CN216577957U - Measuring device of industrial robot degree of depth vision sensor - Google Patents
Measuring device of industrial robot degree of depth vision sensor Download PDFInfo
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- CN216577957U CN216577957U CN202123360479.4U CN202123360479U CN216577957U CN 216577957 U CN216577957 U CN 216577957U CN 202123360479 U CN202123360479 U CN 202123360479U CN 216577957 U CN216577957 U CN 216577957U
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- clamping jaw
- industrial robot
- vision sensor
- measuring device
- depth vision
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Abstract
The utility model provides a measuring device of industrial robot degree of depth vision sensor, including industrial robot, install the vision sensor on industrial robot, include: the visual sensor is arranged on an industrial robot arm through a clamp; the fixture comprises a mounting table, the mounting table is mounted on an industrial robot arm, clamping jaw groups are symmetrically mounted on the mounting table, the two clamping jaw groups are movably mounted on the mounting table in opposite directions, and a vision sensor is fixed through the two clamping jaw groups; the two clamping jaw groups are consistent in structure, a plurality of clamping jaws different in size are arranged on each clamping jaw group, and each clamping jaw is sequentially installed from large to small. A measuring device of industrial robot degree of depth vision sensor, install degree of depth vision sensor through anchor clamps, anchor clamps are suitable for the degree of depth vision sensor installation of equidimension and model not, simple to operate changes the convenience.
Description
Technical Field
The utility model belongs to the technical field of the vision sensor vehicle, especially, relate to an industrial robot degree of depth vision sensor's measuring device.
Background
In the industrial field, the depth vision sensor is carried on an industrial robot to measure the position, and the depth vision sensor and a robot flange are fixed through a fixed mounting bracket, so that the requirement on the detection position is completely met through the posture change of the industrial robot;
when installing, current degree of depth sensor need be screwed on industrial robot through the bolt, need dispose an solitary base, nevertheless because the degree of depth sensor of different models need arrange different bases, consequently need make multiple base, and this patent is to above problem, has proposed the structure of installing to different model degree of depth sensors.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an industrial robot degree of depth vision sensor's measuring device to solve current degree of depth sensor when the installation, need twist on industrial robot through the bolt, need dispose an solitary base, nevertheless because the degree of depth sensor of different models need arrange different bases, consequently need make the problem of multiple base.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
a measuring device of an industrial robot depth vision sensor comprises an industrial robot, a vision sensor installed on the industrial robot, and the measuring device comprises: the visual sensor is arranged on an industrial robot arm through a clamp;
the fixture comprises a mounting table, the mounting table is mounted on an industrial robot arm, clamping jaw groups are symmetrically mounted on the mounting table, the two clamping jaw groups are movably mounted on the mounting table in opposite directions, and a vision sensor is fixed through the two clamping jaw groups;
the two clamping jaw groups are consistent in structure, a plurality of clamping jaws different in size are arranged on each clamping jaw group, and each clamping jaw is sequentially installed from large to small.
Furthermore, a flange plate is arranged at the bottom of the mounting table, and the mounting table is fixed on an industrial robot arm through the flange plate.
Furthermore, every clamping jaw group still includes respectively and removes the support plate, and the clamping jaw of a plurality of variation in size is installed on removing the support plate, removes the support plate bottom and is equipped with the movable block, is equipped with the movable groove on the mount table, installs the screw rod in the movable groove, is connected with the rotating head after screw rod one end extends to the mount table outer wall, and the movable block is located the movable groove and meshes with the screw rod, and the screw rod is two-way screw rod.
Furthermore, the clamping jaws with different sizes comprise a first clamping jaw, a second clamping jaw and a third clamping jaw, the diameter of the first clamping jaw is larger than that of the second clamping jaw, the diameter of the second clamping jaw is larger than that of the third clamping jaw, the first clamping jaw is rotatably connected with the movable support plate, the second clamping jaw is rotatably installed on the first clamping jaw, and the third clamping jaw is rotatably installed on the second clamping jaw.
Furthermore, a first mounting groove is formed in the movable support plate, a first sliding groove is formed in the first mounting groove, the first clamping jaw is mounted in the first mounting groove, a first sliding block is arranged on the outer wall of the first clamping jaw, and the first sliding block is located in the first sliding groove.
Furthermore, a plurality of second mounting grooves are formed in the first clamping jaw, second sliding grooves are formed in the second mounting grooves, the second clamping jaw is mounted in the second mounting grooves, second sliding blocks corresponding to the second sliding grooves are arranged on the second clamping jaw, and the second sliding blocks are located in the second sliding grooves.
Furthermore, a plurality of third mounting grooves are formed in the second clamping jaw, third sliding grooves are formed in the third mounting grooves, the third clamping jaw is mounted in the third mounting grooves, third sliding blocks corresponding to the third sliding grooves are arranged on the side wall of the third clamping jaw, and the third sliding blocks are located in the third sliding grooves.
Furthermore, a slot is arranged on the side wall of the third clamping jaw, and an anti-skid pad is installed in the slot.
Furthermore, a locking head is installed on the side wall of the movable carrier plate, the end part of the locking head is rotatably installed with a tightening plate, one end of the locking head extends to the first sliding groove and then is connected with the tightening plate, and the end face of the tightening plate is attached to the first sliding block.
Compared with the prior art, a measuring device of industrial robot degree of depth vision sensor have following beneficial effect:
(1) a measuring device of industrial robot degree of depth vision sensor, install degree of depth vision sensor through anchor clamps, anchor clamps are suitable for the degree of depth vision sensor installation of equidimension and model not, simple to operate changes the convenience.
(2) A measuring device of industrial robot degree of depth vision sensor, anchor clamps include a plurality of clamping jaws, through the cooperation of a plurality of clamping jaws, can be used to multiple heterotypic structure's shell to press from both sides tightly fixed to and fix through the locking head of lateral wall, make degree of depth vision sensor fixed more surely, measuring result is more accurate.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a structural diagram of a measuring device of an industrial robot depth vision sensor according to an embodiment of the present invention;
FIG. 2 is a view of a clamp structure according to an embodiment of the present invention;
FIG. 3 is a view of a part of the structure of the mounting table and the fixture according to the embodiment of the present invention;
fig. 4 is a view of a mounting table according to an embodiment of the present invention;
fig. 5 is a cross-sectional view of a locking head according to an embodiment of the present invention.
Description of reference numerals:
1. an industrial robot; 2. a clamp; 10. a vision sensor; 3. moving the carrier plate; 4. a first jaw; 5. a second jaw; 6. a third jaw; 61. a slot; 7. a non-slip mat; 8. a screw; 81. rotating the head; 9. a locking head; 91. a jacking plate; 21. a flange base; 22. an installation table; 23. a movable groove; 31. A first mounting groove; 32. a first chute; 33. a moving block; 41. a first slider; 42. a second chute; 51. a second slider; 52. a third chute; 62. and a third slide block.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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 by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 5, a measuring device of an industrial robot depth vision sensor, including an industrial robot 1, a vision sensor 10 mounted on the industrial robot 1, includes: the vision sensor 10 is arranged on the arm of the industrial robot 1 through the clamp 2;
the fixture 2 comprises an installation table 22, the installation table 22 is installed on an arm of the industrial robot 1, clamping jaw groups are symmetrically installed on the installation table 22, the two clamping jaw groups are installed on the installation table 22 in a moving mode in the opposite directions, and the vision sensor 10 is fixed through the two clamping jaw groups;
the two clamping jaw groups are consistent in structure, a plurality of clamping jaws different in size are arranged on each clamping jaw group, and each clamping jaw is sequentially installed from large to small.
The bottom of the mounting table 22 is provided with a flange plate, and the mounting table 22 is fixed on the arm of the industrial robot 1 through the flange plate.
As shown in fig. 1 to 4, a flange corresponding to the chuck of the arm of the industrial robot 1 is provided at the bottom of the mounting table 22, and the flange is mounted on the chuck of the arm of the industrial robot 1 through bolts for mounting the vision sensor 10 and measuring industrial parts.
Each clamping jaw group further comprises a movable carrier plate 3, a plurality of clamping jaws with different sizes are mounted on the movable carrier plate, a movable block 33 is arranged at the bottom of the movable carrier plate 3, a movable groove 23 is formed in the mounting table 22, a screw 8 is mounted in the movable groove 23, a rotating head 81 is connected to one end of the screw 8 after extending to the outer wall of the mounting table 22, the movable block 33 is located in the movable groove 23 and meshed with the screw 8, and the screw 8 is a bidirectional screw 8.
As shown in fig. 2 to 4, the bottom parts of the two movable carrier plates are both provided with a movable block 33, the movable blocks 33 are provided with threads, and the two movable blocks 33 are driven by the bidirectional screw 8 to move in opposite directions, so as to drive the two sets of clamping jaw sets to perform clamping action.
The clamping jaws with different sizes comprise a first clamping jaw 4, a second clamping jaw 5 and a third clamping jaw 6, the diameter of the first clamping jaw 4 is larger than that of the second clamping jaw 5, the diameter of the second clamping jaw 5 is larger than that of the third clamping jaw 6, the first clamping jaw 4 is rotatably connected with the movable carrier plate, the second clamping jaw 5 is rotatably installed on the first clamping jaw 4, and the third clamping jaw 6 is rotatably installed on the second clamping jaw 5.
As shown in fig. 2 and 3, the two sets of clamping jaws respectively comprise three clamping jaws, and the three clamping jaws are different in size and are respectively rotatably mounted so as to be suitable for clamping shells with different shapes.
The movable carrier plate 3 is provided with a first mounting groove 31, a first sliding groove 32 is arranged in the first mounting groove 31, the first clamping jaw 4 is mounted in the first mounting groove, the outer wall of the first clamping jaw 4 is provided with a first sliding block 41, and the first sliding block 41 is located in the first sliding groove 32.
As shown in fig. 2 to 4, the first jaw 4 is slidably mounted in the first chute 32 by a first slider 41, and the first jaw 4 can rotate on the moving carrier plate.
The first clamping jaw 4 is provided with a plurality of second mounting grooves, a second sliding groove 42 is formed in the second mounting groove, the second clamping jaw 5 is mounted in the second mounting groove, a second sliding block 51 corresponding to the second sliding groove 42 is arranged on the second clamping jaw 5, and the second sliding block 51 is located in the second sliding groove 42.
As shown in fig. 2 to 4, the second clamping jaw 5 is slidably mounted in the second sliding chute 42 through the second sliding block 51, and the second clamping jaw 5 can rotate on the first clamping jaw 4;
a plurality of third mounting grooves are formed in the second clamping jaw 5, third sliding grooves 52 are formed in the third mounting grooves, the third clamping jaw 6 is mounted in the third mounting grooves, third sliding blocks 62 corresponding to the third sliding grooves 52 are arranged on the side wall of the third clamping jaw 6, and the third sliding blocks 62 are located in the third sliding grooves 52.
As shown in fig. 2 to 4, the third jaw 6 is slidably mounted in the third chute 52 through a third slider 62, and the third jaw 6 can rotate on the second jaw 5;
the three clamping jaws rotate on the clamping jaws adjacent in size respectively, and the third clamping jaw 6 is provided with a plurality of clamping jaws so as to be suitable for clamping shells different in size and shape.
The side wall of the third clamping jaw 6 is provided with a slot 61, and an anti-skid pad 7 is arranged in the slot 61.
As shown in fig. 3, the non-slip mat is installed on the side wall of the third clamping jaw, and is attached to the side wall of the third clamping jaw through the non-slip mat when the vision sensor is clamped, so that the non-slip effect is achieved, and meanwhile, the side wall of the vision sensor is protected, wherein the non-slip mat is made of rubber.
The side wall of the movable carrier plate is provided with a locking head 9, the end part of the locking head 9 is rotatably provided with a tightening plate 91, one end of the locking head 9 extends to the first chute 32 and then is connected with the tightening plate 91, and the end surface of the tightening plate 91 is attached to the first slide block 41.
As shown in fig. 4 and 5, the locking head 9 is installed on the side wall of the movable carrier plate in a threaded manner, the locking head 9 is moved by rotating the locking head 9, and when the group of clamping jaws clamps the vision sensor 10, the first clamping jaw 4 is fixed by the locking head 9.
As shown in fig. 3, the second clamping jaw 5 and the third clamping jaw 6 are limited by the side wall of the first clamping jaw 4, so that the vision sensor 10 is limited by the first clamping jaw 4, fixed by the first clamping jaw 4, and positioned by the vision sensor 10.
The patent protects the mounting structure of the vision sensor, so that the model of the vision sensor is selected according to the measured workpiece of the vision sensor, the prior art is adopted, and the details are not described here.
The concrete structure is as follows:
through rotatory screw rod 8, screw rod 8 drives two removal support plates and removes to the centre, people hold vision sensor 10 by hand this moment and place on mount table 22, the clamping jaw group on the removal support plate rotates according to vision sensor 10's shell shape, even vision sensor 10 is crooked shape, a plurality of clamping jaws can rotate according to its shape, after two removal support plates drive the clamping jaw and rotate to suitable position, press from both sides vision sensor 10 tightly, because first clamping jaw 4 is great with the rotation amplitude who removes the support plate, consequently, carry on spacingly through locking head 9 with first clamping jaw 4, thereby fix vision sensor 10.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A measuring device of an industrial robot depth vision sensor comprises an industrial robot (1), a vision sensor (10) installed on the industrial robot (1), and is characterized by comprising: the vision sensor (10) is arranged on the arm of the industrial robot (1) through the clamp (2);
the clamp (2) comprises an installation table (22), the installation table (22) is installed on an arm of the industrial robot (1), clamping jaw groups are symmetrically installed on the installation table (22), the two clamping jaw groups are installed on the installation table (22) in a moving mode in the opposite directions, and the vision sensor (10) is fixed through the two clamping jaw groups;
the two clamping jaw groups are consistent in structure, a plurality of clamping jaws different in size are arranged on each clamping jaw group, and each clamping jaw is sequentially installed from large to small.
2. A measuring device of an industrial robot depth vision sensor according to claim 1, characterized in that: the bottom of the mounting table (22) is provided with a flange plate, and the mounting table (22) is fixed on an arm of the industrial robot (1) through the flange plate.
3. A measuring device of an industrial robot depth vision sensor according to claim 1, characterized in that: every clamping jaw group still includes respectively and removes support plate (3), the clamping jaw of a plurality of variation in size is installed on removing the support plate, it is equipped with movable block (33) to remove the support plate bottom, be equipped with movable groove (23) on mount table (22), install screw rod (8) in movable groove (23), screw rod (8) one end is connected with rotating head (81) after extending to mount table (22) outer wall, movable block (33) are located movable groove (23) and are engaged with screw rod (8), screw rod (8) are two-way screw rod (8).
4. A measuring device of an industrial robot depth vision sensor according to claim 3, characterized in that: the clamping jaws with different sizes comprise a first clamping jaw (4), a second clamping jaw (5) and a third clamping jaw (6), the diameter of the first clamping jaw (4) is larger than that of the second clamping jaw (5), the diameter of the second clamping jaw (5) is larger than that of the third clamping jaw (6), the first clamping jaw (4) is connected with the movable carrier plate in a rotating mode, the second clamping jaw (5) is installed on the first clamping jaw (4) in a rotating mode, and the third clamping jaw (6) is installed on the second clamping jaw (5) in a rotating mode.
5. A measuring device of an industrial robot depth vision sensor according to claim 4, characterized in that: be equipped with first mounting groove (31) on the removal support plate, be equipped with first spout (32) in first mounting groove (31), install in first mounting groove first clamping jaw (4), be equipped with first slider (41) on the outer wall of first clamping jaw (4), first slider (41) are located first spout (32).
6. A measuring device of an industrial robot depth vision sensor according to claim 5, characterized in that: be equipped with a plurality of second mounting grooves on first clamping jaw (4), be equipped with second spout (42) in the second mounting groove, second clamping jaw (5) are installed in the second mounting groove, are equipped with second slider (51) corresponding with second spout (42) on second clamping jaw (5), and second slider (51) are located second spout (42).
7. The measuring device of an industrial robot depth vision sensor according to claim 6, characterized in that: the second clamping jaw (5) is provided with a plurality of third mounting grooves, third sliding grooves (52) are formed in the third mounting grooves, the third clamping jaw (6) is mounted in the third mounting grooves, third sliding blocks (62) corresponding to the third sliding grooves (52) are arranged on the side wall of the third clamping jaw (6), and the third sliding blocks (62) are located in the third sliding grooves (52).
8. The measuring device of the industrial robot depth vision sensor according to claim 7, characterized in that: the side wall of the third clamping jaw (6) is provided with a slot (61), and an anti-skid pad (7) is arranged in the slot (61).
9. A measuring device of an industrial robot depth vision sensor according to claim 3, characterized in that: install locking head (9) on the lateral wall of removal support plate, locking head (9) tip rotates installs top tie plate (91), and locking head (9) one end extends to and is connected with top tie plate (91) behind first spout (32), and laminating of top tie plate (91) terminal surface is on first slider (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123360479.4U CN216577957U (en) | 2021-12-28 | 2021-12-28 | Measuring device of industrial robot degree of depth vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123360479.4U CN216577957U (en) | 2021-12-28 | 2021-12-28 | Measuring device of industrial robot degree of depth vision sensor |
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| Publication Number | Publication Date |
|---|---|
| CN216577957U true CN216577957U (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123360479.4U Active CN216577957U (en) | 2021-12-28 | 2021-12-28 | Measuring device of industrial robot degree of depth vision sensor |
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| Country | Link |
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| CN (1) | CN216577957U (en) |
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2021
- 2021-12-28 CN CN202123360479.4U patent/CN216577957U/en active Active
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