CN211867068U - Three-dimensional visual positioning device for wheel rim of mine car - Google Patents

Abstract

The utility model relates to a three-dimensional visual positioning device of mine car rim, include: regarding as the rim of calibration board, be equipped with rim bolt reference circle on this calibration board, the robot, laser rangefinder sensor, industry camera, controlling means: the device is used for calculating and sequentially determining the accurate positions of the centers of the three marking bolts and calculating the accurate positions of the reference circles of the marking bolts through the geometric relationship; the control device is respectively and electrically connected with the robot, the industrial camera and the laser ranging sensor, the industrial camera is fixed on one side of the tail end of the robot mechanical arm, and the laser ranging sensor is fixed on the other side of the tail end of the robot mechanical arm. The utility model sets the basic standard of reference circle positioning composed of bolts, and the dislocation of the bolts can not occur; the deviation of a reference circle formed by a plurality of bolts can not occur; and the accurate positioning of the reference circle, the relative position of the bolt and the mechanical arm base can be realized, so that the bolt can be screwed in place, and the rim is prevented from being damaged.

Description

Three-dimensional visual positioning device for wheel rim of mine car

Technical Field

The utility model relates to a three-dimensional visual positioning mechanism of mine car rim, concretely relates to three-dimensional visual positioning device of mine car rim.

Background

The existing nut tightening devices are manually tightened by using a spanner, and are tightened by using a robot. But the positioning device is used for tightening bolts on a rim of a mine car, positioning by naked eyes and distance measurement and positioning by instruments, and because the positioning is the basic standard of reference circle positioning without bolts, the dislocation of the bolts is easy to occur; deviations of the reference circle composed of a plurality of bolts also occur; there may also be reference circle, relative positional deviation of the bolts to the robot chassis, and therefore, the bolts are not tightened in place, and even the rim is damaged.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a three-dimensional visual positioning device for a mine car rim, which is provided with the basic standard of reference circle positioning formed by bolts, and the dislocation of the bolts can not occur; the deviation of a reference circle formed by a plurality of bolts can not occur; and the accurate positioning of the reference circle, the relative position of the bolt and the mechanical arm base can be realized, so that the bolt can be screwed in place, and the rim is prevented from being damaged.

In order to achieve the above purpose, the utility model discloses there is following technical scheme:

the utility model discloses a three-dimensional visual positioning device of mine car rim, include:

the wheel rim is taken as a calibration plate, and the calibration plate is provided with a wheel rim mark bolt position reference circle;

a robot for tightening the rim bolts;

the laser ranging sensor is used for measuring the position of the center position of each marking bolt on the rim relative to the base of the robot mechanical arm; measuring the distance L from the center position of the marking bolt to the tail end of the robot mechanical arm;

an industrial camera for finding bolts on a rim mark bolt position pitch circle;

the control device is used for calculating and sequentially determining the accurate positions of the centers of the three marking bolts, and the accurate positions are determined through a geometric relationship: the distance L from the center position of the marking bolt to the tail end of the robot mechanical arm, the distance X from the intersection point of the center perpendicular line of the marking bolt and the ground line to the mechanical arm base, the distance Y from the marking bolt to the ground plane, the distance W from the tail end of the mechanical arm to the mechanical arm base and the radius R of a reference circle are calculated, and the accurate position of the reference circle of the position of the marking bolt is calculated; thereby controlling the mechanical arm of the robot to screw the bolt;

the control device is respectively and electrically connected with the robot, the industrial camera and the laser ranging sensor, the industrial camera is fixed on one side of the tail end of the robot mechanical arm, and the laser ranging sensor is fixed on the other side of the tail end of the robot mechanical arm.

The reference circle is divided into trisectional reference circles according to the positions of the marking bolts.

The utility model discloses a three-dimensional visual positioning method of mine car rim, there are following steps:

1) regarding the rim as a calibration plate, drawing a circle on the calibration plate, mounting a marking bolt on the circle, and dividing the circle into three equal parts to form a rim bolt reference circle;

2) determining the reference circle preliminary position:

mounting three marking bolts on a rim; manually moving to enable the laser red points of the laser ranging sensor to be respectively aligned with the central positions of the marking bolts, and recording the distance of laser ranging and the position and the posture of the tail end of the robot mechanical arm; calculating the position of a laser red point on the marking bolt relative to the mechanical arm base through a control device by utilizing the geometric relation between the central position of the marking bolt and the position and the posture of the tail end of the mechanical arm of the robot;

sequentially determining the positions of the laser red points of the three marking bolts, and then calculating the central positions and the postures of the circles where the three laser red points are located;

3) determining the specific position of the reference circle:

after the initial position of the reference circle is determined, the camera is moved to shoot patterns on the marking bolts perpendicular to the reference circle by utilizing the initial position information of the reference circle, then the positions of the centers of the marking bolts relative to the camera are accurately calculated through the control device, the accurate positions of the centers of the three marking bolts are sequentially determined, and the accurate positions of the reference circle are calculated through the geometric relationship.

4) Finding the bolt:

knowing the precise position of the reference circle, the camera industry machine is used to find the position of the bolt on the reference circle and to guide the tightening gun at the end of the robot arm to tighten the bolt.

The utility model has the advantages that: the basic standard of reference circle positioning formed by bolts is set, and the dislocation of the bolts can not occur; the deviation of a reference circle formed by a plurality of bolts can not occur; and the accurate positioning of the reference circle, the relative position of the bolt and the mechanical arm base can be realized, so that the bolt can be screwed in place, and the rim is prevented from being damaged.

Drawings

FIG. 1 is a schematic view of the overall positioning layout structure of the present invention;

fig. 2 is a schematic view of a reference circle formed by bolts.

Fig. 3 is a block schematic diagram of the electrical connections of the control device.

In the figure, 1, a calibration plate; 2. dividing the circle; 3. marking the bolt; 4. a robotic arm end; 5. a laser ranging sensor; 6. an industrial camera; 7. a mechanical arm base; l, marking the distance from the center position of the bolt to the tail end of the robot mechanical arm; x, marking the distance from the intersection point of the center perpendicular line of the bolt and the ground line to the base of the mechanical arm; y, marking the distance from the bolt to the ground plane; w, the distance from the tail end of the mechanical arm to the base of the mechanical arm; r, reference circle radius.

Detailed Description

The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

Referring to fig. 1, 2 and 3, the utility model discloses a three-dimensional visual positioning device of mine car rim, include:

the wheel rim is taken as a calibration plate, and the calibration plate is provided with a wheel rim mark bolt position reference circle;

a robot for tightening the rim bolts;

the laser ranging sensor is used for measuring the position of the center position of each marking bolt on the rim relative to the base of the robot mechanical arm; measuring the distance L from the center position of the marking bolt to the tail end of the robot mechanical arm;

an industrial camera for finding bolts on a rim mark bolt position pitch circle;

the control device is used for calculating and sequentially determining the accurate positions of the centers of the three marking bolts, and the accurate positions are determined through a geometric relationship: the distance L from the center position of the marking bolt to the tail end of the robot mechanical arm, the distance X from the intersection point of the center perpendicular line of the marking bolt and the ground line to the mechanical arm base, the distance Y from the marking bolt to the ground plane, the distance W from the tail end of the mechanical arm to the mechanical arm base and the radius R of a reference circle are calculated, and the accurate position of the reference circle of the position of the marking bolt is calculated; thereby controlling the mechanical arm of the robot to screw the bolt;

the control device is respectively and electrically connected with the robot, the industrial camera and the laser ranging sensor, the industrial camera is fixed on one side of the tail end of the robot mechanical arm, and the laser ranging sensor is fixed on the other side of the tail end of the robot mechanical arm.

The reference circle is divided into trisectional reference circles according to the positions of the marking bolts.

The utility model discloses a three-dimensional visual positioning method of mine car rim, there are following steps:

1) regarding the rim as a calibration plate, drawing a circle on the calibration plate, mounting a marking bolt on the circle, and dividing the circle into three equal parts to form a rim bolt reference circle;

2) determining the reference circle preliminary position:

mounting three marking bolts on a rim; manually moving to enable the laser red points of the laser ranging sensor to be respectively aligned with the central positions of the marking bolts, and recording the distance of laser ranging and the position and the posture of the tail end of the robot mechanical arm; calculating the position of a laser red point on the marking bolt relative to the mechanical arm base through a control device by utilizing the geometric relation between the central position of the marking bolt and the position and the posture of the tail end of the mechanical arm of the robot;

sequentially determining the positions of the laser red points of the three marking bolts, and then calculating the central positions and the postures of the circles where the three laser red points are located;

3) determining the specific position of the reference circle:

after the initial position of the reference circle is determined, the camera is moved to shoot patterns on the marking bolts perpendicular to the reference circle by utilizing the initial position information of the reference circle, then the positions of the centers of the marking bolts relative to the camera are accurately calculated through the control device, the accurate positions of the centers of the three marking bolts are sequentially determined, and the accurate positions of the reference circle are calculated through the geometric relationship.

4) Finding the bolt:

knowing the precise position of the reference circle, the camera industry machine is used to find the position of the bolt on the reference circle and to guide the tightening gun at the end of the robot arm to tighten the bolt.

The geometrical relationship, as shown in fig. 1, can be calculated by software carried by the control device, such as the precise position of the center of the marking bolt, the precise position of the reference circle, the position of the end of the robot arm, the position of the laser red spot on the marking bolt relative to the base of the robot arm, the value L measured by the laser distance measuring sensor, and the known parameter X, Y, W, R.

Rim: the rim (wheel rim) is commonly called a rim, and is a component for installing and supporting a tire on the periphery of a wheel, and the rim and a spoke form the wheel. The rim and spokes may be integral, permanently attached, or detachable.

A control device: adopting German BECKHOFF Beifu CX5140, but not limited to the product;

the robot comprises: the KUKA KR210 is adopted, but is not limited to the product;

the laser ranging sensor is model WZ-A100 manufactured by SENKYLASER company.

Industrial camera-the germany Basler industrial camera was used, but not limited to this product.

As described above, the present invention can be realized more fully. The above is only the comparatively reasonable embodiment of the present invention, the protection scope of the present invention includes but is not limited thereto, and any person skilled in the art based on the technical solution of the present invention includes the insubstantial variability changes within the scope of the present invention.

Claims (2)

1. The utility model provides a three-dimensional vision positioner of mine car rim which characterized in that includes:

the wheel rim is taken as a calibration plate, and the calibration plate is provided with a wheel rim mark bolt position reference circle;

a robot for tightening the rim bolts;

the laser ranging sensor is used for measuring the position of the center position of each marking bolt on the rim relative to the base of the robot mechanical arm; measuring the distance L from the center position of the marking bolt to the tail end of the robot mechanical arm;

an industrial camera for finding bolts on a rim mark bolt position pitch circle;

the control device is used for calculating and sequentially determining the accurate positions of the centers of the three marking bolts, and the accurate positions are determined through a geometric relationship: the distance (L) from the center position of the marking bolt to the tail end of the robot mechanical arm, the distance (X) from the intersection point of the center perpendicular line of the marking bolt and the ground line to the mechanical arm base, the distance (Y) from the marking bolt to the ground plane, the distance (W) from the tail end of the mechanical arm to the mechanical arm base and the radius (R) of the reference circle are calculated, and the accurate position of the reference circle of the marking bolt position is calculated; thereby controlling the mechanical arm of the robot to screw the bolt;

the control device is respectively and electrically connected with the robot, the industrial camera and the laser ranging sensor, the industrial camera is fixed on one side of the tail end of the robot mechanical arm, and the laser ranging sensor is fixed on the other side of the tail end of the robot mechanical arm.

2. The three-dimensional visual positioning device for the rim of the mine car according to claim 1, wherein: the reference circle is divided into trisectional reference circles according to the positions of the marking bolts.

Images