CN220649364U - Auxiliary positioning device - Google Patents
Auxiliary positioning device Download PDFInfo
- Publication number
- CN220649364U CN220649364U CN202321920763.9U CN202321920763U CN220649364U CN 220649364 U CN220649364 U CN 220649364U CN 202321920763 U CN202321920763 U CN 202321920763U CN 220649364 U CN220649364 U CN 220649364U
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- ball
- positioning device
- auxiliary positioning
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- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000026058 directional locomotion Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The utility model discloses an auxiliary positioning device, which comprises: two ball head rods which are respectively arranged along two axial directions in an XYZ three-dimensional coordinate system; the base is provided with two supporting seats for installing the ball head rod respectively; two female balls which are respectively matched with the ball heads of the ball head rods to form a universal joint-like structure; and two electromagnet fixing plates fixedly connected with the two female ball heads respectively, wherein the other surface of each electromagnet fixing plate is fixedly connected with the female ball head, and an electromagnet is arranged on the other surface of each electromagnet fixing plate. The utility model can compensate the coordinate precision of the Euler angle of the space vision positioning through the mechanical mechanism, and meets the positioning requirement of the motion coordinate of the mechanical mechanism.
Description
Technical Field
The utility model relates to the field of automation, in particular to a mechanical auxiliary space positioning method and an auxiliary positioning device.
Background
In some use scenes of automatic equipment, because the positioning accuracy of the parts is poor, the degree of freedom of the positions is high, the positioning is difficult, and six degrees of freedom (the XYZ moves in three directions and rotates around the XYZ directions) can be achieved at most, as shown in fig. 1, if the parts are required to be accurately positioned and grabbed, the positioning of three-dimensional six-directional coordinates is required, and the target parts can be accurately grabbed without interference.
At present, a common and reliable mode is to adopt a camera mode for positioning and a robot mode for grabbing. The camera can determine the coordinate system of the target part, the camera transmits the determined coordinates to the robot, the robot moves towards the target according to the coordinates given by the camera, and the robot can be realized by a manipulator with six degrees of freedom for adapting to the part with six degrees of freedom. The mature and feasible scheme on the market at present is a six-axis robot, the tail end of the six-axis robot has six degrees of freedom, and in theory, the robot can accurately grasp parts at any position without interference in the range of the robot.
The way the camera fits the robot is in most cases a perfect combination, almost ignoring the effect of the part accuracy. However, the camera is affected by the light source, the stability of software, the surrounding environment, the feature of the part, the surface state of the part and other factors, so that the camera cannot be fully applied to any environment. When the automation equipment works in a severe environment, the positioning technology can be affected by the environmental interference to affect the positioning efficiency and accuracy, and even the implementation of the movement mechanism can be affected by the environmental interference. In addition, the six-axis robot is high in price and high in safety protection requirement, programming is complex, and the actual function utilization rate is low, and meanwhile, the robot parameters are limited when the robot is selected, so that a simpler and easier scheme is needed to realize the function.
Disclosure of Invention
The utility model aims to solve the problems and provide a mechanical auxiliary space positioning method and an auxiliary positioning device, which can compensate the coordinate precision of Euler angles of space visual positioning through a mechanical mechanism and meet the positioning requirement of motion coordinates of the mechanical mechanism.
The purpose of the utility model is realized in the following way:
the utility model provides an auxiliary positioning device, comprising:
two ball head rods which are respectively arranged along two axial directions in an XYZ three-dimensional coordinate system;
the base is provided with two supporting seats for installing the ball head rod respectively;
two female balls which are respectively matched with the ball heads of the ball head rods to form a universal joint-like structure; and two electromagnet fixing plates fixedly connected with the two female ball heads respectively, wherein the other surface of each electromagnet fixing plate is fixedly connected with the female ball head, and an electromagnet is arranged on the other surface of each electromagnet fixing plate.
In the auxiliary positioning device, the supporting seat is provided with a mounting hole for the ball rod to pass through, and the supporting seat is fixedly connected with a flange for fixedly mounting a transferring tool on an operation site.
In the auxiliary positioning device, a distance sensor is also arranged on the transfer tool or the auxiliary positioning device.
In the auxiliary positioning device, two electromagnet fixing plates are intersected in an axial direction in a three-dimensional coordinate system and are connected with each other, electromagnets are respectively arranged at one end parts of the two electromagnet fixing plates, and the other end parts of the two electromagnet fixing plates are provided for a working tool to be arranged.
In the auxiliary positioning device, one surface of each electromagnet fixing plate is connected with two linear guide rails, and each electromagnet is slidably mounted on the corresponding two linear guide rails.
In the auxiliary positioning device, each electromagnet is connected with a spring, and the other end of the spring is connected with the electromagnet fixing plate along the sliding direction of the electromagnet.
The auxiliary positioning device comprises a ball head rod, a ball head matching piece, a ball head friction plate and a ball head.
In the auxiliary positioning device, the second ball head matching piece is fixedly connected with an adjusting nut, one end part of the cylindrical structure of the female ball head is provided with an internal thread for the adjusting nut to screw in and screw out, and the adjusting nut screws in and screws out to adjust the distance between the first ball head matching piece and the second ball head matching piece.
The adjusting nut in the auxiliary positioning device is controlled by a driving mechanism, the driving mechanism is a servo motor in transmission connection with the adjusting nut, and the distance between the second ball head matching piece and the first ball head matching piece is controlled by rotating the adjusting nut through rotation transmission of the servo motor.
In the auxiliary positioning device, the second ball head matching piece is connected with an electric push rod, and the distance between the second ball head matching piece and the first ball head matching piece is controlled through the expansion and the contraction of the electric push rod.
The utility model can limit Euler angles of at least one set surface of the object to be positioned, further can limit Euler angles of two set surfaces at the same time, at the moment, the object to be positioned has only one degree of freedom, at the moment, the object can be smoothly disassembled and assembled by realizing one-dimensional directional movement through three-dimensional coordinates and physical limitation of the object Euler angles by the auxiliary positioning device.
Drawings
FIG. 1 is a schematic illustration of Euler angle variation in three dimensions;
FIG. 2 is a schematic view of the auxiliary positioning device of the present utility model;
FIG. 3 is a schematic view of another view angle structure of the auxiliary positioning device of the present utility model;
FIG. 4 is a schematic view of an embodiment of the auxiliary positioning device of the present utility model;
FIG. 5 is another schematic view of an embodiment of the auxiliary positioning device of the present utility model;
FIG. 6 is a schematic view showing the mounting state of the support base, the head rod and the female ball head of the present utility model;
FIG. 7 is a block diagram of a corner fitting and lock button using the auxiliary positioning device of the present utility model;
FIG. 8 is another schematic view of FIG. 7;
FIG. 9 is a schematic view of another embodiment of the auxiliary positioning device of the present utility model;
fig. 10 is another view angle structure diagram of fig. 9.
Detailed Description
The utility model will be further described with reference to the accompanying drawings.
Referring to fig. 2 to 4, an auxiliary positioning device of the present utility model is shown, comprising:
two ball head rods 1 which are respectively arranged along two axial directions in an XYZ three-dimensional coordinate system; in the embodiment, two ball rods 1 are respectively arranged along the X axis and the Y axis;
a base 2, the base 2 is provided with two supporting seats 3 for installing the ball head rod 1 respectively; in this embodiment, the supporting seat 3 is provided with a mounting hole through which the ball rod 1 passes, and the supporting seat 3 is fixedly connected with a flange (not shown in the figure) for fixedly mounting a transfer tool (not shown in the figure) in the working space, in this embodiment, a mechanical arm, and the mechanical arm is provided with a 2D camera for visual positioning; the base 2 can support the space positioning auxiliary device of the utility model, and the supporting seat 3 is used for supporting and guiding the installation ball head rod 1.
Two female ball heads 4 respectively matched with the ball heads of the ball head rods 1 to form a universal joint-like structure, the ball head rods 1 can support the female ball heads 4 and simultaneously play a role in universal floating by matching with the female ball heads 4;
as shown in fig. 6, the connecting structure of the club head 1 and the club head 4 of the present utility model is shown, the club head 4 is in a cylindrical structure, and the ball head of the club head 1 is in a universal joint-like structure through two ball head matching pieces 41, wherein one ball head matching piece 41-1 far from the shaft portion of the club head 1 is fixedly connected with the club head 4, one ball head matching piece 41-2 near the shaft portion of the club head 1 is movable to adjust the distance between the two ball head matching pieces 41, when the ball head matching piece 41-2 moves towards the ball head matching piece 41-1 according to the illustrated position, the distance between the two ball head matching pieces 41 is reduced, the pressure between the ball head of the club head 1 and the ball head matching piece 41 is increased, the friction force is increased, the relative movement of the club head 1 and the club head 4 becomes difficult or even relatively static, and when the ball head matching piece 41-2 moves away from the ball head matching piece 41-1 according to the illustrated position, the situation is opposite to the above. Further, the movement mechanism of the ball-head engaging piece 41-1 includes: an adjusting nut 42 fixedly connected with the ball head matching piece 41-1, wherein one end part of the cylindrical structure of the female ball head 4 is provided with an internal thread for the adjusting nut 4 to rotate in and out, and the adjusting nut 42 controls the rotating friction force of the female ball head 4 in the installation state by manually adjusting the interval between the two ball head matching pieces 41; furthermore, the adjusting nut 42 is a motion mechanism controlled by a driving mechanism, the driving mechanism may be a servo motor in transmission connection with the adjusting nut 42, and the adjusting nut 42 is driven to rotate by the rotation of the servo motor to control the distance between the two ball head matching pieces 41; the ball head matching piece 41-2 can also be directly connected with an electric push rod, the power is provided by the expansion and contraction of the electric push rod, the distance between the ball head matching pieces 41 is adjusted, the simple structure of the embodiment can be realized, the movement and the position can be controlled under the matching of a PLC and a servo motor by adding a controllable mechanism, and the universal movement friction force between the ball head rod 1 and the female ball head 4 is controlled to be changed in different operation stages;
the relative movement relationship between the club head 1 and the ball head 4 is controlled, mainly for the purpose that when the auxiliary positioning device is not contacted with an article to be positioned, the auxiliary positioning device needs to move together with the working tool 7, at the moment, the whole auxiliary positioning device needs to have a fixed position and cannot move relatively, at the moment, the club head 1 and the ball head 4 should be relatively static, when the electromagnet 6 needs to adsorb the article to be positioned, in order to ensure that the adsorption surface of the electromagnet 6 coincides with the article to be positioned, the club head 1 and the ball head 4 need to move in a universal way, at the moment, the club head 1 and the ball head 4 cannot be relatively static, and therefore, the movement between the club head 1 and the ball head 4 can be controlled.
The effect of the floatable connection of the ball head rod 1 and the female ball head 4 is that the Euler angle of the object to be positioned in the space coordinate system cannot be accurately determined, namely, the Euler angle can be corresponding to the XYZ angle instead of the ideal 90-degree relation, if the coordinate system of the object to be positioned is required to be completely attached, the angle which can be matched with the auxiliary positioning device is required, the ball head rod 1 and the female ball head 4 can be timely adjusted according to the angle of the object to be positioned, and the coordinates of the auxiliary positioning device are overlapped with the coordinates of the object to be positioned.
Two electromagnet fixing plates 5 fixedly connected with the two female ball heads 4 respectively, wherein the two electromagnet fixing plates 5 are respectively positioned in an xz plane and a yz plane in an xyz three-dimensional coordinate system, one surface of the electromagnet fixing plate 5 is fixedly connected with the corresponding female ball head 4, the other surface of the electromagnet fixing plate is provided with an electromagnet 6, the female ball head 4 is used for installing the electromagnet fixing plate 5, and the universal-joint-like structure formed by the matching ball head rod 1 and the female ball head 4 plays a role in universal floating; in this embodiment, the electromagnet fixing plate 5 is welded to the female ball head 4, and the electromagnet 6 is controlled by a control system of the operation site.
Further, the two electromagnet fixing plates 5 are intersected in the z-axis direction in the xyz three-dimensional coordinate system and are connected with each other, the electromagnets 6 are respectively installed at one end parts of the two electromagnet fixing plates 5, the other end parts of the two electromagnet fixing plates 5 are used for being installed by a working tool 7, the electromagnet fixing plates 5 are used for fixedly installing the electromagnets 6, and the electromagnets 6 are used for adsorbing the plane of a target part to be positioned, so that accurate positioning is realized;
further, the work tool 7 is a detachable jig for detaching and attaching the lock button 8 for container fixing, and the axial direction of the rotation shaft of the lock button mechanism of the detachable jig is the z-axis direction.
Referring to fig. 9 to 10, the auxiliary positioning device of the above embodiment is different in that each electromagnet 6 is mounted on the electromagnet fixing plate 5 through two linear guide rails 61, the linear guide rails 61 are arranged along the z-axis, each electromagnet 6 is connected to one end of a spring 62, the spring is arranged along the z-axis, and the other end is connected to the electromagnet fixing plate 5. In an initial state, when the electromagnet 6 is supported by the spring 62 and the work tool 7 moves along the z-axis direction angle piece 81, the electromagnet 6 is electrified to absorb the angle piece 81, the work tool 7 moves along the z-axis direction angle piece 81, the absorption state of the electromagnet 6 limits the movement, at the moment, the electromagnet 6 approaches the work tool 7 along the linear guide rail 61 along the angle piece 81, the spring 62 is compressed, and when the work tool 7 stops moving and the lock button 8 is detached, the auxiliary positioning device of the utility model enables the clamped lock button 8 to be separated from the angle piece 81 along the direction of the linear guide rail 61 by the restoring force of the spring 62. When the auxiliary positioning device is used for installing the lock button 8, the lock button 8 is clamped by the working tool 7 to move towards the corner piece 81 along the z-axis, the electromagnet 6 is electrified to absorb the corner piece 81, the working tool 7 moves towards the corner piece 81 along the z-axis, the absorption state of the electromagnet 6 limits the movement, at the moment, the electromagnet 6 approaches the working tool 7 along the linear guide 61 along with the corner piece 81, at the moment, the spring 62 is compressed, and after the working tool 7 stops moving and the lock button 8 is installed, the auxiliary positioning device is separated by the restoring force of the spring 62. When the positioning of the auxiliary positioning device is deviated, the electromagnet 6 can slide on the linear guide 61 to further correct the direction.
The utility model relates to an auxiliary space positioning method, at least one plane of a positioned object to be positioned is positioned in an xz plane of an xyz three-dimensional coordinate system, a working component of a working tool 7 is arranged along a z axis or acts along the z axis direction to finish a working process, the working tool 7 is arranged on an auxiliary positioning device, and the auxiliary space positioning method comprises the following steps:
(1) Positioning an article to be positioned (a lock button 8 in the embodiment) by using a positioning camera of an operation site, and transmitting the spatial position of the article to be positioned in an XYZ three-dimensional coordinate system to a controller;
(2) Transferring the working tool 7 to a space position in an XYZ three-dimensional coordinate system of an article to be positioned by using a transfer tool in the working site;
(3) The auxiliary positioning device can be adsorbed on the xz plane of the article to be positioned;
(4) The work tool 7 is physically restrained by the auxiliary positioning means and works in the z-axis direction.
In the step (1), the positioning camera is a 2D camera, after the YZ plane coordinates of the object to be positioned are determined by the 2D camera, the transfer mechanism rapidly performs along the X axis and detects by utilizing a distance sensor, after the receiving distance of the sensor is reached, the transfer mechanism slowly moves along the X axis, the YZ plane of the auxiliary positioning device has a certain elastic compression amount, the Y axis is accurately positioned according to the coordinates of the 2D camera, the Z axis is tightly attached to the XY plane of the auxiliary positioning device, and at the moment, the electromagnet 6 of the auxiliary positioning device adsorbs the object to be positioned. Therefore, the auxiliary positioning device has a certain position relation with the corner piece 81, namely, the space coordinates of the corner piece 81 are coincident with those of the auxiliary device, so that the lock button 8 can be accurately unlocked and removed from the corner piece 81.
Further, the auxiliary positioning device in the step (3) can absorb the xz plane and the yz plane of the object to be positioned at the same time;
further, the mechanism of the auxiliary positioning device for adsorbing the space plane of the article to be positioned is arranged on the installation mechanism rotating in a three-dimensional space.
The final purpose of the auxiliary positioning device of this embodiment is to remove the lock knob 8 smoothly from the corner piece 81. In the process of disassembling the lock button 8, a disassembling fixture, positioning (2D vision camera in this embodiment), a transferring tool (mechanical arm in this embodiment) and other structures are used, and the utility model is mainly used for solving the positioning problem.
In the actual disassembly and assembly process, the lock and the corner fitting have a relatively stable relative relationship, but the corner fitting has no definite relative relationship with the space absolute coordinate system, namely, the corner fitting 81 may have a certain angle relationship with the XYZ axes of the absolute coordinates, so that a space three-dimensional coordinate system can be formed, and if the coordinates of the corner fitting cannot be accurately determined only by means of the 2D camera, the lock button 8 cannot be accurately removed.
The auxiliary device can limit Euler angles of at least one set surface, further limit Euler angles of two set surfaces at the same time, at the moment, the object to be positioned has only one degree of freedom, and at the moment, the object can be smoothly disassembled and assembled by realizing one-dimensional directional movement through three-dimensional coordinates and physical limitation of the object Euler angles by the auxiliary positioning device.
The above embodiments are provided for illustrating the present utility model and not for limiting the present utility model, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the present utility model, and thus all equivalent technical solutions should be defined by the claims.
Claims (10)
1. An auxiliary positioning device, characterized in that the auxiliary positioning device comprises:
two ball head rods which are respectively arranged along two axial directions in an XYZ three-dimensional coordinate system;
the base is provided with two supporting seats for installing the ball head rod respectively;
two female balls which are respectively matched with the ball heads of the ball head rods to form a universal joint-like structure; and
two electromagnet fixing plates which are respectively and fixedly connected with the two female ball heads, one surface of each electromagnet fixing plate is fixedly connected with the female ball heads, and the other surface of each electromagnet fixing plate is used as a mounting surface for mounting an electromagnet.
2. An auxiliary positioning device as defined in claim 1, wherein said support base is provided with a mounting hole for said ball stud to pass through for mounting, said support base being fixedly connected to a flange for fixedly mounting a transfer tool on a work site.
3. An auxiliary positioning device as claimed in claim 2, wherein the transfer tool or the auxiliary positioning device is further provided with a distance sensor.
4. An auxiliary positioning device as claimed in claim 1 or 2, wherein the two electromagnet fixing plates intersect in an axial direction in a three-dimensional coordinate system and are connected with each other, the electromagnets are respectively mounted on upper parts of mounting surfaces of the two electromagnet fixing plates, and lower parts of the mounting surfaces of the two electromagnet fixing plates are provided for a working tool to mount.
5. An auxiliary positioning device as defined in claim 1, wherein one surface of each electromagnet fixing plate is connected to two linear guide rails, and each electromagnet is slidably mounted on its corresponding two linear guide rails.
6. An auxiliary positioning device as defined in claim 5, wherein a spring is connected to a lower end of each of said electromagnets, the spring being disposed in a sliding direction of the electromagnets, and the other end of the spring being connected to said electromagnet fixing plate.
7. The auxiliary positioning device as claimed in claim 1, wherein the ball head rod is capable of supporting the ball head and realizing universal floating by being matched with the ball head, the ball head is of a cylindrical structure, the ball head of the ball head rod is connected with the ball head of the ball head rod through a first ball head matching piece and a second ball head matching piece, the first ball head matching piece is fixedly connected with the ball head, the second ball head matching piece is capable of adjusting the position of the ball head rod in the ball head, and friction force between the ball head matching piece and the ball head is adjusted through the distance between the first ball head matching piece and the second ball head matching piece.
8. The positioning aid according to claim 7, wherein the second ball-head engaging piece is fixedly connected to an adjusting nut, an end of the cylindrical structure of the female ball head is provided with an internal thread for the adjusting nut to be screwed in and out, and the adjusting nut is screwed in and out to adjust the distance between the first ball-head engaging piece and the second ball-head engaging piece.
9. The positioning aid of claim 8, wherein the adjustment nut is controlled by a drive mechanism, the drive mechanism being a servo motor drivingly connected to the adjustment nut, the adjustment nut being rotated by rotation of the servo motor to control the spacing of the second ball-end engagement tab from the first ball-end engagement tab.
10. The positioning aid of claim 9, wherein the second ball engaging piece is connected to an electric putter, and the distance between the second ball engaging piece and the first ball engaging piece is controlled by telescoping the electric putter.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310130531 | 2023-02-17 | ||
| CN2023101305311 | 2023-02-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220649364U true CN220649364U (en) | 2024-03-22 |
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ID=88376958
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321920763.9U Active CN220649364U (en) | 2023-02-17 | 2023-07-20 | Auxiliary positioning device |
| CN202310895749.6A Pending CN116929211A (en) | 2023-02-17 | 2023-07-20 | Mechanical auxiliary space positioning method and auxiliary positioning device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310895749.6A Pending CN116929211A (en) | 2023-02-17 | 2023-07-20 | Mechanical auxiliary space positioning method and auxiliary positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN220649364U (en) |
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2023
- 2023-07-20 CN CN202321920763.9U patent/CN220649364U/en active Active
- 2023-07-20 CN CN202310895749.6A patent/CN116929211A/en active Pending
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| CN116929211A (en) | 2023-10-24 |
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