CN213102868U

CN213102868U - Spray gun automatic detection mechanical arm adopting visual positioning technology

Info

Publication number: CN213102868U
Application number: CN202021455298.2U
Authority: CN
Inventors: 冉振为; 洪荣丰; 郭炳汉; 曹大阳; 杨效; 汪浩
Original assignee: Shenzhen Walsheng Intelligent Control Technology Co ltd
Current assignee: Shenzhen Walsheng Intelligent Control Technology Co ltd
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-05-04
Anticipated expiration: 2030-07-21

Abstract

The utility model belongs to the technical field of arm equipment, specifically disclose a spray gun automated inspection robotic arm who adopts visual positioning technique, including the installation base, be provided with horizontal rotating electrical machines through elevating gear on the installation base, horizontal rotating electrical machines's horizontal pivot is provided with the mounting panel, the mounting panel upper end is provided with location camera device, the mounting panel front end is provided with arm mechanism, arm mechanism front end is provided with vertical rotating electrical machines, be provided with the grip block in vertical rotating electrical machines's the vertical pivot, be provided with the buffering anchor clamps on the grip block, be fixed with spray gun equipment in the buffering anchor clamps. The utility model discloses the location camera equipment that sets up carries out location analysis to the spray gun through the visual positioning technique, and cooperation robotic arm removes the spray gun assigned position and carries out work, and the anchor clamps easy to assemble that set up simultaneously change spray gun equipment, and the practicality is strong.

Description

Spray gun automatic detection mechanical arm adopting visual positioning technology

Technical Field

The utility model relates to an adopt spray gun automated inspection robotic arm of visual positioning technique belongs to arm equipment technical field.

Background

In the work of carrying out the gas leak hunting, adopt leak detector cooperation arm and spray gun to carry out leak hunting work mostly, but the arm device in the current leak hunting equipment mostly needs the manual work to operate and fixes a position the spray gun, delays work efficiency, and the spray gun anchor clamps of current arm are mostly fixed the spray gun through fixed screw and fixed plate, and the installation is dismantled and is changed inconveniently, and the spray gun automated inspection robotic arm who adopts the visual positioning technique of present design solves above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an adopt spray gun automated inspection robotic arm of visual positioning technique, solve the problem of proposing among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an adopt spray gun automated inspection robotic arm of visual positioning technique, includes the installation base, be provided with horizontal rotating electrical machines through elevating gear on the installation base, horizontal rotating electrical machines's horizontal pivot is provided with the mounting panel, the mounting panel upper end is provided with location camera device, the mounting panel front end is provided with mechanical arm mechanism, mechanical arm mechanism front end is provided with vertical rotating electrical machines, be provided with the grip block in vertical rotating electrical machines's the vertical pivot, be provided with the buffering anchor clamps on the grip block, be fixed with spray gun equipment in the buffering anchor clamps.

Preferably, the lifting device comprises a first push rod motor, the first push rod motor is fixed on the installation base, and the first push rod of the first push rod motor is provided with the transverse rotating motor.

Preferably, the mechanical arm mechanism comprises a first rotating motor, the first rotating motor is fixed on the front side of the mounting plate, a second push rod motor is arranged on a first rotating shaft of the first rotating motor, a second rotating motor is arranged on a second push rod of the second push rod motor, and the longitudinal rotating motor is arranged on a second rotating shaft of the second rotating motor.

Preferably, the buffering fixture comprises a sliding groove, the sliding groove is formed in the clamping plate, the clamping plate is symmetrically and slidably mounted in the sliding groove, third push rod motors are symmetrically arranged on two sides of the mounting plate, a third push rod of each third push rod motor is connected with a pressure sensor through a buffering device, the pressure sensors are fixed with the clamping plate, and a buffering anti-slip pad is arranged on the clamping plate.

Preferably, the buffer device comprises a damper and a spring, two ends of the damper are respectively connected with the third push rod and the pressure sensor, and the damper is sleeved with the spring.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model belongs to the technical field of arm equipment, specifically disclose a spray gun automated inspection robotic arm who adopts visual positioning technique, can adjust the position of spray gun equipment through the elevating gear and the arm mechanism that set up, the location camera device that sets up simultaneously coordinates the position that the visual positioning technique comes automatically regulated spray gun equipment, changes the position that traditional manual operation arm changed spray gun equipment, improves work efficiency, and the anchor clamps that set up can conveniently change spray gun equipment, the utility model discloses simple structure, convenient operation, the practicality is strong.

Drawings

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

FIG. 2 is a schematic view of the buffering fixture of the present invention;

in the figure: 1. installing a base; 2. a lifting device; 3. a transverse rotating electric machine; 4. a transverse rotating shaft; 5. mounting a plate; 6. positioning a camera device; 7. a mechanical arm mechanism; 8. a longitudinal rotating electrical machine; 9. a longitudinal rotating shaft; 10. a clamp plate; 11. buffering the clamp; 12. a spray gun device; 13. a first push rod motor; 14. a first push rod; 15. a first rotating electrical machine; 16. a first rotating shaft; 17. a second push rod motor; 18. a second push rod; 19. a second rotating electrical machine; 20. a second rotation shaft; 21. a spring; 22. a chute; 23. a clamping plate; 24. a third push rod motor; 25. a third push rod; 26. a buffer device; 27. a pressure sensor; 28. a buffering anti-skid pad; 29. a damper.

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.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", 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.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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.

Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides an adopt spray gun automated inspection robotic arm of visual positioning technique, includes installation base 1, be provided with horizontal rotating electrical machines 3 through elevating gear 2 on the installation base 1, horizontal pivot 4 of horizontal rotating electrical machines 3 is provided with mounting panel 5, 5 upper ends of mounting panel are provided with location camera device 6, 5 front ends of mounting panel are provided with

mechanical arm mechanism

7, 7 front ends of mechanical arm mechanism are provided with vertical rotating electrical machines 8, be provided with anchor clamps board 10 on vertical rotating electrical machines 8's the vertical pivot 9, be provided with buffering anchor clamps 11 on the anchor clamps board 10, be fixed with spray gun equipment 12 in the buffering anchor clamps 11.

Preferably, the lifting device 2 includes a first push rod motor 13, the first push rod motor 13 is fixed on the mounting base 1, and the transverse rotating motor 3 is arranged on a first push rod 14 of the first push rod motor 13.

Preferably, the mechanical arm mechanism 7 includes a first rotating motor 15, the first rotating motor 15 is fixed on the front side of the mounting plate 5, a second push rod motor 17 is arranged on a first rotating shaft 16 of the first rotating motor 15, a second rotating motor 19 is arranged on a second push rod 18 of the second push rod motor 17, and the longitudinal rotating motor 8 is arranged on a second rotating shaft 20 of the second rotating motor 19.

Preferably, the buffering clamp 11 includes a sliding groove 22, the sliding groove 22 is disposed on the clamp plate 10, a clamping plate 23 is symmetrically and slidably mounted in the sliding groove 22, third push rod motors 24 are symmetrically disposed on two sides of the mounting plate 5, a third push rod 25 of the third push rod motor 24 is connected to a pressure sensor 27 through a buffering device 26, the pressure sensor 27 is fixed to the clamping plate 23, and a buffering anti-skid pad 28 is disposed on the clamping plate 23.

Preferably, the buffering device 26 includes a damper 29 and a spring 21, two ends of the damper 29 are respectively connected to the third push rod 25 and the pressure sensor 27, and the spring 21 is sleeved on the damper 29.

The working principle is as follows: the utility model relates to a spray gun automatic detection mechanical arm adopting visual positioning technology, when in use, a first push rod 14 is driven to ascend through the work of a first push rod motor 13 in a lifting device 2, the height of a mechanical arm mechanism 7 and a spray gun device 12 is improved, a transverse rotating motor 3 is arranged to rotate to drive a transverse rotating shaft 4 to rotate, the spray gun device 12 is driven to adjust the angle in the horizontal direction, a positioning camera device 6 arranged on a mounting plate 5 positions a spray gun through the visual positioning technology, the first rotating motor 15 in the mechanical arm mechanism 7 works to drive a first rotating shaft 16 to rotate to adjust the angle of a second push rod motor 17, the second push rod motor 19 works to drive a second push rod 18 to move to adjust the position of a second rotating motor 19, the second rotating motor 19 works to drive a second rotating shaft 20 to adjust the angle of a longitudinal rotating motor 8, meanwhile, the longitudinal rotating shaft 9 is driven to rotate by matching with the longitudinal rotating motor 8 to adjust the angle of the spray gun equipment 12 in the vertical direction, so that the position and the angle of the spray gun equipment 12 are adjusted, the position of the spray gun equipment 12 is automatically adjusted by matching the positioning camera device 6, the mechanical arm mechanism 7, the lifting device 2, the transverse rotating motor 3 and the longitudinal rotating motor 8, and the working efficiency is improved; when the spray gun device 12 is installed, the spray gun device 12 is placed between the clamping plates 23 in the buffering clamp 11, the third push rod motor 24 works to push the third push rod 25, the third push rod 25 pushes the clamping plates 23 to fix the spray gun device 12 between the clamping plates 23, when the pressure sensor 27 arranged on the clamping plates 23 reaches a set pressure value, the third push rod motor 24 stops working, the arranged damper 29, the spring 21 and the buffering anti-skid pad 28 provide buffering effect for the spray gun device 12, and the clamping plates 23 are prevented from damaging the spray gun device 12.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an adopt spray gun automated inspection robotic arm of visual positioning technique which characterized in that: including installation base (1), be provided with horizontal rotating electrical machines (3) through elevating gear (2) on installation base (1), horizontal pivot (4) of horizontal rotating electrical machines (3) are provided with mounting panel (5), mounting panel (5) upper end is provided with location camera device (6), mounting panel (5) front end is provided with mechanical arm mechanism (7), mechanical arm mechanism (7) front end is provided with vertical rotating electrical machines (8), be provided with on vertical pivot (9) of vertical rotating electrical machines (8) anchor clamps board (10), be provided with on anchor clamps board (10) and cushion anchor clamps (11), be fixed with spray gun equipment (12) in cushion anchor clamps (11).

2. The automatic detection mechanical arm for the spray gun by adopting the visual positioning technology is characterized in that: the lifting device (2) comprises a first push rod motor (13), the first push rod motor (13) is fixed on the installation base (1), and the first push rod (14) of the first push rod motor (13) is provided with the transverse rotating motor (3).

3. The automatic detection mechanical arm for the spray gun by adopting the visual positioning technology is characterized in that: arm mechanism (7) include first rotating electrical machines (15), first rotating electrical machines (15) are fixed in mounting panel (5) front side, be provided with second push rod motor (17) on first rotation axis (16) of first rotating electrical machines (15), be provided with second rotating electrical machines (19) on second push rod (18) of second push rod motor (17), be provided with on second rotation axis (20) of second rotating electrical machines (19) vertical rotating electrical machines (8).

4. The automatic detection mechanical arm for the spray gun by adopting the visual positioning technology is characterized in that: buffer clamp (11) include spout (22), spout (22) set up on anchor clamps board (10), symmetry slidable mounting has grip block (23) in spout (22), mounting panel (5) bilateral symmetry is provided with third push rod motor (24), be connected with pressure sensor (27) through buffer (26) on third push rod (25) of third push rod motor (24), pressure sensor (27) are fixed with grip block (23), be provided with buffering slipmat (28) on grip block (23).

5. The automatic detection mechanical arm for the spray gun by adopting the visual positioning technology is characterized in that: the buffer device (26) comprises a damper (29) and a spring (21), two ends of the damper (29) are respectively connected with a third push rod (25) and a pressure sensor (27), and the spring (21) is sleeved on the damper (29).