with the auxiliary plate is arranged in the mechanical arm.
The embodiment of the utility model provides a needle valve intelligent processing robot uses binocular stereovision device, the motor is started, the motor drives the second gear to rotate, the second gear drives the first gear to rotate, the support bar rotates along with the first gear, the binocular stereovision mechanism rotates along with the support bar, realize the rotation adjustment of the binocular stereovision mechanism, be convenient for gather the image of different directions, adjust the servo electric cylinder to stretch out and draw back, can drive the connecting plate to slide, the sliding plate peril and the connecting plate slide, the support bar slides along with the sliding plate, the binocular stereovision mechanism slides along with the supporting plate, realize adjusting the horizontal position of the binocular stereovision mechanism, be convenient for gather the image of different distances, the image data is gathered more comprehensively, the detection of the binocular stereovision device is more comprehensive, the location is more accurate, the suitability is good, and at the sliding plate removal in-process, the spring can carry out elastic buffer to the sliding plate, and reducible device damage can prolong the life of device, and the connecting plate slip in-process, accessory plate slide along with the connecting plate in the second spout, can strengthen the stability that the connecting plate removed the in-process for binocular stereoscopic vision device is more stable, in order to solve the problem that proposes in the above-mentioned background art.
In a preferred embodiment, two cameras are arranged on one side, away from the servo electric cylinder, of the outer wall of the binocular stereo vision mechanism, and the cameras perform visual detection on the position of a workpiece.
In a preferred embodiment, a connecting groove matched with the support rod is formed in one side of the motor, on the top of the sliding plate, a connecting ring is arranged at the bottom of the support rod, an annular groove matched with the connecting ring is formed in the outer side of the connecting groove, the support rod is rotatably supported by the connecting groove in the rotating process of the support rod, and the connecting ring rotates in the annular groove, so that the rotating stability of the support rod can be enhanced.
In a preferred embodiment, a first cavity is arranged above the first sliding groove inside the mechanical arm, the first cavity provides a moving space for the support rod, the first gear, the motor and the second gear, a through groove matched with the support rod is arranged at the top of the mechanical arm, the through groove is communicated with the first cavity, and the through groove provides a sliding space for the support rod.
In a preferred embodiment, a second cavity matched with the connecting plate is arranged between the first sliding chute and the second sliding chute inside the mechanical arm, and the second cavity provides a moving space for the connecting plate.
In a preferred embodiment, the width of the second cavity is smaller than the width of the first sliding groove, and the width of the second sliding groove is larger than the width of the connecting plate, so that the auxiliary effect of the auxiliary plate can be enhanced, and the stability of the device can be further improved.
The utility model discloses a technological effect and advantage:
1. the utility model discloses a set up bracing piece, first gear, sliding plate, motor, second gear, first spout, connecting plate and servo electric jar, can realize adjusting binocular stereovision mechanism's rotation, be convenient for gather the image of equidirectional not, can realize adjusting binocular stereovision mechanism's horizontal position, be convenient for gather the image of different distances, image data gathers more comprehensively, binocular stereovision device's detection is more comprehensive, the location is more accurate, the suitability is good.
2. The utility model discloses a set up spring, accessory plate and second spout, can carry out elastic buffer, extension fixture's life can strengthen the stability that the connecting plate removed the in-process for two mesh stereovision devices are more stable.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of another overall state of the present invention.
Fig. 3 is an overall front sectional view of the present invention.
Fig. 4 is the front view of the binocular stereoscopic vision mechanism of the present invention.
Fig. 5 is a side sectional view of the robot arm of the present invention.
The reference signs are: the device comprises a mechanical arm 1, a binocular stereoscopic vision mechanism 2, a supporting rod 3, a first gear 4, a sliding plate 5, a motor 6, a second gear 7, a first sliding groove 8, a connecting plate 9, a servo electric cylinder 10, a spring 11, an auxiliary plate 12, a second sliding groove 13, a camera 14, a connecting groove 15, a connecting ring 16, an annular groove 17, a first cavity 18, a through groove 19 and a second cavity 20.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1-5, the binocular stereoscopic vision device for the needle valve intelligent processing robot comprises a mechanical arm 1 and a binocular stereoscopic vision mechanism 2, the binocular stereoscopic vision mechanism 2 is movably arranged at the top of the mechanical arm 1, a support rod 3 is arranged at the bottom of the binocular stereoscopic vision mechanism 2, a first gear 4 is arranged on the outer wall of the support rod 3 and inside the mechanical arm 1, a movably connected sliding plate 5 is arranged inside the mechanical arm 1 and below the first gear 4, the bottom of the support rod 3 is rotatably connected with the sliding plate 5, a motor 6 is arranged at the top of the sliding plate 5 and on one side of the support rod 3, a second gear 7 meshed with the first gear 4 is sleeved on an output shaft of the motor 6, a first chute 8 matched with the sliding plate 5 is arranged inside the mechanical arm 1, and a connecting plate 9 is arranged at the bottom of the sliding, a servo electric cylinder 10 is arranged below the first sliding chute 8 in the mechanical arm 1, and one end of the servo electric cylinder 10 is connected with the outer wall of the connecting plate 9;
two cameras 14 are arranged on one side, away from the servo electric cylinder 10, of the outer wall of the binocular stereoscopic vision mechanism 2, and the cameras 14 perform visual detection on the positions of workpieces;
a connecting groove 15 matched with the support rod 3 is formed in the top of the sliding plate 5 on one side of the motor 6, a connecting ring 16 is arranged at the bottom of the support rod 3, an annular groove 17 matched with the connecting ring 16 is formed in the outer side of the connecting groove 15, the support rod 3 is rotatably supported by the connecting groove 15 in the rotating process of the support rod 3, and the connecting ring 16 rotates in the annular groove 17, so that the rotating stability of the support rod 3 can be enhanced;
the utility model discloses a mechanical arm, including arm 1, motor 6, second gear 7, first spout 8, first cavity 18 is equipped with in arm 1 inside in first spout 8 top, first cavity 18 does the bracing piece 3 first gear 4 the motor 6 with second gear 7 provides the activity space, arm 1 top be equipped with bracing piece 3 assorted logical groove 19, logical groove 19 with first cavity 18 link up, logical groove 19 supplies bracing piece 3 provides the sliding space.
The implementation mode is specifically as follows: when in use, the support rod 3, the first gear 4, the sliding plate 5, the motor 6, the second gear 7, the first chute 8, the connecting plate 9 and the servo electric cylinder 10 are arranged, the motor 6 is started, the motor 6 drives the second gear 7 to rotate, the second gear 7 drives the first gear 4 to rotate, the support rod 3 rotates along with the first gear 4, the binocular stereo vision mechanism 2 rotates along with the support rod 3, so that the rotation adjustment of the binocular stereo vision mechanism 2 is realized, the images in different directions can be conveniently collected, the servo electric cylinder 10 is adjusted to stretch and retract, the connecting plate 9 can be driven to slide, the sliding plate 5 peril and the connecting plate 9 slide, the support rod 3 slides along with the sliding plate 5, the binocular stereo vision mechanism 2 slides along with the support plate 3, the horizontal position adjustment of the binocular stereo vision mechanism 2 is realized, the images in different distances can be conveniently collected, the image data acquisition is more comprehensive, the detection of the binocular stereoscopic vision device is more comprehensive, the positioning is more accurate, and the applicability is good; the implementation mode specifically solves the problems that the existing binocular stereoscopic vision device of the intelligent processing robot in the background technology is inconvenient to adjust and low in applicability;
as shown in fig. 2-5, the binocular stereoscopic vision device for the needle valve intelligent processing robot further comprises a plurality of springs 11 symmetrically arranged on two sides of the inner wall of the first chute 8, an auxiliary plate 12 is arranged at the bottom of the connecting plate 9, and a second chute 13 matched with the auxiliary plate 12 is arranged inside the mechanical arm 1;
a second cavity 20 matched with the connecting plate 9 is arranged between the first chute 8 and the second chute 13 in the mechanical arm 1, and the second cavity 20 provides a moving space for the connecting plate 9;
the width of the second cavity 20 is smaller than that of the first sliding chute 8, and the width of the second sliding chute 13 is larger than that of the connecting plate 9, so that the auxiliary effect of the auxiliary plate 12 can be enhanced, and the stability of the device can be further improved.
The implementation mode is specifically as follows: during the use, through setting up spring 11, accessory plate 12 and second spout 13, at sliding plate 5 removal in-process, spring 11 can carry out elastic buffer to sliding plate 5, reducible device damage, but extension fixture's life, and connecting plate 9 slip in-process, accessory plate 12 slides along with connecting plate 9 in second spout 13, can strengthen the stability that connecting plate 9 removed the in-process for binocular stereo vision device is more stable.
The utility model discloses the theory of operation:
referring to the attached drawings 1-5 of the specification, by arranging the supporting rod 3, the first gear 4, the sliding plate 5, the motor 6, the second gear 7, the first sliding chute 8, the connecting plate 9 and the servo electric cylinder 10, the rotation adjustment of the binocular stereoscopic vision mechanism 2 can be realized, the acquisition of images in different directions is facilitated, the adjustment of the horizontal position of the binocular stereoscopic vision mechanism 2 can be realized, the acquisition of images at different distances is facilitated, the image data acquisition is more comprehensive, the detection of a binocular stereoscopic vision device is more comprehensive, the positioning is more accurate, and the applicability is good;
further, referring to the attached figures 3-5 of the specification, by arranging the spring 11, the auxiliary plate 12 and the second sliding groove 13, elastic buffering can be performed, the service life of the device can be prolonged, and the stability of the connecting plate 9 in the moving process can be enhanced, so that the binocular stereoscopic vision device is more stable.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;
and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a needle type valve intelligence processing robot is with binocular stereoscopic vision device, includes arm (1) and binocular stereoscopic vision mechanism (2), its characterized in that: the binocular stereoscopic vision mechanism (2) is movably arranged at the top of the mechanical arm (1), a supporting rod (3) is arranged at the bottom of the binocular stereoscopic vision mechanism (2), a first gear (4) is arranged on the outer wall of the supporting rod (3) in the mechanical arm (1), a sliding plate (5) which is movably connected is arranged below the first gear (4) in the mechanical arm (1), the bottom of the supporting rod (3) is rotatably connected with the sliding plate (5), a motor (6) is arranged at one side of the supporting rod (3) at the top of the sliding plate (5), a second gear (7) which is meshed with the first gear (4) is sleeved on an output shaft of the motor (6), a first sliding chute (8) which is matched with the sliding plate (5) is arranged in the mechanical arm (1), and a connecting plate (9) is arranged at the bottom of the sliding plate (5), a servo electric cylinder (10) is arranged below the first sliding groove (8) inside the mechanical arm (1), one end of the servo electric cylinder (10) is connected with the outer wall of the connecting plate (9), a plurality of springs (11) are symmetrically arranged on two sides of the inner wall of the first sliding groove (8), an auxiliary plate (12) is arranged at the bottom of the connecting plate (9), and a second sliding groove (13) matched with the auxiliary plate (12) is arranged inside the mechanical arm (1).
2. The binocular stereoscopic vision device for the needle valve intelligent processing robot as claimed in claim 1, wherein two cameras (14) are arranged on one side of the outer wall of the binocular stereoscopic vision mechanism (2) far away from the servo electric cylinder (10).
3. The binocular stereoscopic vision device for the needle valve intelligent processing robot as claimed in claim 1, wherein the sliding plate (5) is provided with a connecting groove (15) matching with the supporting rod (3) at the top on one side of the motor (6).
4. The binocular stereoscopic vision device for the intelligent needle valve processing robot as claimed in claim 3, wherein the bottom of the support rod (3) is provided with a connecting ring (16), and an annular groove (17) matched with the connecting ring (16) is formed outside the connecting groove (15).
5. The binocular stereoscopic vision device for the needle valve intelligent processing robot as claimed in claim 1, wherein a first cavity (18) is formed inside the mechanical arm (1) above the first chute (8).
6. The binocular stereoscopic vision device for the needle valve intelligent processing robot is characterized in that a through groove (19) matched with the supporting rod (3) is formed in the top of the mechanical arm (1), and the through groove (19) is communicated with the first cavity (18).
7. The binocular stereoscopic vision device for the needle valve intelligent processing robot as claimed in claim 1, wherein a second cavity (20) matched with the connecting plate (9) is arranged between the first chute (8) and the second chute (13) inside the mechanical arm (1).
8. The binocular stereoscopic vision device for the needle valve intelligent processing robot as claimed in claim 7, wherein the width of the second cavity (20) is smaller than that of the first chute (8), and the width of the second chute (13) is larger than that of the connecting plate (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922227569.2U CN211639918U (en) | 2019-12-12 | 2019-12-12 | Binocular stereoscopic vision device for needle valve intelligent processing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922227569.2U CN211639918U (en) | 2019-12-12 | 2019-12-12 | Binocular stereoscopic vision device for needle valve intelligent processing robot |
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| CN211639918U true CN211639918U (en) | 2020-10-09 |
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| CN201922227569.2U Active CN211639918U (en) | 2019-12-12 | 2019-12-12 | Binocular stereoscopic vision device for needle valve intelligent processing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113720274A (en) * | 2021-09-02 | 2021-11-30 | 华北理工大学 | Three-dimensional image acquisition device |
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- 2019-12-12 CN CN201922227569.2U patent/CN211639918U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113720274A (en) * | 2021-09-02 | 2021-11-30 | 华北理工大学 | Three-dimensional image acquisition device |
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