CN216464724U

CN216464724U - Visual auxiliary positioning device for truss manipulator

Info

Publication number: CN216464724U
Application number: CN202122711677.4U
Authority: CN
Inventors: 吴显兵; 钱少华; 王龙军; 季家栋
Original assignee: Zhejiang Mobile Robot Automation Co ltd
Current assignee: Zhejiang Mobile Robot Automation Co ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-05-10
Anticipated expiration: 2031-11-08

Abstract

The utility model belongs to the technical field of positioning devices, and discloses a visual auxiliary positioning device for a truss manipulator, which comprises a slide rail mechanism, wherein the front side of the slide rail mechanism is movably connected with a lifting frame, the top of the lifting frame is fixedly provided with a lifter, the front side of the lifter is movably connected with a sucking disc, the outer surface of the slide rail mechanism is movably sleeved with an installation slide seat positioned on the left side of the sucking disc, the top of the installation slide seat is fixedly provided with a sealing box, and the left side of the inner cavity of the sealing box is fixedly provided with a camera. According to the utility model, by arranging the camera, the processor, the stop block and the dustproof box, the visual equipment can be shielded by installing the sliding seat and the dustproof box, so that the effect of preventing dust pollution is achieved, further more accurate positioning operation can be completed under the control of the processor under the matching of the camera and the stop block, and the stop block can be ensured to reset through the reset spring, so that the effect of continuous accurate positioning is achieved.

Description

Visual auxiliary positioning device for truss manipulator

Technical Field

The utility model belongs to the technical field of positioning devices, and particularly relates to a visual auxiliary positioning device for a truss manipulator.

Background

The truss manipulator is a full-automatic industrial device which is established on the basis of a rectangular X, Y and Z coordinate system and used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like; the control core is realized by an industrial controller (such as a PLC, a motion controller, a singlechip and the like); the controller analyzes and processes various input (various sensors, buttons and the like) signals, and after certain logic judgment is made, an execution command is issued to each output element (a relay, a motor driver, an indicator light and the like) to complete the joint motion among the three axes of X, Y and Z, so that a whole set of full-automatic operation flow is realized.

At present, when the truss manipulator is used, objects with large mass are often required to be hoisted and transferred and fixed at a required position through a positioning mechanism, and although the existing truss manipulator can also complete the functions of transferring and positioning during hoisting, the currently used vision auxiliary positioning device is inevitably influenced by surrounding foreign matters during working, so that the positioning is inaccurate, and therefore the improvement is required.

Meanwhile, when the heavy object is hoisted, due to uncertain factors of friction and inertia, the precision after positioning is insufficient, subsequent operation is difficult to perform, and the visual auxiliary positioning device used by the existing truss manipulator is difficult to finely adjust, so that the improvement is also needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems, and provides a visual auxiliary positioning device for a truss manipulator, which has the advantages of good positioning effect and convenience in adjustment.

In order to achieve the purpose, the utility model provides the following technical scheme: a visual auxiliary positioning device used for a truss manipulator comprises a slide rail mechanism, wherein the front of the slide rail mechanism is movably connected with a lifting frame, the top of the lifting frame is fixedly provided with a lifter, the front of the lifter is movably connected with a sucker, an installation slide seat positioned on the left side of the sucker is movably sleeved on the outer surface of the slide rail mechanism, the top of the installation slide seat is fixedly provided with a seal box, the left side of the inner cavity of the seal box is fixedly provided with a camera, the right side of the inner cavity of the seal box is fixedly provided with a processor, the back of the seal box is fixedly provided with a dust-proof box, the inner part of the dust-proof box is movably connected with a stop block positioned on the back of the camera, the camera is electrically connected with the processor, the processor is electrically connected with a driving mechanism through a wire, and the camera and the stop block can be shielded through the arranged dust-proof box, therefore, the camera can be prevented from being polluted by dust, and more importantly, the situation that the foreign matters pass through the camera to cause wrong positioning can be avoided.

As a preferred technical scheme of the utility model, the slide rail mechanism comprises a transverse slide rail, the front surface of the transverse slide rail is movably connected with the back surface of the lifting frame, the left end and the right end of the transverse slide rail are movably connected with longitudinal slide rails, the number of the longitudinal slide rails is two, the front side and the rear side of the bottoms of the two longitudinal slide rails are fixedly provided with supporting frames, the outer surface of each longitudinal slide rail is movably sleeved with the inner wall of the mounting slide seat, and due to the arrangement of the transverse slide rail, the longitudinal slide rails and the supporting frames, equipment, workpieces and the like can be supported under the cooperation of the transverse slide rails, the longitudinal slide rails and the supporting frames, and meanwhile, the relative movement can be facilitated, so that the effect of transferring or lifting the workpieces can be achieved.

As a preferred technical scheme of the utility model, the interior of the dust-proof box is movably connected with a return spring positioned below the camera, the left end of the return spring is fixedly connected with the bottom of the left side of the inner cavity of the dust-proof box, the right end of the return spring is fixedly connected with the bottom of the left side of the stop block, and the arranged return spring can improve the stability of the movement of the stop block driven by the thread sleeve and the threaded rod and ensure that the stop block can be reset under the elastic force recovery action of the return spring, thereby facilitating the next continuous positioning operation.

As a preferred technical scheme of the utility model, the bottom of the right side of the stop block is fixedly connected with a threaded sleeve positioned on the left side of the return spring, and the internal thread of the threaded sleeve is sleeved with a threaded rod.

As a preferable technical scheme of the utility model, the right end of the threaded rod penetrates through the threaded sleeve and is fixedly connected with the rotating block, the left side of the rotating block is movably connected with the right side of the threaded sleeve, the right side of the rotating block is movably connected with the left side of the sucking disc, and the rotating block is arranged, so that the situation that the threaded rod cannot be normally used due to the fact that the threaded rod is completely screwed into the threaded sleeve can be avoided, and meanwhile, an operator can conveniently rotate the threaded rod to move in the threaded sleeve.

As a preferred technical solution of the present invention, a bolt is sleeved on an internal thread of the mounting slide, a bottom of the bolt penetrates through the mounting slide and is movably connected with a top of the longitudinal slide, a top of the bolt penetrates through the mounting slide and is fixedly connected with a rotating wheel, due to the arrangement of the bolt, the mounting slide can be moved and fixed under the cooperation of the longitudinal slide, and the locking of the bolt and the longitudinal slide to the mounting slide can be conveniently released through the rotating wheel, so that the whole position of the camera can be conveniently moved through the mounting slide, so as to be suitable for different positioning requirements.

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

1. according to the utility model, by arranging the camera, the processor, the stop block and the dustproof box, the visual equipment can be shielded by installing the sliding seat and the dustproof box, so that the effect of preventing dust pollution is achieved, further more accurate positioning operation can be completed under the control of the processor under the matching of the camera and the stop block, and the stop block can be ensured to reset through the reset spring, so that the effect of continuous accurate positioning is achieved.

2. According to the utility model, by arranging the threaded sleeve, the threaded rod, the rotating wheel and the bolt, the effect of adjusting the position of the whole sealing box and the dust-proof box can be achieved by installing the sliding seat under the matching of the rotating wheel and the bolt, and the length of the whole threaded sleeve and the threaded rod can be changed by rotating the rotating block, so that the effect of changing the positioning position can be further achieved, and the effect of conveniently adjusting the positioning area can be achieved.

Drawings

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

FIG. 2 is a schematic front cross-sectional view of the camera of the present invention;

FIG. 3 is a top cross-sectional structural view at a processor of the present invention;

FIG. 4 is a schematic, front cross-sectional view of a portion of the present invention at the location of the mounting carriage;

FIG. 5 is a top cross-sectional view of a portion of the structure of the stopper of the present invention.

In the figure: 1. a slide rail mechanism; 101. a transverse slide rail; 102. a longitudinal slide rail; 103. a support frame; 2. a lifting frame; 3. an elevator; 4. a suction cup; 5. installing a sliding seat; 6. a sealing box; 7. a camera; 8. a processor; 9. a stopper; 10. a return spring; 11. a threaded sleeve; 12. a threaded rod; 13. rotating the block; 14. a dust-proof box; 15. a rotating wheel; 16. and (4) bolts.

Detailed Description

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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

As shown in fig. 1 to 5, the utility model provides a visual auxiliary positioning device for a truss manipulator, which comprises a slide rail mechanism 1, wherein the front of the slide rail mechanism 1 is movably connected with a lifting frame 2, the top of the lifting frame 2 is fixedly provided with a lifter 3, the front of the lifter 3 is movably connected with a sucker 4, the outer surface of the slide rail mechanism 1 is movably sleeved with an installation slide carriage 5 positioned at the left side of the sucker 4, the top of the installation slide carriage 5 is fixedly provided with a seal box 6, the left side of the inner cavity of the seal box 6 is fixedly provided with a camera 7, the right side of the inner cavity of the seal box 6 is fixedly provided with a processor 8, the back of the seal box 6 is fixedly provided with a dust-proof box 14, the inner part of the dust-proof box 14 is movably connected with a stop block 9 positioned at the back of the camera 7, the camera 7 is electrically connected with the processor 8, the processor 8 is electrically connected with a driving mechanism through a lead, and through the arranged dust-proof box 14, the camera 7 and the stop block 9 can be shielded, so that the camera 7 is prevented from being polluted by dust, and more importantly, the situation that the foreign matters cause wrong positioning through the camera 7 can be avoided.

Wherein, slide rail mechanism 1 is including horizontal slide rail 101, the front of horizontal slide rail 101 and the back swing joint of crane 2, horizontal slide rail 101 the equal swing joint in both ends has vertical slide rail 102 about, the quantity of vertical slide rail 102 is two, the equal fixed mounting in both sides has support frame 103 around two vertical slide rail 102 bottoms, the surface of vertical slide rail 102 cup joints with the inner wall activity of installation slide 5, because horizontal slide rail 101, the setting of vertical slide rail 102 and support frame 103, both can support equipment and work piece etc. under three's cooperation, the relative movement in order to reach the effect of transporting or promoting the work piece simultaneously can be convenient for.

Wherein, the inside swing joint of dust-proof box 14 has reset spring 10 that is located camera 7 below, reset spring 10's left end and the left bottom fixed connection of dust-proof box 14 inner chamber, reset spring 10's right-hand member and the left bottom fixed connection of dog 9, through reset spring 10 who sets up, both can improve the stability that thread bush 11 and threaded rod 12 drove the motion of dog 9, can ensure under reset spring 10's elasticity recovery effect simultaneously that dog 9 can reset, thereby be convenient for continue to carry out positioning operation next time.

Wherein, the bottom fixedly connected with on dog 9 right side is located the left thread bush 11 of reset spring 10, and the threaded rod 12 has been cup jointed to the internal thread of thread bush 11, because the setting of threaded rod 12 and threaded rod 12, both can reach under the cooperation of the two and wholly carry out the locate function to sucking disc 4, can be through the position that changes rotatory piece 13 simultaneously to reach the change and increase the regional effect of location.

Wherein, the right-hand member of threaded rod 12 runs through threaded sleeve 11 and the rotatory piece 13 of fixedly connected with, the left side of rotatory piece 13 and the right side swing joint of threaded sleeve 11, the right side of rotatory piece 13 and the left side swing joint of sucking disc 4, through the rotatory piece 13 that sets up, both can avoid because threaded rod 12 screws threaded sleeve 11 inside completely and lead to the unable normal use's the condition, can be convenient for simultaneously the rotatory threaded rod 12 of operating personnel in the inside removal of threaded sleeve 11.

Wherein, the inside screw thread of installation slide 5 has cup jointed bolt 16, the bottom of bolt 16 run through installation slide 5 and with the top swing joint of vertical slide rail 102, installation slide 5 and fixedly connected with swiveling wheel 15 are run through at the top of bolt 16, because the setting of bolt 16, can remove and fix installation slide 5 under the cooperation of vertical slide rail 102, and can be convenient for remove the locking of bolt 16 and vertical slide rail 102 to installation slide 5 through swiveling wheel 15, and then can be convenient for remove the holistic position of camera 7 through installation slide 5, so that it needs to be applicable to different location to make it.

The working principle and the using process of the utility model are as follows:

firstly, assembling and starting equipment as shown in the figure, transferring an object through the suction cup 4 under the coordination of the transverse slide rail 101, the longitudinal slide rail 102 and the lifting frame 2 after starting, pushing the stop block 9 to move through the rotating block 13, the threaded rod 12 and the threaded sleeve 11 when the suction cup 4 drives the object to move to the rotating block 13, extruding the reset spring 10 under the coordination of the dust-proof box 14 due to the movement of the stop block 9 to enable the reset spring to have elastic force recovery performance, shielding the light received by the camera 7 in the movement process of the stop block 9, and further controlling the driving mechanism to stop running through the camera 7 and the processor 8;

firstly, the rotating wheel 15 is rotated to unscrew the bolt 16 from the inside of the mounting slide 5, then the sealing box 6 and the dust-proof box 14 are integrally moved to a required position through the mounting slide 5, then the rotating wheel 15 is used for screwing the bolt 16 into the inside of the mounting slide 5 and locking the mounting slide 5 under the matching of the longitudinal slide rail 102, and then the rotating block 13 is rotated to unscrew or screw the threaded rod 12 into the threaded sleeve 11 under the limitation of the dust-proof box 14 on the threaded sleeve 11.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a vision auxiliary positioning device that truss manipulator used, includes slide rail mechanism (1), its characterized in that: the utility model discloses a dustproof camera, including slide rail mechanism (1), the front swing joint of slide rail mechanism (1) has crane (2), the top fixed mounting of crane (2) has lift (3), the front swing joint of lift (3) has sucking disc (4), the surface activity of slide rail mechanism (1) has been cup jointed and is located left installation slide (5) of sucking disc (4), the top fixed mounting of installation slide (5) has seal box (6), the left side fixed mounting of seal box (6) inner chamber has camera (7), the right side fixed mounting of seal box (6) inner chamber has treater (8), the back fixed mounting of seal box (6) has dust-proof box (14), the inside swing joint of dust-proof box (14) has dog (9) that are located camera (7) the back.

2. A vision-aided positioning apparatus for a truss robot as defined in claim 1 wherein: slide rail mechanism (1) is including horizontal slide rail (101), the front of horizontal slide rail (101) and the back swing joint of crane (2), horizontal slide rail (101) about the equal swing joint in both ends have vertical slide rail (102), the quantity of vertical slide rail (102) is two, two the equal fixed mounting in both sides has support frame (103) around vertical slide rail (102) bottom, the surface of vertical slide rail (102) is cup jointed with the inner wall activity of installation slide (5).

3. A visual aid positioning device for a truss manipulator as defined in claim 1 wherein: the inside swing joint of dust-proof box (14) has reset spring (10) that is located camera (7) below, the left end and the left bottom fixed connection of dust-proof box (14) inner chamber of reset spring (10), the right-hand member and the left bottom fixed connection of dog (9) of reset spring (10).

4. A visual aid positioning device for a truss manipulator as defined in claim 1 wherein: the bottom fixedly connected with dog (9) right side is located thread bush (11) on reset spring (10) left side, the internal thread of thread bush (11) has cup jointed threaded rod (12).

5. A visual aid positioning device for a truss robot as defined in claim 4 wherein: the right-hand member of threaded rod (12) runs through thread bush (11) and the rotatory piece of fixedly connected with (13), the left side of rotatory piece (13) and the right side swing joint of thread bush (11), the right side of rotatory piece (13) and the left side swing joint of sucking disc (4).

6. A visual aid positioning device for a truss manipulator as defined in claim 1 wherein: the internal thread of installation slide (5) has cup jointed bolt (16), the bottom of bolt (16) run through installation slide (5) and with the top swing joint of vertical slide rail (102), the top of bolt (16) run through installation slide (5) and fixedly connected with swiveling wheel (15).