CN211890870U - End machine actuating mechanism for binocular camera positioning robot - Google Patents
End machine actuating mechanism for binocular camera positioning robot Download PDFInfo
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- CN211890870U CN211890870U CN201922280499.7U CN201922280499U CN211890870U CN 211890870 U CN211890870 U CN 211890870U CN 201922280499 U CN201922280499 U CN 201922280499U CN 211890870 U CN211890870 U CN 211890870U
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Abstract
The utility model discloses an end-of-line machine actuating mechanism that binocular camera positioning robot used, including the executor with be used for installing the shell of executor, the executor includes the frame, install electronic jar on the frame, draw pressure sensor, with draw pressure sensor to keep away from the spring buffer mechanism that electronic jar one end is connected, the terminal mechanism who is connected with spring buffer mechanism with drawing pressure sensor. The utility model carries out appearance measurement on the cementing part through a binocular measurement system, carries out intelligent analysis on the measured data, automatically calculates the pressurization center of the cementing part, and controls the robot to carry out automatic positioning; the utility model realizes two processes of pressure maintaining and pull-out force testing of the cementing part by replacing the terminal mechanism, can realize the pressure maintaining and pull-out force testing of the product cementing part by a set of equipment, simplifies the equipment and reduces the cost; the utility model can control the direction and the accurate force in the detection process; the utility model discloses simple structure, practicality are strong.
Description
Technical Field
The utility model relates to a two mesh camera positioning robot technical field, specific saying so, an end machine actuating mechanism that two mesh camera positioning robot used.
Background
For the assembly process of the cement, the typical process usually includes the steps of mixing, brushing, positioning, pressing and curing, and post-curing detection. Currently, in the field of aviation, each process engineering is mainly manual. The invention mainly solves the problems in the three processes of positioning, pressure curing and detection after curing. The positioning process comprises workpiece positioning and pressure point positioning, the workpiece positioning can be guaranteed by means of a laser tracker, laser projection and the like at present, but the pressure point positioning is mainly manual inspection positioning at present and lacks of necessary measuring means. The positioning consistency is improved, and for workpieces with high-quality cementing requirements, accurate positioning is needed to ensure the final cementing quality. For the pressurizing and curing process, the current manual pressurizing mode adopts an ejector rod mode to pressurize, force monitoring and closed-loop control of the pressurizing process are lacked, force control and precision recording in the whole process are lacked, and the final cementing quality is influenced to a certain extent. For the detection process after solidification, the current detection mode completely depends on the inspection of workers, and direction control and accurate force control of the detection process are lacked.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an end machine actuating mechanism that two mesh camera positioning robot used carries out the appearance through two mesh measurement system to glued piece and measures to carry out intelligent analysis to measured data, the pressurization center of automatic calculation glued piece, and control robot carries out automatic positioning.
The utility model discloses a following technical scheme realizes:
the utility model provides an end-of-line machine actuating mechanism that binocular camera positioning robot used, includes executor and the shell that is used for installing the executor, the executor includes the frame, install electronic jar on the frame, draw pressure sensor, with draw pressure sensor to keep away from the spring buffer mechanism that electronic jar one end is connected, the terminal mechanism who is connected with spring buffer mechanism with drawing pressure sensor.
Furthermore, in order to better realize the utility model, the spring buffer mechanism comprises a first spring, a connecting plate connected with one end of the first spring far away from the electric cylinder, a second spring connected with one side of the connecting plate far away from the first spring and coaxial with the first spring, a spring connecting rod penetrating through the connecting plate and sleeved in the first spring and the second spring, and a guide mechanism connected with one side of the connecting plate near the electric cylinder; and one end of the spring connecting rod, which is far away from the second spring, is connected with the pulling pressure sensor.
Further, for better realization the utility model discloses, guiding mechanism is including installing the guide bar that terminal mechanism is close to frame one side, installing the guide bar support that the frame is close to connecting plate one side, guide bar support suit is in the outside of guide bar, the guide bar is kept away from the one end of connecting plate and is run through the frame.
Furthermore, in order to better realize the utility model, the terminal mechanism comprises a connecting piece which is sleeved outside the second spring and is fixedly connected with one side of the connecting plate, which is far away from the first spring, and a terminal tool which is connected with one end of the connecting piece, which is far away from the second spring; the terminal tool is a pressure plate or a sucker.
Further, for better realization the utility model discloses, the structure of first spring and second spring is the same, is the rectangle mould spring.
Furthermore, in order to better realize the utility model, the actuator also comprises a binocular vision measuring system which is arranged on one side of the frame close to the second spring; the binocular vision measuring system includes cameras symmetrically disposed along an axis of the first spring.
Further, for better realization the utility model discloses, the executor is still including installing the flange in the frame side, the flange passes the shell and is connected with two mesh camera positioning robot.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
(1) the utility model carries out appearance measurement on the cementing part through a binocular measurement system, carries out intelligent analysis on the measured data, automatically calculates the pressurization center of the cementing part, and controls the robot to carry out automatic positioning;
(2) the utility model realizes two processes of pressure maintaining and pull-out force testing of the cementing part by replacing the terminal mechanism, can realize the pressure maintaining and pull-out force testing of the product cementing part by a set of equipment, simplifies the equipment and reduces the cost;
(3) the utility model can control the direction and the accurate force in the detection process;
(4) the utility model discloses simple structure, practicality are strong.
Drawings
FIG. 1 is a structural diagram of a middle actuator of the present invention;
FIG. 2 is a cross-sectional view of the structure of the actuator of the present invention;
FIG. 3 is an outline view of embodiment 5 of the present invention;
wherein 1, a flange; 2. a frame; 3. an electric cylinder; 4. a pull pressure sensor; 5. a first spring; 6. a connecting plate; 7. a spring connecting rod; 8. a connecting member; 9. a terminal tool; 10. a camera support; 11. a camera; 12. a guide bar; 13. a guide bar support; 14. a housing; 15. keep away barrier sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.
Example 1:
the utility model discloses a following technical scheme realizes, as shown in fig. 1-3, an end machine actuating mechanism that binocular camera positioning robot used, including executor and the shell 14 that is used for installing the executor, the executor includes frame 2, install electronic jar 3 on frame 2, draw pressure sensor 4, with draw pressure sensor 4 that 3 output of electronic jar is connected, with draw pressure sensor 4 to keep away from the spring buffer mechanism that 3 one end of electronic jar is connected, the terminal mechanism who is connected with spring buffer mechanism.
It should be noted that, through the above improvement, during detection, the output end of the electric cylinder 3 drives the tension and pressure sensor 4 to move towards one side of the terminal mechanism, so as to drive the terminal mechanism to move towards the side far away from the frame 2; the tension and pressure sensor 4 detects the output acting force in real time and feeds the acting force back to the control system of the binocular camera positioning robot, and the control system of the binocular camera positioning robot controls the electric cylinder 3 to move, so that the stability of the output force is ensured. The spring buffer mechanism can play a good role in buffering and guiding in the working process of the terminal mechanism.
Example 2:
the present embodiment is further optimized on the basis of the above embodiment, as shown in fig. 1, and further, in order to better implement the present invention, the spring buffering mechanism includes a first spring 5, a connecting plate 6 connected to one end of the first spring 5 away from the electric cylinder 3, a second spring connected to one side of the connecting plate 6 away from the first spring 5 and coaxial with the first spring 5, a spring connecting rod 7 penetrating through the connecting plate 6 and sleeved in the first spring 5 and the second spring, and a guiding mechanism connected to one side of the connecting plate 6 close to the electric cylinder 3; and one end of the spring connecting rod 7, which is far away from the second spring, is connected with the pulling pressure sensor 4.
As shown in fig. 2, the spring connecting rod 7 comprises a polished rod sleeved in the first spring 5 and the second spring and a rod cap arranged at one end of the polished rod far away from the first spring 5, and the diameter of the rod cap is larger than the inner diameter of the first spring 5 and/or the second spring. The first spring 5 and the second spring are identical in structure. One end of the polished rod close to the first spring 5 sequentially passes through the second spring, the connecting plate 6, the first spring 5 and one end of the tension pressure sensor 4 far away from the electric cylinder 3 to be fixedly connected.
Further, for better realization the utility model discloses, the structure of first spring 5 and second spring is the same, is the rectangle mould spring.
The rectangular die spring has the characteristics of small volume, good elasticity, high rigidity and high precision.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 3:
this embodiment is further optimized on the basis of above-mentioned embodiment, as shown in fig. 2, further, for better realization the utility model discloses, guiding mechanism is including installing guide bar 12 that terminal mechanism is close to frame 2 one side, installing at the guide bar support 13 that frame 2 is close to connecting plate 6 one side, guide bar support 13 suit is in the outside of guide bar 12, the one end that connecting plate 6 was kept away from to guide bar 12 runs through frame 2.
In addition, with the above improvement, the number of the guide mechanisms is preferably plural. The guide rod 12 is an optical axis; the guide bar support 13 and the frame 2 are respectively provided with through holes for the guide bars 12 to pass through. When the electric cylinder 3 works, the guide rod 12 connected with the connecting plate 6 is driven to do linear motion along the length direction of the electric cylinder, and the guide rod 12 is vertically arranged on one side of the terminal mechanism, which is close to the frame 2.
The guide rod 12 is finished by bearing steel and is subjected to surface hardening treatment, and the spring is stable in rigidity.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 4:
the present embodiment is further optimized on the basis of the above embodiment, as shown in fig. 2, further, in order to better implement the present invention, the terminal mechanism includes a connecting member 8 fixedly connected to the side of the connecting plate 6 away from the first spring 5 and sleeved outside the second spring, and a terminal tool 9 connected to the end of the connecting member 8 away from the second spring; the terminal tool 9 is a pressure plate or a suction cup. The end of the guide rod 12 near the end mechanism is connected to the connecting piece 8.
It should be noted that, through the above improvement, the terminal mechanism adopts two forms, so that the terminal mechanism can be used after being simply replaced when different detections are performed;
when the pressure maintaining test is carried out, the terminal mechanism is a pressurizing plate; when the pull-off force test is carried out, the terminal mechanism is a sucker.
One side of the connecting piece 8 close to the connecting plate 6 is provided with a groove, the second spring is arranged in the groove, the length of the groove along the long direction of the guide rod 12 is larger than the distance between one side of the connecting plate 6 close to the terminal mechanism and one side of the rod cap close to the terminal mechanism, and therefore a buffer space is formed.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 5:
the present embodiment is further optimized on the basis of the above embodiment, as shown in fig. 3, further, in order to better implement the present invention, the actuator further includes a binocular vision measuring system installed on one side of the frame 2 close to the second spring; the binocular vision measuring system includes cameras 11 symmetrically disposed along the axis of the first spring 5.
The camera 11 is connected to the frame 2 via a camera support 10 and is arranged on both sides of the end tool 9, the main function of the camera 11 being to identify the loaded workpiece features. The frame 2 is made of high-strength aluminum alloy as a main material, and the flatness of the mounting surface of the flange 1, the mounting surface of the electric cylinder 3 and the mounting base surface of the camera 11 on the bottom surface is ensured to be lower than 0.05mm by adopting an integral machining mode.
Further, for better realization the utility model discloses, the executor is still including installing flange 1 in frame 2 side, flange 1 passes shell 14 and is connected with two mesh camera positioning robot.
It should be noted that, with the above improvement, the housing 14 is mainly used to protect the components from damage during the testing process.
In order to enable a device which can effectively avoid the workpiece in the working process, six groups of obstacle avoidance sensors 15 are also arranged; six groups of obstacle avoidance sensors 15 are distributed in six directions of the front, the upper, the left side, the right side, the left lower and the right lower of the tail end executing mechanism, and the obstacle avoidance sensors 15 send out alarm emergency stop signals under emergency conditions, so that the robot arm is prevented from impacting workpieces and workers.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
The above is only the preferred embodiment of the present invention, not to the limitation of the present invention in any form, all the technical matters of the present invention all fall into the protection scope of the present invention to any simple modification and equivalent change of the above embodiments.
Claims (7)
1. An end machine actuating mechanism that binocular camera positioning robot used, includes executor and shell (14) that are used for installing the executor characterized in that: the actuator comprises a frame (2), an electric cylinder (3) arranged on the frame (2), a tension pressure sensor (4) connected with the output end of the electric cylinder (3), a spring buffer mechanism connected with one end, far away from the electric cylinder (3), of the tension pressure sensor (4), and a terminal mechanism connected with the spring buffer mechanism.
2. The end machine actuator for the binocular camera positioning robot of claim 1, wherein: the spring buffer mechanism comprises a first spring (5), a connecting plate (6) connected with one end, far away from the electric cylinder (3), of the first spring (5), a second spring connected with one side, far away from the first spring (5), of the connecting plate (6) and coaxial with the first spring (5), a spring connecting rod (7) penetrating through the connecting plate (6) and sleeved in the first spring (5) and the second spring, and a guide mechanism connected with one side, close to the electric cylinder (3), of the connecting plate (6); and one end of the spring connecting rod (7) far away from the second spring is connected with the pulling pressure sensor (4).
3. The end machine actuator for the binocular camera positioning robot of claim 2, wherein: the guide mechanism comprises a guide rod (12) installed on one side, close to the frame (2), of the terminal mechanism and a guide rod support (13) installed on one side, close to the connecting plate (6), of the frame (2), the guide rod support (13) is sleeved on the outer side of the guide rod (12), and one end, far away from the connecting plate (6), of the guide rod (12) penetrates through the frame (2).
4. The end effector actuator for a binocular camera positioning robot according to claim 2 or 3, wherein: the terminal mechanism comprises a connecting piece (8) which is sleeved on the outer side of the second spring and is fixedly connected with one side of the connecting plate (6) far away from the first spring (5), and a terminal tool (9) which is connected with one end of the connecting piece (8) far away from the second spring; the terminal tool (9) is a pressure plate or a sucker.
5. The end machine actuator for the binocular camera positioning robot of claim 4, wherein: the first spring (5) and the second spring are identical in structure and are rectangular die springs.
6. The end machine actuator for the binocular camera positioning robot of claim 5, wherein: the actuator also comprises a binocular vision measuring system which is arranged on one side of the frame (2) close to the second spring; the binocular vision measuring system comprises cameras (11) symmetrically arranged along the axis of the first spring (5).
7. The end machine actuator for the binocular camera positioning robot of claim 1, wherein: the executor still includes flange (1) of installing in frame (2) side, flange (1) pass shell (14) and are connected with binocular camera positioning robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922280499.7U CN211890870U (en) | 2019-12-18 | 2019-12-18 | End machine actuating mechanism for binocular camera positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922280499.7U CN211890870U (en) | 2019-12-18 | 2019-12-18 | End machine actuating mechanism for binocular camera positioning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211890870U true CN211890870U (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922280499.7U Active CN211890870U (en) | 2019-12-18 | 2019-12-18 | End machine actuating mechanism for binocular camera positioning robot |
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| Country | Link |
|---|---|
| CN (1) | CN211890870U (en) |
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2019
- 2019-12-18 CN CN201922280499.7U patent/CN211890870U/en active Active
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