CN215881615U

CN215881615U - Industrial robot visual detection and obstacle avoidance system

Info

Publication number: CN215881615U
Application number: CN202122316977.2U
Authority: CN
Inventors: 徐涛
Original assignee: Shanghai Songxin Intelligent Technology Co ltd
Current assignee: Shanghai Songxin Intelligent Technology Co ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2022-02-22
Anticipated expiration: 2031-09-24

Abstract

The utility model belongs to the technical field of industrial robots, and particularly relates to an industrial robot visual detection and obstacle avoidance system which comprises a visual detection module, a control module and a walking module, wherein the walking module comprises a walking mechanism, the visual detection module comprises a visual detection mechanism, the walking mechanism and the visual detection mechanism are fixedly connected together, the walking mechanism comprises a base, two rotating columns are rotatably mounted at the top of the base, rollers are respectively and fixedly mounted at the ends, far away from each other, of the two rotating columns, two first motors are fixedly mounted at the top of the base, output shafts of the two first motors are respectively and fixedly connected with the corresponding rotating columns, and the visual detection mechanism is positioned above the base. The robot can protect the camera, can prevent dust from influencing the detection effect of the camera, and can return to the original path after the robot encounters an obstacle in a narrow passageway and cannot move.

Description

Industrial robot visual detection and obstacle avoidance system

Technical Field

The utility model relates to the technical field of industrial robots, in particular to an industrial robot visual detection and obstacle avoidance system.

Background

With the rapid development of electronic information products, industrial robots are not only the post industry of a country but also represent the innovation capability and modernization level of a country as a product of the era. As a high-end automatic product, the automatic production line integrates a plurality of disciplines such as mechanics, electronic informatics, automation, computer discipline, bionics and the like, and has the advantages of high production efficiency, good product quality, capability of continuously working in a severe environment and the like. The characteristics lead the industrial robot to not only free human from heavy physical labor, but also greatly improve the living conditions of people in various aspects of production and life, and the industrial robot is inevitably developed in the direction of intellectualization and densification in order to better serve the human. So far, the number of robots in China is 40 thousands, except for some occasions where the robots cannot replace human beings, the multi-robot and man-machine cooperation will be the mainstream trend of industrial robot development and application. However, whether multi-robot cooperation or man-machine cooperation, obstacle avoidance of robots presents a great challenge in the field of robots.

The camera is installed on the existing part of industrial robots, whether barriers exist on the robot running path is judged through visual detection, but in some narrow passageways, the robot is difficult to return on the way after entering, dust generated by robot walking is easy to attach to the camera, the detection quality of the camera is affected, and therefore the industrial robot visual detection and obstacle avoidance system is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a visual detection and obstacle avoidance system for an industrial robot, which can protect a camera and prevent dust from influencing the detection effect of the camera, and the robot can return to the original path after encountering an obstacle and being incapable of moving in a narrow passageway.

The embodiment of the utility model is realized by the following steps:

the embodiment of the utility model provides an industrial robot visual detection and obstacle avoidance system, which comprises a visual detection module, a control module and a walking module, wherein the walking module comprises a walking mechanism, the visual detection module comprises a visual detection mechanism, the walking mechanism is fixedly connected with the visual detection mechanism, the walking mechanism comprises a base, two rotating columns are rotatably arranged at the top of the base, rollers are respectively and fixedly arranged at the ends, away from each other, of the two rotating columns, the top of the base is fixedly provided with two first motors, the output shafts of the two first motors are respectively and fixedly connected with the corresponding rotating columns, the visual detection mechanism is positioned above the base, the visual detection mechanism comprises a disc rotatably connected with the walking mechanism, a camera is rotatably arranged above the disc, and a transparent protective cover is fixedly arranged at the top of the disc, the top of the transparent protective cover is rotatably provided with an arc-shaped scraping strip.

Preferably, running gear's top fixed mounting has two mounting brackets and control box, and two rotation posts run through respectively and correspond the mounting bracket and rotate with the mounting bracket that corresponds and link together, and two first motors all link together with the bottom inner wall fixed connection of control box, and the output shaft of two first motors all runs through the control box and rotates with the control box and link together.

Preferably, running gear's top fixed mounting has four supports that are the rectangle and distribute, visual detection mechanism still includes the round seat that bottom and four mounting bracket fixed connection are in the same place, the disc is installed to the round seat internal rotation, the top fixed mounting of disc has two mounts, the camera is located between two mounts, is equipped with same first pivot on two mounts, first pivot runs through two mounts and rotates with two mounts and link together, first pivot and camera fixed connection are in the same place, the bottom fixed mounting of disc has the second pivot.

Preferably, the top of the round seat is fixedly provided with a limiting ring, the limiting ring is positioned above the disc, and the inner diameter of the limiting ring is larger than the diameter of the disc.

Preferably, one side fixed mounting of one of them mount has the aircraft bonnet, equal fixed mounting has actuating mechanism in aircraft bonnet and the round seat, actuating mechanism includes second motor and the pinion that the meshing is in the same place, fixed mounting has the gear wheel on the pinion, and two second motors are in the same place with corresponding second pivot and first pivot fixed connection respectively, and two gear wheels are in the same place with round seat and aircraft bonnet fixed connection respectively.

Preferably, be equipped with the round bar on the transparent protection casing, the round bar runs through transparent protection casing and scrapes the strip with the arc and rotate to link together, the bottom fixed mounting of round bar has the diaphragm, the bottom and two mount fixed connection of diaphragm are in the same place.

Preferably, the bottom of the base is fixedly provided with two guide wheels which are symmetrically distributed, and the two guide wheels and the two idler wheels are distributed in a rectangular shape.

Compared with the prior art, the utility model has the beneficial effects that: the robot can detect the environment of the robot through the cameras rotating in multiple directions in the process of walking through the walking mechanism, when the cameras detect obstacles, the cameras transmit signals to the control module, the control module controls the walking mechanism to control the robot to avoid the obstacles or return to the original path, in the process, the two first motors drive the corresponding rollers to rotate through the two rotating columns, the walking mechanism can control the robot to walk, when the two first motors synchronously rotate in the same direction, the walking mechanism can control the robot to linearly advance or retreat, when the two first motors rotate at the same speed and rotate in opposite directions, the walking mechanism can control the robot to turn around or turn in situ, when the two first motors rotate at different speeds and rotate in the same direction, the walking mechanism can control the robot to turn in the walking process, therefore, the robot can freely walk even in a narrow space.

The robot can protect the camera, can prevent dust from influencing the detection effect of the camera, and can return to the original path after the robot encounters an obstacle in a narrow passageway and cannot move.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

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

FIG. 2 is an exploded view of the visual inspection mechanism of the present invention;

FIG. 3 is a schematic top view of the traveling mechanism of the present invention;

FIG. 4 is a schematic view of the overall structure of the transparent shield of the present invention;

FIG. 5 is a schematic diagram of the system of the present invention.

In the figure: 1. a traveling mechanism; 11. a base; 12. a support; 13. a mounting frame; 14. rotating the column; 15. a roller; 16. a control box; 17. a first motor; 2. a visual detection mechanism; 21. a round base; 22. a limiting ring; 23. a disc; 24. a fixed mount; 25. a camera; 26. a first rotating shaft; 27. a drive mechanism; 271. a second motor; 272. a pinion gear; 273. a bull gear; 28. a second rotating shaft; 29. a hood; 3. a transparent protective cover; 31. arc scraping strips; 32. a transverse plate; 33. a round bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the description refers 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," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

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 and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-5, an embodiment of the present invention provides a visual inspection and obstacle avoidance system for an industrial robot, including a visual inspection module, a control module, and a walking module, where the walking module includes a walking mechanism 1, the visual inspection module includes a visual inspection mechanism 2, the walking mechanism 1 and the visual inspection mechanism 2 are fixedly connected together, the walking mechanism 1 includes a base 11, two rotating columns 14 are rotatably installed on the top of the base 11, rollers 15 are respectively fixedly installed on ends of the two rotating columns 14, which are far away from each other, two first motors 17 are fixedly installed on the top of the base 11, output shafts of the two first motors 17 are respectively fixedly connected with corresponding rotating columns 14, the visual inspection mechanism 2 is located above the base 11, the visual inspection mechanism 2 includes a disc 23 rotatably connected with the walking mechanism 1, a camera 25 is rotatably installed above the disc 23, the top of the disc 23 is fixedly provided with a transparent protective cover 3, and the top of the transparent protective cover 3 is rotatably provided with an arc-shaped scraping strip 31.

Two mounting brackets 13 and control box 16 are fixedly mounted at the top of the travelling mechanism 1, two rotating columns 14 respectively penetrate through the corresponding mounting brackets 13 and are rotatably connected with the corresponding mounting brackets 13, two first motors 17 are fixedly connected with the inner wall of the bottom of the control box 16, and output shafts of the two first motors 17 penetrate through the control box 16 and are rotatably connected with the control box 16.

Running gear 1's top fixed mounting has four supports 12 that are the rectangular distribution, visual detection mechanism 2 still includes bottom and four mounting bracket 13 fixed connection's round seat 21 together, disc 23 is installed to the rotation of round seat 21, the top fixed mounting of disc 23 has two mounts 24, camera 25 is located between two mounts 24, be equipped with same first pivot 26 on two mounts 24, first pivot 26 runs through two mounts 24 and rotates with two mounts 24 and link together, first pivot 26 and camera 25 fixed connection are in the same place, the bottom fixed mounting of disc 23 has second pivot 28.

The top fixed mounting of circle seat 21 has spacing ring 22, and spacing ring 22 is located the top of disc 23, and the internal diameter of spacing ring 22 is greater than the diameter of disc 23, can play limiting displacement to the rotation of disc 23 through spacing ring 22.

One side of one of the fixed frames 24 is fixedly provided with a hood 29, driving mechanisms 27 are fixedly arranged in the hood 29 and the round seat 21, each driving mechanism 27 comprises a second motor 271 and a small gear 272 which are meshed together, a large gear 273 is fixedly arranged on each small gear 272, the two second motors 271 are respectively and fixedly connected with the corresponding second rotating shaft 28 and the corresponding first rotating shaft 26, and the two large gears 273 are respectively and fixedly connected with the round seat 21 and the hood 29; in the process that the two second motors 271 rotate, the second motor 271 and the pinion 272 meshed with each other correspondingly can drive the second rotating shaft 28 or the first rotating shaft 26 to rotate, so that the camera 25 can be driven to rotate in an all-directional manner, and therefore, the environment where the robot is located can be detected in an all-directional manner through the camera 25.

A round rod 33 is arranged on the transparent protective cover 3, the round rod 33 penetrates through the transparent protective cover 3 and is rotatably connected with the arc-shaped scraping strip 31, a transverse plate 32 is fixedly arranged at the bottom end of the round rod 33, and the bottom of the transverse plate 32 is fixedly connected with the two fixing frames 24; when two mount 24 pivoted in-process, can drive arc through round bar 33 and arc and scrape strip 31 and rotate and clean transparent protection casing 3's surface, can ensure that transparent protection casing 3 can not cause visual effect to camera 25 at the in-process of protection camera 25.

Two guide wheels which are symmetrically distributed are fixedly arranged at the bottom of the base 11, and the two guide wheels and the two idler wheels 15 are distributed in a rectangular shape; the two guide wheels can enable the travelling mechanism 1 to be more stable in the travelling process.

The working principle is as follows: the robot can detect the environment of the robot through the camera 25 which rotates in multiple directions in the process of walking through the walking mechanism 1, when the camera 25 detects an obstacle, the camera 25 transmits a signal to the control module, the control module controls the walking mechanism 1 to control the robot to avoid the obstacle or return to the original path, in the process, the two first motors 17 drive the corresponding rollers 15 to rotate through the two rotating columns 14, the walking mechanism 1 can control the robot to walk, when the two first motors 17 synchronously rotate in the same direction, the walking mechanism 1 can control the robot to linearly advance or retreat, when the two first motors 17 rotate in the same direction and rotate in opposite directions, the walking mechanism 1 can control the robot to turn around or turn in place, when the two first motors 17 rotate in different directions and rotate in the same direction, the traveling mechanism 1 can control the direction of the robot while traveling, and therefore the robot can travel freely even in a narrow space.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an industrial robot visual detection and keep away barrier system, includes visual detection module, control module and walking module, its characterized in that: the walking module comprises a walking mechanism (1), the vision detection module comprises a vision detection mechanism (2), the walking mechanism (1) and the vision detection mechanism (2) are fixedly connected together, the walking mechanism (1) comprises a base (11), two rotating columns (14) are installed at the top of the base (11) in a rotating mode, rollers (15) are fixedly installed at one ends, far away from each other, of the two rotating columns (14) respectively, two first motors (17) are fixedly installed at the top of the base (11), output shafts of the two first motors (17) are fixedly connected with the corresponding rotating columns (14) respectively, the vision detection mechanism (2) is located above the base (11), the vision detection mechanism (2) comprises a disc (23) which is rotatably connected with the walking mechanism (1), and a camera (25) is installed above the disc (23) in a rotating mode, the top fixed mounting of disc (23) has transparent protection casing (3), the top of transparent protection casing (3) is rotated and is installed arc and scrape strip (31).

2. The visual inspection and obstacle avoidance system for an industrial robot of claim 1, wherein: the top fixed mounting of running gear (1) has two mounting brackets (13) and control box (16), and two rotation posts (14) run through respectively and correspond mounting bracket (13) and rotate with corresponding mounting bracket (13) and link together, and two first motors (17) all link together with the bottom inner wall fixed connection of control box (16), and the output shaft of two first motors (17) all runs through control box (16) and rotates with control box (16) and link together.

3. The visual inspection and obstacle avoidance system for an industrial robot of claim 1, wherein: the top fixed mounting of running gear (1) has four support (12) that are the rectangle and distribute, visual detection mechanism (2) still include bottom and four mounting bracket (13) fixed connection round seat (21) together, disc (23) are installed to round seat (21) internal rotation, the top fixed mounting of disc (23) has two mounts (24), camera (25) are located between two mounts (24), are equipped with same first pivot (26) on two mounts (24), first pivot (26) run through two mounts (24) and rotate with two mounts (24) and link together, first pivot (26) and camera (25) fixed connection are in the same place, the bottom fixed mounting of disc (23) has second pivot (28).

4. The visual inspection and obstacle avoidance system for an industrial robot of claim 3, wherein: the top fixed mounting of circle seat (21) has spacing ring (22), spacing ring (22) are located the top of disc (23), and the internal diameter of spacing ring (22) is greater than the diameter of disc (23).

5. The visual inspection and obstacle avoidance system for an industrial robot of claim 3, wherein: one side fixed mounting of one of them mount (24) has aircraft bonnet (29), equal fixed mounting has actuating mechanism (27) in aircraft bonnet (29) and circle seat (21), actuating mechanism (27) are including meshing second motor (271) and pinion (272) together, fixed mounting has gear wheel (273) on pinion (272), and two second motor (271) are in the same place with second pivot (28) and first pivot (26) fixed connection that correspond respectively, and two gear wheels (273) are in the same place with circle seat (21) and aircraft bonnet (29) fixed connection respectively.

6. The visual inspection and obstacle avoidance system for an industrial robot of claim 2, wherein: be equipped with round bar (33) on transparent protection casing (3), round bar (33) run through transparent protection casing (3) and scrape strip (31) with the arc and rotate and link together, the bottom fixed mounting of round bar (33) has diaphragm (32), the bottom and two mount (24) fixed connection of diaphragm (32) are in the same place.

7. The visual inspection and obstacle avoidance system for an industrial robot of claim 1, wherein: the bottom fixed mounting of base (11) has two guide pulleys that are the symmetric distribution, and two guide pulleys and two gyro wheels (15) are the rectangle and distribute.