CN212692787U

CN212692787U - Visual positioning equipment

Info

Publication number: CN212692787U
Application number: CN202021712772.5U
Authority: CN
Inventors: 朱佳麟
Original assignee: Suzhou Yanheng Electronic Technology Co ltd
Current assignee: Suzhou Yanheng Electronic Technology Co ltd
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2021-03-12
Anticipated expiration: 2030-08-17

Abstract

The utility model discloses a visual positioning device, which belongs to the technical field of automatic processing, and comprises a product conveying table, wherein two support plates are symmetrically arranged at the two sides of the upper end of the product conveying table, an X-axis fixing plate is fixedly connected between the upper ends of the two support plates, an X-axis slide rail is fixedly connected at the upper end of the X-axis fixing plate, two X-axis slide seats are fixedly connected at the upper end of the X-axis slide rail, a first camera adapter plate and a second camera adapter plate are respectively and fixedly connected at the upper ends of the two X-axis slide seats through a YZ-axis adjusting component, the device can carry out image acquisition on a product through the cooperation of two groups of lenses so as to analyze and position the product, transmit the product to a control terminal of a material taking mechanism, thereby realizing high-efficiency and accurate positioning and grabbing of the product, assisting the product transfer, and greatly reducing the damage of, the quality of finished products is ensured, the yield is improved, and the production efficiency of mechanical equipment is greatly improved.

Description

Visual positioning equipment

Technical Field

The utility model relates to an automatic processing technology field, more specifically say, relate to a vision positioning equipment.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of the human and the manipulator machines in structure and performance, is the earliest industrial robot and the earliest modern robot, can replace heavy labor of the human to realize mechanization and automation of production, can operate in a harmful environment to protect personal safety, is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments, and has the greatest difference between the mechanical arm and the human arm in the current life and under the development of the science and technology in the new moon, namely the greatest advantage of the manipulator can repeatedly do the same action and can not feel tired under the normal condition of the machine forever, the application of mechanical arms is becoming more and more extensive, and the mechanical arm is a high-tech automatic production device developed in recent decades, the accuracy of operation and the capability of completing the operation in the environment, and an important branch of an industrial mechanical arm robot.

Industrial robot is through cooperating with conveying mechanism and tool among the prior art, uses the manipulator to go fixed place and snatchs the product, and conveying mechanism's error can lead to the manipulator to use unable pinpointing for a long time with the wearing and tearing of tool, produces a series of problems, influences the quality of product, and the product supplied materials must be fixed in the tool in addition, if the product does not put in place can lead to manipulator striking product scheduling problem, causes the product damage.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a vision positioning equipment, it carries out image acquisition product positional information to the product through the cooperation of two sets of camera lenses to carry out visual data analysis location product position, transmit for feeding agencies control terminal, thereby realize snatching the high-efficient and accurate location of product, help the product to shift, reduced the damage of product in the transfer process by a wide margin, ensure finished product quality, improve the yield, mechanical equipment's production efficiency has been increased substantially.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

A visual positioning device comprises a product conveying table, wherein two supporting plates are symmetrically arranged on two sides of the upper end of the product conveying table, an X-axis fixing plate is fixedly connected between the upper ends of the two supporting plates, an X-axis slide rail is fixedly connected to the upper end of the X-axis fixing plate, two X-axis slide seats are fixedly connected to the upper end of the X-axis slide rail, a first camera adapter plate and a second camera adapter plate are respectively and fixedly connected to the upper ends of the two X-axis slide seats through a YZ-axis adjusting assembly, a first camera is fixedly connected to the front side of the first camera adapter plate, a first camera lens is fixedly connected to the lower end of the first camera, a second camera is fixedly connected to the front side of the second camera adapter plate, a second camera lens is fixedly connected to the lower end of the second camera, and the first camera lens and the second camera lens are arranged towards the upper end of the product conveying, carry out image acquisition product positional information to the product through the cooperation of two sets of camera lenses to carry out visual data analysis location product position, transmit for feeding agencies control terminal, thereby realize snatching the high-efficient and accurate location of product, help the product to shift, reduced the damage of product in the transfer process by a wide margin, ensure finished product quality, improve the yield, increased substantially mechanical equipment's production efficiency.

Furthermore, the lower extreme fixedly connected with first light source fixed plate and second light source fixed plate of X axle fixed plate, first light source fixed plate and second light source fixed plate correspond the position of first camera lens and second camera lens fixed, and the outer end of first light source fixed plate and second light source fixed plate is fixedly connected with first light source and second light source respectively, and first light source and second light source can provide auxiliary lighting for first camera lens and second camera lens, improve the image acquisition definition of first camera lens and second camera lens when light is not enough.

Furthermore, the radius of the central through hole of the first light source and the radius of the central through hole of the second light source are respectively twice the radius of the first camera lens and the radius of the second camera lens, so that the first camera lens and the second camera lens can be conveniently adjusted, the first light source fixing plate and the second light source do not need to be moved when the first camera lens and the second camera lens are adjusted in a small range in the X direction, and the first camera lens and the second camera lens are conveniently installed and fixed.

Furthermore, the lower ends of the first light source fixing plate and the second light source fixing plate are fixedly provided with light shields, and the light shields have the effects of shielding interference halos and improving the imaging effect.

Furthermore, YZ axle adjusting part includes that the Y axle adjusts the seat, adjusts seat keysets and Z axle and adjusts the seat, Y axle is adjusted seat and Z axle and is adjusted the seat and be fixed connection respectively in the lower extreme and the front of adjusting the seat keysets, Y axle is adjusted seat and Z axle and is adjusted seat and X axle slide rail mutually perpendicular in space, adjusts the position that the seat can be more accurate in space first camera lens and second camera lens through X axle slide rail, Y axle and Z axle adjusting seat.

Further, the seat is adjusted for the screw rod to the seat is adjusted to Y axle regulation seat and Z axle, the seat is adjusted to the screw rod comprises slide and slider, slider sliding connection is on the convex rail on the slide, and fixedly connected with swivel mount on the slide, threaded connection has the screw rod on the swivel mount, and the inner end of screw rod passes through the bearing and rotates the connection on the slider, and screw rod and swivel mount's screw-thread fit can make between slider and the slide position more accurate, the regulation of the camera lens position of being convenient for.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) this scheme carries out image acquisition product positional information to the product through two sets of camera lens cooperations to carry out visual data analysis location product position, give the feeding agencies control terminal for, thereby realize snatching the high-efficient and accurate location of product, help the product to shift, reduced the damage of product in the transfer process by a wide margin, ensure finished product quality, improve the yield, increased substantially mechanical equipment's production efficiency.

(2) The lower extreme fixedly connected with first light source fixed plate and the second light source fixed plate of X axle fixed plate, the position that first light source fixed plate and second light source fixed plate correspond first camera lens and second camera lens is fixed, and the outer end of first light source fixed plate and second light source fixed plate is fixedly connected with first light source and second light source respectively, first light source and second light source can provide auxiliary lighting for first camera lens and second camera lens, improve the image acquisition definition of first camera lens and second camera lens when light is not enough.

(3) The radius of the central through hole of the first light source and the radius of the central through hole of the second light source are respectively two times of the radius of the first camera lens and the radius of the second camera lens, so that the first camera lens and the second camera lens can be conveniently adjusted, the first light source fixing plate and the second light source do not need to be moved when the first camera lens and the second camera lens are adjusted in a small range in the X direction, and the first camera lens and the second camera lens are conveniently installed and fixed.

(4) The lower ends of the first light source fixing plate and the second light source fixing plate are fixedly provided with light shields, and the light shields have the effects of shielding interference halation and improving imaging effect.

(5) YZ axle adjusting part includes that the Y axle adjusts the seat, adjusts seat keysets and Z axle and adjusts the seat, and the seat is adjusted to the Y axle and the seat is adjusted to the Z axle is fixed connection respectively in the lower extreme and the front of adjusting the seat keysets, and Y axle adjusting seat and Z axle adjusting seat are mutually perpendicular with X axle slide rail in the space, through X axle slide rail, the position of adjusting first camera lens and second camera lens in the space that the seat can be more accurate is adjusted to Y axle adjusting seat and Z axle.

(6) The Y-axis adjusting seat and the Z-axis adjusting seat are screw adjusting seats, each screw adjusting seat is composed of a sliding seat and a sliding block, each sliding block is connected to a convex rail on the corresponding sliding seat in a sliding mode, a rotating seat is fixedly connected to the corresponding sliding seat, a screw is connected to the corresponding rotating seat in a threaded mode, the inner end of each screw is connected to the corresponding sliding block in a rotating mode through a bearing, and the positions between the corresponding sliding blocks and the corresponding sliding seats can be more accurate due to the threaded matching of the corresponding screws and the corresponding rotating seats.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic top view of the present invention;

fig. 3 is a schematic view of a three-dimensional structure of a YZ axis adjusting mechanism of the present invention.

The reference numbers in the figures illustrate:

1. a product conveying table; 2. a support plate; 3. an X-axis fixing plate; 4. an X-axis slide rail; 5. an X-axis slide carriage; 6. a YZ axis adjustment assembly; 7. a first camera adapter plate; 8. a first camera; 9. a first camera lens; 10. a first light source fixing plate; 11. a first light source; 12. a second camera adapter plate; 13. a second camera; 14. a second camera lens; 15. a second light source; 16. a second light source fixing plate; 17. a Y-axis adjusting seat; 18. an adjusting seat adapter plate; 19. z-axis adjusting seat.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", 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 simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may 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 in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, a visual positioning device comprises a product conveying table 1, two supporting plates 2 are symmetrically installed on two sides of the upper end of the product conveying table 1, an X-axis fixing plate 3 is fixedly connected between the upper ends of the two supporting plates 2, an X-axis slide rail 4 is fixedly connected to the upper end of the X-axis fixing plate 3, two X-axis slide seats 5 are fixedly connected to the upper end of the X-axis slide rail 4, a first camera adapter plate 7 and a second camera adapter plate 12 are respectively fixedly connected to the upper ends of the two X-axis slide seats 5 through a YZ-axis adjusting assembly 6, the YZ-axis adjusting assembly 6 comprises a Y-axis adjusting seat 17, an adjusting seat adapter plate 18 and a Z-axis adjusting seat 19, the Y-axis adjusting seat 17 and the Z-axis adjusting seat 19 are screw adjusting seats, each screw adjusting seat is composed of a slide seat and a slide block, the slide block is slidably connected to a convex rail on the slide, the inner end of the screw is rotatably connected to the sliding block through a bearing, the screw is in threaded fit with the rotary seat, so that the position between the sliding block and the sliding seat is more accurate, the position of a lens is convenient to adjust, the Y-axis adjusting seat 17 and the Z-axis adjusting seat 19 are respectively and fixedly connected to the lower end and the front side of the adjusting seat adapter plate 18, the Y-axis adjusting seat 17 and the Z-axis adjusting seat 19 are mutually vertical to the X-axis slide rail 4 in space, the positions of a first camera lens 9 and a second camera lens 14 can be more accurately adjusted in space through the X-axis slide rail 4, the Y-axis adjusting seat 17 and the Z-axis adjusting seat 19, the front side of the first camera adapter plate 7 is fixedly connected with a first camera 8, the first camera 8 adopts a 200-pixel CCD chip industrial camera, the lower end of the first camera lens 9 is fixedly connected with the front side of the second camera adapter plate 12 is fixedly connected with a second camera 13, the second camera 13 adopts a 30-pixel high frame rate industrial, a second camera lens 14 is fixedly connected to the lower end of the second camera 13, the first camera lens 9 and the second camera lens 14 are arranged towards the upper end of the product conveying table 1, a first light source fixing plate 10 and a second light source fixing plate 16 are fixedly connected to the lower end of the X-axis fixing plate 3, the first light source fixing plate 10 and the second light source fixing plate 16 are fixed corresponding to the positions of the first camera lens 9 and the second camera lens 14, the outer ends of the first light source fixing plate 10 and the second light source fixing plate 16 are respectively fixedly connected with a first light source 11 and a second light source 15, light shields are fixedly mounted at the lower ends of the first light source fixing plate 10 and the second light source fixing plate 16, the light shields have the functions of shielding interference halation and improving the imaging effect, the first light source 11 and the second light source 15 can provide auxiliary lighting for the first camera lens 9 and the second camera lens 14, and the image acquisition definition of the first camera lens 9 and the second camera lens 14 is improved when the light is insufficient, the radius of the central through hole of the first light source 11 and the radius of the central through hole of the second light source 15 are respectively twice the radius of the first camera lens 9 and the radius of the second camera lens 14, so that the first camera lens 9 and the second camera lens 14 can be conveniently adjusted, the first light source fixing plate 10 and the second light source 15 do not need to be moved when the first camera lens 9 and the second camera lens 14 are adjusted in a small range in the X direction, and the first camera lens 9 and the second camera lens 14 are conveniently installed and fixed.

Before the device is used, the position of an X rotating shaft sliding seat 5 on an X-axis sliding rail 4 is adjusted according to the position of a product passing above a product conveying table 1, so that the X-axis positions of a first camera lens 9 and a second camera lens 14 are adjusted, the Y-axis and Z-axis positions of the first camera lens 9 and the second camera lens 14 are adjusted through a Y-axis adjusting seat 17 and a Z-axis adjusting seat 19 on a YZ-axis adjusting assembly 6, so that the first camera lens 9 and the second camera lens 14 are fixedly positioned, the first camera 8 and the second camera 13 transmit collected CCD data to an upper computer for processing through connecting cables, when the product passes on the product conveying table 1, the product is subjected to image collection through the cooperation of the two groups of lenses, so that the product position is analyzed and positioned, and transmitted to a material taking mechanism control terminal, and efficient and accurate positioning and grabbing of the product are realized, the product transfer is assisted, the damage of the product in the transfer process is greatly reduced, the quality of the finished product is ensured, the yield is improved, and the production efficiency of mechanical equipment is greatly improved.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. A visual positioning apparatus comprising a product delivery station (1), characterized in that: the two supporting plates (2) are symmetrically arranged on two sides of the upper end of the product conveying table (1), an X-axis fixing plate (3) is fixedly connected between the upper ends of the two supporting plates (2), an X-axis sliding rail (4) is fixedly connected to the upper end of the X-axis fixing plate (3), two X-axis sliding seats (5) are fixedly connected to the upper end of the X-axis sliding rail (4), a first camera adapter plate (7) and a second camera adapter plate (12) are respectively fixedly connected to the upper ends of the two X-axis sliding seats (5) through a YZ-axis adjusting component (6), a first camera (8) is fixedly connected to the front side of the first camera adapter plate (7), a first camera lens (9) is fixedly connected to the lower end of the first camera (8), a second camera (13) is fixedly connected to the front side of the second camera adapter plate (12), and a second camera lens (14) is fixedly connected to the lower end of the second camera (13), the first camera lens (9) and the second camera lens (14) are arranged towards the upper end of the product conveying table (1).

2. A visual positioning apparatus as claimed in claim 1, wherein: the lower end of the X-axis fixing plate (3) is fixedly connected with a first light source fixing plate (10) and a second light source fixing plate (16), the first light source fixing plate (10) and the second light source fixing plate (16) are fixed in positions corresponding to a first camera lens (9) and a second camera lens (14), and the outer ends of the first light source fixing plate (10) and the second light source fixing plate (16) are fixedly connected with a first light source (11) and a second light source (15) respectively.

3. A visual positioning apparatus as claimed in claim 2, wherein: the radius of the central through hole of the first light source (11) and the radius of the central through hole of the second light source (15) are respectively twice the radius of the first camera lens (9) and the second camera lens (14).

4. A visual positioning apparatus as claimed in claim 2, wherein: the lower ends of the first light source fixing plate (10) and the second light source fixing plate (16) are fixedly provided with light shields.

5. A visual positioning apparatus as claimed in claim 1, wherein: YZ axle adjusting part (6) are including Y axle adjusting seat (17), adjust seat keysets (18) and Z axle adjusting seat (19), Y axle adjusting seat (17) and Z axle adjusting seat (19) are fixed connection respectively in the lower extreme and the front of adjusting seat keysets (18), Y axle adjusting seat (17) and Z axle adjusting seat (19) are mutually perpendicular in space with X axle slide rail (4).

6. A visual positioning apparatus as claimed in claim 5, wherein: seat (17) are adjusted to Y axle and seat (19) are adjusted to the screw rod to the seat is adjusted to the Z axle, the seat is adjusted to the screw rod comprises slide and slider, slider sliding connection is on the convex rail on the slide, and fixedly connected with swivel mount on the slide, threaded connection has the screw rod on the swivel mount, and the inner end of screw rod passes through the bearing and rotates the connection on the slider.