CN221291377U - Industrial robot vision positioning device - Google Patents
Industrial robot vision positioning deviceInfo
- Publication number
- CN221291377U CN221291377U CN202323070727.0U CN202323070727U CN221291377U CN 221291377 U CN221291377 U CN 221291377U CN 202323070727 U CN202323070727 U CN 202323070727U CN 221291377 U CN221291377 U CN 221291377U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- connector
- industrial robot
- range finder
- laser range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 46
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 241000309551 Arthraxon hispidus Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model belongs to the technical field of industrial robots, and discloses an industrial robot vision positioning device, which comprises: the mechanical arm comprises a mechanical arm body, wherein a positioning assembly is arranged at the bottom end of the mechanical arm body and comprises a detection mechanism for detecting the position of an object to be grabbed and a movable mechanism for adjusting the position of the detection mechanism, the detection mechanism is provided with a detection piece consisting of a height detection device and a plane detection device, and the movable mechanism is arranged at the bottom end of the mechanical arm body.
Description
Technical Field
The utility model belongs to the technical field of industrial robots, and particularly relates to an industrial robot vision positioning device.
Background
Industrial robot is the auxiliary production equipment commonly used in automated production, and industrial robot in the present market need be through visual positioner to the article location when getting the piece, then snatchs through the arm, and present industrial robot visual positioner mostly installs the snatch end at the arm, helps the arm to fix a position article, and this kind of from last mode of carrying out the location down is difficult to estimate the high distance of arm and article, leads to the arm to grab empty or direct striking to wait to snatch article easily.
Disclosure of utility model
The utility model aims to provide an industrial robot vision positioning device, which solves the problems that most of vision positioning devices in the background art are arranged at the grabbing end of a mechanical arm to help the mechanical arm to position objects, the height distance between the mechanical arm and the objects is difficult to estimate in a top-down positioning mode, and the mechanical arm is easy to grab or directly strike the objects to be grabbed.
In order to achieve the above purpose, the present utility model provides the following technical solutions: an industrial robot vision positioning device, comprising: the mechanical arm comprises a mechanical arm body, wherein a positioning assembly is arranged at the bottom end of the mechanical arm body, the positioning assembly comprises a detection mechanism for detecting the position of an object to be grabbed and a movable mechanism for adjusting the position of the detection mechanism, the detection mechanism is provided with a detection piece consisting of a height detection device and a plane detection device, and the movable mechanism is arranged at the bottom end of the mechanical arm body.
Preferably, the movable mechanism comprises an electric push rod, a sliding block, a sliding groove and a transverse plate, wherein the electric push rod is arranged at the bottom end of the mechanical arm body, the transverse plate is arranged at the bottom end of the electric push rod, the sliding groove is arranged at the bottom end of the electric push rod, the sliding block is arranged on the top end surface of the transverse plate, and the sliding block is embedded into the sliding groove.
Preferably, the detection mechanism comprises a laser range finder, a connector and a plane detection head, wherein the laser range finder is arranged on the surface of the electric push rod, the laser range finder is movably connected with the electric push rod, the connector is arranged at the end part of the mechanical arm body, and the plane detection head is rotationally connected with the connector.
Preferably, the cavity is seted up to the inside end that stretches out of electric putter, the internally mounted of cavity has belt drive system, belt drive system's surface mounting has the meshing tooth, the removal groove has been seted up to the inner wall of cavity, and the laser range finder passes the inside in removal groove, the meshing piece is installed to the surface other end of laser range finder, meshing piece and meshing tooth mesh mutually.
Preferably, the surface of the connector is provided with a threaded hole, the surface of the plane detection head is provided with a threaded rod, the threaded end of the threaded rod is screwed and inserted into the threaded hole, and the other end of the threaded rod is rotationally connected with the connector.
Preferably, the surface mounting of connector has the bearing, the outer lane of bearing and the surface connection of connector, the tip embedding of threaded rod is inside the inner circle of bearing.
Compared with the prior art, the utility model has the beneficial effects that:
(1) The utility model is provided with the movable mechanism, the mechanical arm body can transversely move on the surface of the transverse plate by virtue of the sliding block, the mechanical arm body moves to the vicinity of an object to be grabbed by the movable mechanism, the detection mechanism positions the object to be grabbed in the movement of the movable mechanism, and then the mechanical arm body grabs.
(2) The utility model is provided with the detection mechanism, the height position of the laser range finder can be continuously adjusted through the movement of the electric push rod and the belt transmission system, the laser range finder continuously descends from a high place, the laser is blocked by an article, the height of the laser range finder is flush with the article to be grabbed, and the height of the laser range finder is the height of the article.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a cross-sectional view of a chamber of the present utility model;
FIG. 3 is a schematic view of a connector according to the present utility model;
In the figure: 1. an electric push rod; 2. a cross plate; 3. a slide block; 4. a chute; 5. a robot arm body; 6. a chamber; 7. a belt drive system; 8. meshing teeth; 9. a meshing block; 10. a moving groove; 11. a laser range finder; 12. a connector; 13. a planar detection head; 14. a threaded hole; 15. a threaded rod; 16. and (3) a bearing.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-3, the present utility model provides the following technical solutions: an industrial robot vision positioning device, comprising: the mechanical arm comprises a mechanical arm body 5, wherein a positioning assembly is arranged at the bottom end of the mechanical arm body 5 and comprises a detection mechanism for detecting the position of an object to be grabbed and a movable mechanism for adjusting the position of the detection mechanism, the detection mechanism is provided with a detection piece consisting of a height detection device and a plane detection device, and the movable mechanism is arranged at the bottom end of the mechanical arm body 5.
Through the technical scheme:
when the mechanical arm is used, the mechanical arm moves to the vicinity of an object to be grabbed through the movable mechanism, the position of the object to be grabbed is positioned through the plane detection device, and meanwhile, the height position of the object is detected through the height detection device.
Further, the movable mechanism comprises an electric push rod 1, a sliding block 3, a sliding groove 4 and a transverse plate 2, wherein the electric push rod 1 is arranged at the bottom end of the mechanical arm body 5, the transverse plate 2 is arranged at the bottom end of the electric push rod 1, the sliding groove 4 is arranged at the bottom end of the electric push rod 1, the sliding block 3 is arranged on the top end surface of the transverse plate 2, and the sliding block 3 is embedded into the sliding groove 4.
Specifically, the mechanical arm body 5 can move transversely on the surface of the transverse plate 2 by means of the sliding block 3, and is close to the object to be grabbed, so that the detection mechanism can be positioned conveniently.
Further, the detection mechanism comprises a laser range finder 11, a connector 12 and a plane detection head 13, wherein the laser range finder 11 is arranged on the surface of the electric push rod 1, the laser range finder 11 is movably connected with the electric push rod 1, the connector 12 is arranged at the end part of the mechanical arm body 5, and the plane detection head 13 is rotatably connected with the connector 12.
Specifically, the planar position of the article is determined by the planar detection head 13 mounted on the surface of the joint head 12, and the distance and height of the article can be confirmed by the laser of the laser range finder 11.
Further, a cavity 6 is formed in the extending end of the electric push rod 1, a belt transmission system 7 is mounted in the cavity 6, meshing teeth 8 are mounted on the surface of the belt transmission system 7, a moving groove 10 is formed in the inner wall of the cavity 6, a laser range finder 11 penetrates through the moving groove 10, a meshing block 9 is mounted at the other end of the surface of the laser range finder 11, and the meshing block 9 is meshed with the meshing teeth 8.
Specifically, through the activity of electric putter 1 and belt drive system 7, can constantly adjust the high position of laser range finder 11, laser range finder 11 descends from the eminence constantly, and the laser receives the article in the twinkling of an eye that blocks, and the high of laser range finder 11 is with waiting to snatch article parallel and level, and the high of laser range finder 11 is the height of article this moment.
Further, a threaded hole 14 is formed in the surface of the connector 12, a threaded rod 15 is mounted on the surface of the plane detection head 13, a threaded end of the threaded rod 15 is screwed into the threaded hole 14, and the other end of the threaded rod 15 is connected with the connector 12 in a rotating mode.
Specifically, the threaded hole 14 is opened to mount the flat detection head 13 for easy mounting and dismounting by a user.
Further, the surface of the connector 12 is provided with a bearing 16, the outer ring of the bearing 16 is connected with the surface of the connector 12, and the end part of the threaded rod 15 is embedded into the inner ring of the bearing 16.
Specifically, the inner ring and the outer ring of the bearing 16 can be freely rotated away from each other, so that the plane detection head 13 can freely rotate on the surface of the connector 12, and even if the connector 12 is in an inclined state due to the movement of the mechanical arm body 5, the normal operation of the plane detection head 13 is not affected.
Although embodiments of the present utility model 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 therein 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 (6)
1. Industrial robot vision positioner, its characterized in that includes:
The mechanical arm comprises a mechanical arm body (5), wherein a positioning assembly is arranged at the bottom end of the mechanical arm body (5), the positioning assembly comprises a detection mechanism for detecting the position of an article to be grabbed and a movable mechanism for adjusting the position of the detection mechanism, the detection mechanism is provided with a detection piece consisting of a height detection device and a plane detection device, and the movable mechanism is arranged at the bottom end of the mechanical arm body (5).
2. The industrial robot vision positioning device of claim 1, wherein: the movable mechanism comprises an electric push rod (1), a sliding block (3), a sliding groove (4) and a transverse plate (2), wherein the electric push rod (1) is arranged at the bottom end of a mechanical arm body (5), the transverse plate (2) is arranged at the bottom end of the electric push rod (1), the sliding groove (4) is arranged at the bottom end of the electric push rod (1), the sliding block (3) is arranged on the top end surface of the transverse plate (2), and the sliding block (3) is embedded into the sliding groove (4).
3. The industrial robot vision positioning device of claim 2, wherein: the detection mechanism comprises a laser range finder (11), a connector (12) and a plane detection head (13), wherein the laser range finder (11) is arranged on the surface of the electric push rod (1), the laser range finder (11) is movably connected with the electric push rod (1), the connector (12) is arranged at the end part of the mechanical arm body (5), and the plane detection head (13) is rotationally connected with the connector (12).
4. An industrial robot vision positioning device as claimed in claim 3, characterized in that: the utility model discloses a laser range finder, including motor putter (1), cavity (6) have been seted up to the inside end of stretching out of motor putter (1), internally mounted of cavity (6) has belt drive system (7), the surface mounting of belt drive system (7) has meshing tooth (8), removal groove (10) have been seted up to the inner wall of cavity (6), and laser range finder (11) pass the inside of removing groove (10), meshing piece (9) are installed to the surface other end of laser range finder (11), meshing piece (9) and meshing tooth (8) mesh mutually.
5. The industrial robot vision positioning device of claim 4, wherein: screw holes (14) are formed in the surface of the connector (12), a threaded rod (15) is mounted on the surface of the plane detection head (13), the threaded end of the threaded rod (15) is screwed and inserted into the screw holes (14), and the other end of the threaded rod (15) is connected with the connector (12) in a rotating mode.
6. The industrial robot vision positioning device of claim 5, wherein: the surface mounting of connector (12) has bearing (16), the outer lane of bearing (16) is connected with the surface of connector (12), the tip of threaded rod (15) is embedded to the inside of the inner circle of bearing (16).
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221291377U true CN221291377U (en) | 2024-07-09 |
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| Date | Code | Title | Description |
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| GR01 | Patent grant |