CN215968793U

CN215968793U - Robot executive component operation attitude feedback device

Info

Publication number: CN215968793U
Application number: CN202121130906.7U
Authority: CN
Inventors: 袁铎; 韩建明; 杨浩; 聂飞; 刘风林; 杜石磊
Original assignee: Shanxi Zhongke Tongchang Intelligent Technology Co ltd
Current assignee: Shanxi Zhongke Tongchang Intelligent Technology Co ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2022-03-08
Anticipated expiration: 2031-05-25

Abstract

The utility model relates to a robot execution component operation attitude feedback device, belonging to the field of robot equipment; the device is used for monitoring the state of a robot executing component; the technical scheme is as follows: a robot actuator running posture feedback device comprises: the device comprises a sliding platform, a camera base and a camera; the sliding platform is fixed above one side of the running track of the robot execution component, a camera base is fixed on a sliding block of the sliding platform, a camera is arranged on the camera base, and the camera moves and deviates along with the robot execution component.

Description

Robot executive component operation attitude feedback device

Technical Field

The utility model discloses a robot execution component operation posture feedback device, and belongs to the field of robot equipment.

Background

A six-degree-of-freedom mechanical arm is a robot commonly adopted in modern workshops. The mechanical arm has the functions of grabbing the workpiece or the equipment for transferring and installing. The specific working state at the tail end of the mechanical arm is often influenced by the precision of equipment and is interfered by external factors, and in order to improve the overall precision of the equipment, the position of a power part of the mechanical arm needs to be monitored, so that the positions of all parts are continuously corrected, and the purpose of closed-loop control of the mechanical arm is realized.

The closed-loop control can greatly improve the overall precision of the equipment, but has higher requirements on the sensor, software and control, and has higher equipment price compared with open-loop control.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a device capable of monitoring the states of robot execution components, which avoids monitoring the whole set of components of the robot one by one.

In order to achieve the technical purpose, the technical scheme provided by the utility model is as follows:

a robot actuator running posture feedback device comprises: the device comprises a sliding platform, a camera base and a camera; the sliding platform is fixed above one side of the running track of the robot execution component, a camera base is fixed on a sliding block of the sliding platform, a camera is arranged on the camera base, and the camera moves and deviates along with the robot execution component.

The camera base includes: the upper portion of the fixing seat is fixedly connected with a sliding block of the sliding platform, a vertical motor is fixed in the fixing seat, an output shaft of the vertical motor extends out of the lower end face of the fixing seat, the output shaft of the vertical motor is fixedly connected with the rotating frame, the rotating frame is of an n-shaped structure, a transverse motor is horizontally fixed in the rotating frame, an output shaft of the transverse motor is fixedly connected with a camera, the transverse motor is matched with the vertical motor, and the camera has the tendency of swinging up and down as well as left and right.

The fixing base is a shell, a through hole is formed in the center of the lower end shell of the fixing base, a thrust bearing is fixed above the lower end shell of the fixing base, the thrust bearing and the through hole are coaxial, a connecting shaft is fixed on the thrust bearing, the connecting shaft is integrally of a tubular structure, flange plates are arranged at the upper end and the lower end of the connecting shaft, a flange plate at the upper end of the connecting shaft is fixedly connected with the upper end of the thrust bearing, a flange plate at the lower end of the connecting shaft is fixedly connected with a rotating frame, and a vertical motor output shaft is arranged in the connecting shaft and is fixedly connected with the rotating frame.

The transverse motor output shaft is arranged in the groove of the rotating frame, a supporting shaft is arranged on the other side wall of the rotating frame, which is just opposite to the transverse motor output shaft, and the supporting shaft rotates relative to the rotating frame.

And a drag chain cable is arranged above the sliding platform.

And a laser ranging sensor is fixed on one side of the fixed seat facing the robot executing part.

A circular ring is arranged on the fixed end seat of the robot executing component, and a light-reflecting sticker is arranged on the outer end face of the circular ring.

Compared with the prior art, the utility model has the following beneficial effects:

the camera is adopted, the sliding platform and the camera base are matched to scan the position of the gripper at the front end of the mechanical arm, states such as workpiece grabbing positions of the gripper and whether the gripper grabs the workpiece are identified through image processing, the state of the working end of the mechanical arm is directly monitored, and the mechanical arm analyzes data and performs motion compensation according to a monitoring result.

The utility model adopts the laser range finder, can further detect the position of the mechanical arm gripper in the space, and provides data reference for the camera.

The robot is arranged above one side of the running track of the robot execution part, so that the problem that the camera or other sensors are shielded by the robot execution part when the robot execution part is arranged on the mechanical arm can be avoided.

Drawings

Fig. 1 is a schematic view of the installation structure of the robot of the present invention.

FIG. 2 is a top view of the present invention.

FIG. 3 is a schematic structural diagram of the present invention.

Fig. 4 is a schematic sectional view of a camera head base according to the present invention.

In the figure: the camera comprises a sliding platform 1, a camera base 2, a camera 3, a fixed seat 21, a rotating frame 22, a stop-push bearing 23, a connecting shaft 24 and a supporting shaft 25.

Detailed Description

For a further understanding of the utility model, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples:

as shown in fig. 1 to 4: the utility model relates to a robot executive component operation posture feedback device, which comprises: the device comprises a sliding platform 1, a camera base 2 and a camera 3; the robot comprises a sliding platform 1, a camera base 2, a camera 3 and a robot executive component, wherein the sliding platform 1 is fixed above one side of the running track of the robot executive component, the camera base 2 is fixed on a sliding block of the sliding platform 1, and the camera 3 moves and deviates along with the robot executive component.

The camera base 2 includes: fixing base 21 and swivel mount 22, fixing base 21 upper portion and sliding platform 1's slider fixed connection, fixing base 21 internal fixation has vertical motor, vertical motor output shaft extends fixing base 21 lower terminal surface, vertical motor output shaft and swivel mount 22 fixed connection, swivel mount 22 is "n" shape structure, horizontal motor is fixed with in the swivel mount 22 horizontally, horizontal motor output shaft and camera 3 fixed connection, horizontal motor and vertical motor cooperate, camera 3 has the trend of up-down and horizontal hunting.

Fixing base 21 is the casing, fixing base 21 lower extreme casing center is provided with the through-hole, fixing base 21 lower extreme casing top is fixed with footstep bearing 23, footstep bearing 23 and through-hole coaxial line, be fixed with connecting axle 24 on the footstep bearing 23, connecting axle 24 is whole to be the tubular structure, both ends all are provided with the ring flange about the connecting axle 24, connecting axle 24 upper end ring flange and footstep bearing 23 upper end fixed connection, 24 lower extreme ring flanges of connecting axle and swivel mount 22 fixed connection, vertical motor output shaft set up in connecting axle 24 and with swivel mount 22 fixed connection.

The output shaft of the transverse motor is arranged in a groove of the rotating frame 22, a supporting shaft 25 is arranged on the other side wall of the rotating frame 22 opposite to the output shaft of the transverse motor, and the supporting shaft 25 rotates relative to the rotating frame 22.

And a drag chain cable is arranged above the sliding platform 1.

And a laser ranging sensor is fixed on one side of the fixed seat 21 facing the robot executing part.

The vertical motor and the horizontal motor are both stepping motors.

The robot control system also comprises a control module, wherein the control module is in signal connection with the robot controller, the robot operation data are sent to the control module, the control module formulates the operation data after reading the data, the camera 3 can operate from one end to the other end along with the robot execution component, and the execution component is ensured to be always in the visual field range of the camera 3.

The specific operation mode of the utility model is as follows:

the sliding platform 1 slides back and forth along with the execution component when the execution component runs in the horizontal direction to a large extent, and the fixing seat 21 rotates in a matched mode at the same time, so that the execution component is located in the central view of the camera 3.

When the actuator has a movement in the vertical direction, the rotating frame 22 drives the camera 3 to swing up and down.

The camera 3 continuously scans the state of the execution part, judges whether the execution part grabs the workpiece or not through computer image recognition and processing, judges the position of the workpiece to be grabbed, and judges the specific position of the execution part in the space by combining a distance measuring sensor.

The above embodiments are merely illustrative of the principles of the present invention and its effects, and do not limit the present invention. It will be apparent to those skilled in the art that modifications and improvements can be made to the above-described embodiments without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications or changes be made by those skilled in the art without departing from the spirit and technical spirit of the present invention, and be covered by the claims of the present invention.

Claims

1. A robot actuator operation posture feedback device, comprising: the device comprises a sliding platform (1), a camera base (2) and a camera (3); the robot comprises a sliding platform (1) and a camera base (2), wherein the sliding platform (1) is fixed above one side of a running track of a robot execution component, the camera base (2) is fixed on a sliding block of the sliding platform (1), the camera (3) is arranged on the camera base (2), and the camera (3) moves and deviates along with the robot execution component.

2. The robot actuator operation posture feedback device according to claim 1, characterized in that: the camera base (2) includes: fixing base (21) and swivel mount (22), the slider fixed connection of fixing base (21) upper portion and sliding platform (1), fixing base (21) internal fixation has vertical motor, vertical motor output shaft extends fixing base (21) terminal surface down, vertical motor output shaft and swivel mount (22) fixed connection, swivel mount (22) are "n" shape structure, horizontal motor that is fixed with in swivel mount (22), horizontal motor output shaft and camera (3) fixed connection, horizontal motor and vertical motor cooperate, camera (3) have the trend of upper and lower and horizontal hunting.

3. The robot actuator operation posture feedback device according to claim 2, characterized in that: fixing base (21) is the casing, fixing base (21) lower extreme casing center is provided with the through-hole, fixing base (21) lower extreme casing top is fixed with footstep bearing (23), footstep bearing (23) and through-hole coaxial line, be fixed with connecting axle (24) on footstep bearing (23), connecting axle (24) are whole to be the tubular structure, both ends all are provided with the ring flange about connecting axle (24), connecting axle (24) upper end ring flange and footstep bearing (23) upper end fixed connection, connecting axle (24) lower extreme ring flange and swivel mount (22) fixed connection, vertical motor output shaft set up in connecting axle (24) and with swivel mount (22) fixed connection.

4. The robot actuator operation posture feedback device according to claim 3, wherein: the transverse motor output shaft is arranged in a groove of the rotating frame (22), a supporting shaft (25) is arranged on the other side wall of the rotating frame (22) opposite to the transverse motor output shaft, and the supporting shaft (25) rotates relative to the rotating frame (22).

5. The robot actuator operation posture feedback device according to claim 4, wherein: and a drag chain cable is arranged above the sliding platform (1).

6. The robot actuator operation posture feedback device according to claim 5, wherein: and a laser ranging sensor is fixed on one side of the fixed seat (21) facing the robot executing part.

7. The robot actuator operation posture feedback device according to claim 6, wherein: a circular ring is arranged on the fixed end seat of the robot executing component, and a light-reflecting sticker is arranged on the outer end face of the circular ring.