CN217728773U

CN217728773U - Quick positioning mechanism of robot body

Info

Publication number: CN217728773U
Application number: CN202222063912.6U
Authority: CN
Inventors: 王旭康; 林兴定
Original assignee: Shanghai Huatai Robot Engineering Co ltd
Current assignee: Shanghai Huatai Robot Engineering Co ltd
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-11-04
Anticipated expiration: 2032-08-05

Abstract

The utility model relates to a quick positioning mechanism of robot body, including the robot body, be equipped with positioner, adjusting device and detection device on the robot body, adjusting device includes first mounting panel, first link, second link, third link and second mounting panel, first link sets up the lower surface at first mounting panel, is equipped with first motor on the first link, and the output shaft and the second link of first motor are connected, are equipped with the second motor on the second link, the utility model discloses a be provided with the vision camera and shoot the contrast to the part, be convenient for robot body quick travel to accurate position and carry out the centre gripping to the part, be convenient for protect the vision camera through setting up the safety cover, the third mounting panel setting is in the top of accepting the frame, supports the third mounting panel through accepting the frame, prevents that the bolt is not hard up between third mounting panel and the accepting the frame and leads to its to drop.

Description

Quick positioning mechanism of robot body

Technical Field

The utility model relates to a positioning mechanism technical field specifically is quick positioning mechanism of robot body.

Background

When an existing robot body clamps a part, the part is generally clamped through a preset program, but when the placing position of the part has an error, the robot body clamps the part according to the preset program, so that the phenomenon of clamping deviation occurs; in addition, some robot bodies absorb a plane through a sucker to take materials, but the upper surfaces of some parts are inclined planes, the angle of the sucker needs to be adjusted so that the sucker can be completely attached to the upper surfaces of the parts, so that the phenomenon of air leakage is prevented, but the angle of the sucker cannot be accurately adjusted easily when the robot body is used; meanwhile, an industrial camera is arranged on some robot bodies to observe the position of the part, when the surface of the part is an inclined plane, the robot body drives the sucker to adjust the angle, the shooting angle of the industrial camera can be changed accordingly, and the part needs to be positioned again.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

To the problem that exists among the prior art, the utility model provides a quick positioning mechanism of robot body to the technical problem that the shooting angle of industrial camera also can change when solving the sucking disc angle of adjustment who mentions in the background art.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: quick positioning mechanism of robot body, including the robot body, be equipped with positioner, adjusting device and detection device on the robot body, adjusting device includes first mounting panel, first link, second link, third link and second mounting panel, first link sets up the lower surface at first mounting panel, is equipped with first motor on the first link, and the output shaft and the second link of first motor are connected, is equipped with the second motor on the second link, and the output shaft and the third link of second motor are connected, and second mounting panel fixed mounting is in one side of third link, detection device includes pressure sensor and probe, detection device is provided with four, and four pressure sensor is fixed mounting respectively on four angles of second mounting panel, four the probe respectively with four pressure sensor connects.

Preferably, positioner includes the vision camera, accepts frame, third mounting panel and safety cover, accept the frame and install on robot, the vision camera sets up the lower surface at the third mounting panel, and the safety cover is established outside the vision camera, and passes through bolt detachably with the third mounting panel and connect, and the third mounting panel is connected through bolt detachably with accepting the frame, is convenient for install the vision camera.

Preferably in further, the support rod is arranged below the pressure sensor, the bottom of the support rod is connected with the second mounting plate, the spring is arranged between the probe and the pressure sensor, the guide rod is arranged below the pressure sensor, the top of the probe is sleeved outside the guide rod in a sliding mode, and the pressure sensor is conveniently transmitted to the probe by the probe.

In further preferred, the lower surface of second mounting panel is equipped with the sucking disc, and the top of sucking disc is equipped with the exhaust tube, and the top of exhaust tube runs through the second mounting panel and sets up in the top of second mounting panel, and is equipped with the air pump on the exhaust tube, the sucking disc is provided with a plurality of, is convenient for adsorb the part surface.

In further preferred, be provided with on the accepting frame with safety cover complex lead to the groove, the upper surface that leads to the groove is provided with and third mounting panel complex mounting groove, and third mounting panel and mounting groove pass through bolt detachably and connect, are convenient for support and install the third mounting panel.

In a further preferred mode, the bottom of the probe is provided with a spherical surface to prevent the probe from scratching the surface of the part when moving.

Preferably, the adjusting devices are arranged in two groups, the adjusting devices are symmetrically arranged on two sides of the positioning device respectively, the first mounting plates are connected with the bearing frame through bolts, and the second mounting plate of each adjusting device is provided with four groups of detecting devices, so that the stability of the device is improved conveniently.

(III) advantageous effects

Compared with the prior art, the utility model provides a quick positioning mechanism of robot body possesses following beneficial effect:

1. the utility model discloses in be provided with the vision camera and shoot the contrast to the part, be convenient for the robot body to move fast to accurate position and carry out the centre gripping to the part, be convenient for protect the vision camera through setting up the safety cover, the third mounting panel sets up in the top of accepting the frame, supports the third mounting panel through accepting the frame, prevents that the bolt becomes flexible between third mounting panel and the accepting the frame and leads to it to drop;

2. the utility model discloses in be provided with four pressure sensor on the second mounting panel, when probe and part surface contact and take place to extrude, can jack-up the probe upwards, extrude the spring, the spring transmits pressure to pressure sensor in, when four pressure sensor's numerical value is the same, then show that second mounting panel and part surface are parallel, when pressure sensor's numerical value reached the setting value, then show that the sucking disc compresses tightly on the part surface, prevent gas leakage between sucking disc and the part surface;

3. the utility model discloses in drive the second mounting panel through first motor and second motor and rotate, make it and part surface parallel, at this in-process, the lower surface of accepting the frame is parallel with the horizontal plane all the time, and the vision camera is taken and is monitored it directly over the part all the time promptly.

Drawings

Fig. 1 is a schematic view of the overall structure of the rapid positioning mechanism of the robot body in the present invention;

FIG. 2 is a schematic structural view of the robot body of the present invention removed;

FIG. 3 is a schematic structural diagram of the detecting device and the adjusting device of the present invention;

fig. 4 is a schematic structural view of the positioning device of the present invention;

fig. 5 is a schematic diagram of the explosion structure of fig. 4 in the present invention.

In the figure: 1. a robot body; 2. a first mounting plate; 3. a first connecting frame; 4. a second link frame; 5. a third connecting frame; 6. a second mounting plate; 7. a first motor; 8. a second motor; 9. a pressure sensor; 10. a probe; 11. a vision camera; 12. a receiving frame; 13. a third mounting plate; 14. a protective cover; 15. a support bar; 16. a spring; 17. a guide rod; 18. a suction cup; 19. an air exhaust pipe; 20. an air pump; 21. a through groove; 22. mounting grooves; 23. and (4) a spherical surface.

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.

Example 1:

referring to fig. 1-5, a robot body fast positioning mechanism includes a robot body 1, a positioning device, an adjusting device and a detecting device are arranged on the robot body 1, the adjusting device includes a first mounting plate 2, a first connecting frame 3, a second connecting frame 4, a third connecting frame 5 and a second mounting plate 6, the first connecting frame 3 is arranged on the lower surface of the first mounting plate 2, a first motor 7 is arranged on the first connecting frame 3, an output shaft of the first motor 7 is connected with the second connecting frame 4, a second motor 8 is arranged on the second connecting frame 4, an output shaft of the second motor 8 is connected with the third connecting frame 5, the second mounting plate 6 is fixedly mounted on one side of the third connecting frame 5, the detecting device includes four pressure sensors 9 and four probes 10, the detecting device is provided with four pressure sensors 9, the four pressure sensors 9 are respectively fixedly mounted on four corners of the second mounting plate 6, and the four probes 10 are respectively connected with the four pressure sensors 9. The adjusting devices are arranged in two groups, the two groups of adjusting devices are symmetrically arranged on two sides of the positioning device respectively, the two first mounting plates 2 are connected with the bearing frame 12 through bolts, and the second mounting plate 6 of each group of adjusting devices is provided with four groups of detecting devices.

Referring to fig. 1, 2, 4 and 5, the positioning device includes a vision camera 11, a receiving frame 12, a third mounting plate 13 and a protective cover 14, the receiving frame 12 is mounted on the robot body 1, the vision camera 11 is disposed on a lower surface of the third mounting plate 13, the protective cover 14 is sleeved outside the vision camera 11 and detachably connected to the third mounting plate 13 through bolts, and the third mounting plate 13 and the receiving frame 12 are detachably connected through bolts. The bearing frame 12 is provided with a through groove 21 matched with the protective cover 14, the upper surface of the through groove 21 is provided with a mounting groove 22 matched with the third mounting plate 13, and the third mounting plate 13 and the mounting groove 22 are detachably connected through bolts. When using, install vision camera 11 on third mounting panel 13, again with transparent safety cover 14 cover outside vision camera 11, pass through bolt detachably with safety cover 14 and third mounting panel 13 and connect, rotate 180 degrees with third mounting panel 13, make safety cover 14 be located the below of third mounting panel 13, pass safety cover 14 from leading to groove 21 of accepting frame 12, until third mounting panel 13 and the cooperation of the mounting groove 22 of accepting on the frame 12, it is fixed to pass through bolted connection with third mounting panel 13 and mounting groove 22, realize that the installation of vision camera 11 is fixed.

Referring to fig. 1-3, a support rod 15 is disposed below the pressure sensor 9, the bottom of the support rod 15 is connected to the second mounting plate 6, a spring 16 is disposed between the probe 10 and the pressure sensor 9, a guide rod 17 is disposed below the pressure sensor 9, and the top of the probe 10 is slidably sleeved outside the guide rod 17. The bottom of the probe 10 is provided with a spherical surface 23. When the robot is used, parts are photographed and compared through the vision camera 11, the bearing frame 12 is moved to a proper position and moves downwards gradually, until the spherical surface 23 below one of the probes 10 is attached to the surface of the part, the probes 10 move upwards under the action of extrusion force, the springs 16 are extruded, the springs 16 transmit the force of the springs 16 to the pressure sensors 9, pressure values are detected through the pressure sensors 9, signals are transmitted to an external control system, the signals are analyzed through the control system, the first motor 7 and the second motor 8 are driven to operate, the second mounting plate 6 is driven to rotate to adjust the angle until the values of the four pressure sensors 9 are the same, at the moment, the second mounting plate 6 is parallel to the surface of the part, the second mounting plate 6 continues to be driven to move downwards vertically through the robot body 1, until the values of the pressure sensors 9 reach a set value, and at the moment, the sucker 18 is tightly pressed on the surface of the part.

Referring to fig. 1-3, the lower surface of the second mounting plate 6 is provided with a suction cup 18, the top of the suction cup 18 is provided with an exhaust tube 19, the top of the exhaust tube 19 penetrates through the second mounting plate 6 and is disposed above the second mounting plate 6, the exhaust tube 19 is provided with an air pump 20, and the suction cups 18 are provided with a plurality of suction cups. When the suction cup 18 is pressed on the surface of the part, the air pump 20 pumps out the air between the suction cup 18 and the part, so that negative pressure is formed in the suction cup 18, and the part is conveniently sucked by the suction cup 18.

Example 2:

in conclusion, when using, install vision camera 11 on third mounting panel 13, again with transparent safety cover 14 cover outside vision camera 11, pass through bolt detachably with safety cover 14 and third mounting panel 13 and connect, rotate 180 degrees with third mounting panel 13, make safety cover 14 be located the below of third mounting panel 13, pass safety cover 14 from logical groove 21 of accepting frame 12, until third mounting panel 13 and the cooperation of mounting groove 22 on accepting frame 12, it is fixed to pass through bolted connection with third mounting panel 13 and mounting groove 22, realize that the installation of vision camera 11 is fixed, robot 1 is when removing, shoot the monitoring through vision camera 11 to the part, it moves suitable position to be convenient for robot 1 drives accepting frame 12.

Example 3:

in summary, when the robot is used, a part is photographed and compared through the vision camera 11, the receiving frame 12 is moved to a proper position and gradually moves vertically and downwards until the spherical surface 23 below one of the probes 10 is attached to the surface of the part, the probes 10 move upwards under the extrusion force to extrude the spring 16, the spring 16 transmits the force of the spring 16 to the pressure sensors 9, the pressure values are detected through the pressure sensors 9 and are transmitted to an external control system, the control system analyzes the pressure values to drive the first motor 7 and the second motor 8 to operate, the second mounting plate 6 is driven to rotate to adjust the angle until the values of the four pressure sensors 9 are the same, the second mounting plate 6 is parallel to the surface of the part, the robot body 1 continues to drive the second mounting plate 6 to move vertically and downwards until the value of the pressure sensor 9 reaches a set value, the suction cup 18 is pressed on the surface of the part, air between the suction cup 18 and the part is pumped out through the air pump 20 to form negative pressure in the suction cup 18, and the part can be conveniently sucked through the suction cup 18.

In all the above-mentioned embodiments, the connection between two components may be selected from welding, bolt and nut fit connection, bolt or screw connection or other known connection methods according to actual situations, which are not repeated herein, and it is preferable to consider welding in the above description, although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Quick positioning mechanism of robot body, including robot body (1), its characterized in that: be equipped with positioner, adjusting device and detection device on robot body (1), adjusting device includes first mounting panel (2), first link (3), second link (4), third link (5) and second mounting panel (6), first link (3) set up the lower surface in first mounting panel (2), are equipped with first motor (7) on first link (3), and the output shaft and the second link (4) of first motor (7) are connected, are equipped with second motor (8) on second link (4), and the output shaft and the third link (5) of second motor (8) are connected, second mounting panel (6) fixed mounting in one side of third link (5), detection device includes pressure sensor (9) and probe (10), detection device is provided with four, and four pressure sensor (9) are fixed mounting respectively on four angles of second mounting panel (6), four probe (10) respectively with four pressure sensor (9) connect.

2. The robot body quick positioning mechanism of claim 1, wherein: positioner includes vision camera (11), accepts frame (12), third mounting panel (13) and safety cover (14), accept frame (12) and install on robot (1), and vision camera (11) set up the lower surface at third mounting panel (13), and safety cover (14) cover is established outside vision camera (11), and passes through bolt detachably with third mounting panel (13) and connect, and third mounting panel (13) and accept frame (12) pass through bolt detachably and connect.

3. The robot body quick positioning mechanism of claim 1, wherein: the support rod (15) is arranged below the pressure sensor (9), the bottom of the support rod (15) is connected with the second mounting plate (6), the spring (16) is arranged between the probe (10) and the pressure sensor (9), the guide rod (17) is arranged below the pressure sensor (9), and the guide rod (17) is sleeved with the top of the probe (10) in a sliding mode.

4. The robot body quick positioning mechanism of claim 1, wherein: the lower surface of second mounting panel (6) is equipped with sucking disc (18), and the top of sucking disc (18) is equipped with exhaust tube (19), and the top of exhaust tube (19) runs through second mounting panel (6) and sets up in the top of second mounting panel (6), and is equipped with air pump (20) on exhaust tube (19), sucking disc (18) are provided with a plurality of.

5. The robot body quick positioning mechanism of claim 2, wherein: the bearing frame (12) is provided with a through groove (21) matched with the protective cover (14), the upper surface of the through groove (21) is provided with a mounting groove (22) matched with the third mounting plate (13), and the third mounting plate (13) is detachably connected with the mounting groove (22) through a bolt.

6. The robot body quick positioning mechanism of claim 1, wherein: the bottom of the probe (10) is provided with a spherical surface (23).

7. The robot body quick positioning mechanism of claim 1, wherein: the adjusting device is provided with two groups, the adjusting devices are symmetrically arranged on two sides of the positioning device respectively, the first mounting plate (2) is connected with the bearing frame (12) through bolts, and each group of the adjusting device is provided with four groups of the detecting devices on the second mounting plate (6).