WO2021057603A1 - 用于轨道机构的宽度调节装置和宽度调节方法 - Google Patents

用于轨道机构的宽度调节装置和宽度调节方法 Download PDF

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Publication number
WO2021057603A1
WO2021057603A1 PCT/CN2020/115978 CN2020115978W WO2021057603A1 WO 2021057603 A1 WO2021057603 A1 WO 2021057603A1 CN 2020115978 W CN2020115978 W CN 2020115978W WO 2021057603 A1 WO2021057603 A1 WO 2021057603A1
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WO
WIPO (PCT)
Prior art keywords
track
movable
rail
fixed
width
Prior art date
Application number
PCT/CN2020/115978
Other languages
English (en)
French (fr)
Inventor
曲东升
李长峰
郜福亮
史晔鑫
苗虎
周典虬
Original Assignee
常州铭赛机器人科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201910900345.5A external-priority patent/CN110405726B/zh
Priority claimed from CN201910899565.0A external-priority patent/CN110549314B/zh
Application filed by 常州铭赛机器人科技股份有限公司 filed Critical 常州铭赛机器人科技股份有限公司
Priority to KR1020217037189A priority Critical patent/KR102549626B1/ko
Priority to JP2021560687A priority patent/JP7300003B2/ja
Publication of WO2021057603A1 publication Critical patent/WO2021057603A1/zh
Priority to TW110130755A priority patent/TWI813003B/zh
Priority to US17/644,251 priority patent/US11852290B2/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M7/00—Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40293—Gantry, portal

Definitions

  • the present disclosure relates to the track field, in particular to a width adjustment device and a width adjustment method for a track mechanism.
  • the traditional track width adjustment method is realized through the cooperation of splines and screw rods.
  • the traditional cabinet-type dispenser requires an additional width adjustment device to adjust the width, which is costly, has a complicated structure, and takes up a large space and width.
  • the adjustment method is complicated.
  • the present disclosure aims to solve at least one of the technical problems existing in the prior art.
  • the present disclosure proposes a width adjusting device for a track mechanism, which can effectively use space, simplify the structure, and realize rapid and accurate width adjustment of the track mechanism.
  • the present disclosure also proposes a width adjustment method for the track mechanism.
  • the track mechanism includes a fixed track and a movable track parallel to each other, and the width adjusting device for the track mechanism is used to change the movable track from the initial The position is moved to the working position, and the width adjusting device for the track mechanism includes: a base on which the fixed track is suitable for being provided; a first guide rail, where the first guide rail is provided on the base Above, the movable rail is adapted to be installed on the first rail, and the movable rail is movable along the axial direction of the first rail toward or away from the fixed rail; the moving distance acquiring module, the moving distance The acquiring module is used to acquire the moving distance of the movable track from the initial position to the working position; a driving assembly, the driving assembly is detachably connected to the movable track, and the driving assembly is used to drive the The movable track moves from the initial position to the working position according to the moving distance.
  • the moving distance of the movable track when the movable track moves from the initial position to the working position is acquired through the movement distance acquiring module, and then the driving assembly is used to move the movable track from the initial position to the working position.
  • the width adjusting device for the track mechanism can adjust the width of the track mechanism, reduce the difficulty of width adjustment, and improve the accuracy of width adjustment.
  • the width adjustment device for the rail mechanism further includes a locking member connected to the movable rail and the first guide rail respectively, and the locking member is used to connect the The movable rail is locked or released on the first guide rail.
  • the locking member is a pneumatic normally closed rail brake installed on the first rail.
  • the drive assembly includes: a first movement assembly, the first movement assembly being located above the movable rail and having an axial direction parallel to the axial direction of the first guide rail; Part, the first mating part is connected to the first moving component and is movable along the axial direction of the first moving component, and when the first matching part moves to the initial position, it is detachable from the movable rail Ground connection.
  • the width adjusting device for the track mechanism further includes a second matching part, the second matching part is installed on the movable rail, and the second matching part is connected to the first The matching portion cooperates to drive the movable rail to move along the first guide rail.
  • the lower end of the first matching part is provided with an opening groove
  • the second matching part is a telescopic positioning pin
  • the The telescopic positioning pin moves toward the opening groove and is inserted into the opening groove
  • the drive assembly further includes a second movement assembly located above the movable track and connected to the first movement assembly, and the axis of the second movement assembly
  • the direction is perpendicular to the axial direction of the first moving component, and the second moving component is movable along the axial direction of the first moving component
  • the moving distance acquiring module includes a camera component, and the camera component is arranged at the The second movement component is movable along the axial direction of the second movement component, and the camera component is used for collecting position information of the fixed track and the movable track.
  • a first calibration position is preset on the fixed track
  • a second calibration position is preset on the movable track
  • the camera assembly is movable and adaptable along the axial direction of the first moving assembly. Collecting image information of the first calibration position and the second calibration position in sequence.
  • a width adjustment method for a rail mechanism includes a fixed rail and a movable rail that are parallel to each other, and the width adjustment method is used to move the movable rail from an initial position to a working position. Position, the width adjustment method includes the following steps:
  • d2 is the distance between the first calibration position in step S1 and the edge of the fixed rail
  • d3 is the distance between the second calibration position and the movable rail and the fixed rail in step S2.
  • the distance between the edges, d4 is the distance between the movable rail and the fixed rail when the movable rail is in the working position;
  • the fixed rail and the movable rail respectively extend in a first direction
  • the movable rail moves from the initial position to the working position in a second direction
  • the first direction is aligned with The second direction is perpendicular
  • the position information of the first calibration position acquired in step S1 is (X1, Y1)
  • the position information of the second calibration position acquired in step S2 is (X2, Y2 )
  • the distance d1 between the movable track and the fixed track when the movable track is at the initial position in step S3 Y2-Y1.
  • step S1 and step S2 the position information of the fixed track and the position information of the movable track are obtained through a camera component, respectively.
  • step S1 the camera assembly moves to the top of the fixed track and obtains the image information of the first calibration position; in step S2, the camera assembly starts from the first calibration The position moves toward one side of the second calibration position until it moves to above the movable track at the initial position and obtains the image information of the second calibration position.
  • step S2 each time the camera component moves the preset shooting range and the preset shooting time period is interval, one shooting is performed.
  • the preset shooting range is 10 mm ⁇ 10 mm, and the preset shooting time period is 200 ms.
  • Fig. 1 is a schematic structural view of a driving assembly of a width adjusting device for a track mechanism in a position according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of the drive assembly of the width adjusting device for the track mechanism in another position according to the embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of the assembly of the rail mechanism and the first guide rail of the width adjustment device for the rail mechanism according to an embodiment of the present disclosure
  • FIG. 4 is a partial structural diagram of a moving distance acquiring module of a width adjusting device for a track mechanism according to an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of the cooperation between the first matching part and the second matching part of the width adjusting device for the track mechanism according to the embodiment of the present disclosure
  • Fig. 6 is a schematic flowchart of a width adjustment method for a track mechanism according to an embodiment of the present disclosure
  • FIG. 7 is a schematic diagram of the movable track in the initial position of the method for adjusting the width of the track mechanism according to an embodiment of the present disclosure
  • FIG. 8 is a schematic diagram of a movable rail moving from an initial position to a working position according to the method for adjusting the width of a rail mechanism according to an embodiment of the present disclosure
  • FIG. 9 is a schematic diagram of an electronic device according to an embodiment of the present disclosure.
  • Width adjustment device 100
  • Track mechanism 10 fixed track 11; movable track 12;
  • Base 20 first guide rail 30; moving distance acquisition module 40; camera assembly 41;
  • the online intelligent working robot 200 The online intelligent working robot 200; the base 210; the column 220; the supporting part 230; the installation boss 240.
  • Width adjustment method 300 initial position 21; working position 22; first calibration point 23; second calibration point 24;
  • Electronic device 400 memory 410; operating system 411; application program 412;
  • Processor 420 network interface 430; input device 440; hard disk 450; display device 460.
  • connection should be understood in a broad sense.
  • they can be fixed or detachable.
  • Connected or integrally connected it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection should be understood in a broad sense.
  • they can be fixed or detachable.
  • Connected or integrally connected it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the specific meaning of the above-mentioned terms in the present disclosure can be understood according to specific circumstances.
  • the track mechanism 10 includes a fixed track 11 and a movable track 12 that are parallel to each other.
  • the width adjustment device 100 is used to move the movable rail 12 from the initial position to the working position.
  • the width adjustment device 100 for the rail mechanism 10 may include: a base 20, a first rail 30, a moving distance acquisition module 40 and a driving assembly 50.
  • the base 20 is suitable for being provided with a fixed rail 11, and the first guide rail 30 is provided on the base 20.
  • a movable rail 12 is suitable to be installed on the first rail 30, and the movable rail 12 is movable toward or away from the fixed rail 11 along the axial direction of the first rail 30.
  • the moving distance acquiring module 40 can be used to acquire the moving distance of the movable track 12 when it moves from the initial position to the working position.
  • the driving assembly 50 is detachably connected to the movable rail 12, and the driving assembly 50 is used to drive the movable rail 12 to move from the initial position to the working position according to the moving distance.
  • the width adjusting device 100 for the track mechanism 10 is used to adjust the width of the track mechanism 10, and the width adjusting device 100 for the track mechanism 10 includes the base 20, the first rail 30, and the moving distance acquisition
  • the module 40 and the drive assembly 50 are provided with a conveying channel along the axial direction of the rail mechanism 10.
  • the fixed rail 11 and the movable rail 12 parallel to each other can cooperate to define the conveying channel. Moving to the working position can realize quick adjustment of the width of the conveying channel.
  • the fixed rail 11 and the movable rail 12 are respectively installed on the base 20, and the movable rail 12 can move relative to the fixed rail 11.
  • a first rail 30 is provided on the base 20, and the first rail 30 is perpendicular to the fixed rail 11 and the movable rail 12, respectively.
  • the movable rail 12 is movable along the axial direction of the first guide rail 30.
  • the moving distance acquiring module 40 can acquire the moving distance of the moving track 12 when the moving track 12 moves from the initial position to the working position.
  • the driving assembly 50 can receive the moving distance information, and drive the movable rail 12 to move along the first guide rail 30 from the initial position to the working position.
  • the width adjusting device 100 for the track mechanism 10 adopts the combination of the base 20, the first guide rail 30, the moving distance acquisition module 40 and the drive assembly 50, which can effectively increase the width of the track mechanism 10. Adjust the speed and accuracy of the adjustment.
  • the driving assembly 50 may be located above the movable rail 12, which is convenient for the driving assembly 50 to drive the movable rail 12 to move.
  • first rail 30 and the fixed rail 11 are perpendicular to each other, which ensures that the movable rail 12 remains parallel to the fixed rail 11 when moving on the first rail 30.
  • the width adjusting device 100 for the rail mechanism 10 further includes a locking member 60.
  • the locking member 60 is connected to the movable rail 12 and the first rail 30 respectively, and the locking member 60 can lock or release the movable rail 12 on the first rail 30. It should be noted that before the drive assembly 50 drives the movable rail 12 to move, the movable rail 12 can be locked on the first guide rail 30; when the width of the rail mechanism 10 needs to be adjusted, the locking member 60 can release the movable rail 12 Moreover, after the width adjustment is completed, the movable rail 12 can be locked on the first rail 30, which can prevent the rail mechanism 10 from shaking when the workpiece is transported, and can improve the structural stability.
  • the locking member 60 is a pneumatic normally closed rail brake installed on the first rail 30.
  • the rail brake When the rail brake is in use, it can be started by air pressure.
  • the guide rail brake can rely on the spring force to press the inclined block on the first guide rail 30 when it is not ventilated to achieve a locking effect; when the guide rail brake is ventilated, the air pressure compresses the spring and the inclined block loosens, which can lock the movable rail 12 release.
  • the use of rail brakes has the advantages of convenient use, compact structure, maintenance-free, high reliability, and can be used even when the power is cut off.
  • the drive assembly 50 includes: a first movement assembly 51 and a first mating portion 52.
  • the first movement assembly 51 is located above the movable rail 12 and has an axial direction that is aligned with the axial direction of the first guide rail 30.
  • the first mating part 52 is connected to the first moving assembly 51 and is movable along the axial direction of the first moving assembly 51.
  • the first mating part 52 is detachably connected to the movable rail 12 when it moves to the initial position.
  • the matching portion 52 drives the movable rail 12 to move from the initial position to the working position, the first matching portion 52 can be released from the movable rail 12.
  • the width adjusting device 100 for the track mechanism 10 further includes a second matching portion 70, the second matching portion 70 is installed on the movable rail 12, and the second matching portion 70 cooperates with the first matching portion 52 to drive the movable rail 12. Move along the first guide rail 30. In other words, when the movable rail 12 needs to be driven, the first matching portion 52 moves to above the second matching portion 70 and cooperates with the second matching portion 70.
  • the lower end of the first matching portion 52 is provided with an opening groove 53
  • the second matching portion 70 is formed as a telescopic positioning pin.
  • the telescopic positioning pin moves toward the opening groove 53 and is inserted into the opening groove 53.
  • the telescopic positioning pin can move in the up and down direction.
  • the first mating part 52 moves in the direction of the second mating part 70 and moves above the second mating part 70
  • the telescopic positioning pin can move up and down in the up and down direction. It is inserted into the opening slot 53 to realize a quick connection between the first matching portion 52 and the second matching portion 70.
  • the telescoping positioning pin can be disengaged from the opening groove 53 and can realize quick disassembly between the first matching portion 52 and the second matching portion 70.
  • the first mating portion 52 may be formed as a triangular shift fork, which has the advantages of stable structure and no deformation during long-term operation; and the first mating portion 52 may be provided with a weight reduction hole , which can reduce weight while ensuring strength.
  • the driving assembly 50 further includes a second movement assembly 54
  • the movement distance acquisition module 40 includes a camera assembly 41.
  • the second movement component 54 is located above the movable rail 12 and is connected to the first movement component 51.
  • the axial direction of the second movement component 54 is perpendicular to the axial direction of the first movement component 51, and the second movement component 54 is along the first movement component.
  • the axial direction of 51 is movable.
  • the camera assembly 41 is arranged on the second movement assembly 54 and is movable along the axis of the second movement assembly 54, so that the position of the camera assembly 41 on the second movement assembly 54 can be adjusted.
  • the camera assembly 41 may include a camera, and is used to collect position information of the fixed track 11 and the movable track 12.
  • the second movement component 54 can extend in the first direction, and the first movement component 51 can extend in the second direction.
  • the width can be adjusted synchronously, the cost can be reduced, and the space can be effectively used. , Simplify the structure.
  • the camera assembly 41 can move together with the second movement component 54.
  • the process of adjusting the width of the rail mechanism 10 by the width adjusting device 100 can be mainly divided into two stages:
  • the second moving component 54 drives the camera component 41 to move along the axial direction of the first moving component 51, and when the camera component 41 moves above the fixed rail 11, the position information of the fixed rail 11 can be collected. Subsequently, the camera assembly 41 continues to move in the direction of the movable track 12, and when the camera assembly 41 moves above the movable track 12, position information of the movable track 12 can be collected.
  • a calculation formula can be used to obtain the movement distance of the movable track 12 from the initial position to the working position.
  • the second moving component 54 drives the first matching portion 52 to move to the position where the second matching portion 70 is located.
  • the first matching portion 52 cooperates with the second matching portion 70, and the second moving component 54 is driven by the first matching portion 52 to move.
  • the track 12 moves toward the working position by the calculated movement distance.
  • a first calibration position is preset on the fixed rail 11
  • a second calibration position is preset on the movable rail 12
  • the camera assembly 41 is movable along the axial direction of the first moving assembly 51 and is suitable for sequentially acquiring the first calibration positions And the image information of the second calibration position.
  • the camera assembly 41 performs shooting and can realize the functions of calibration and width adjustment.
  • the position information of the first calibration position preset on the fixed track 11 is the first position information
  • the position information of the second calibration position preset on the movable track 12 is the second position when the movable track 12 is at the initial position Information
  • the distance between the movable track 12 and the fixed track 11 is d1
  • d1 can be obtained from the first position information and the second position information.
  • the movable track 12 moves from the initial position to the working position.
  • the moving distance d satisfies formula (1),
  • d2 is the distance between the first calibration position and the edge of the fixed rail 11
  • d3 is the distance between the second calibration position and the edge of the movable rail 12 and the fixed rail 11 opposite to each other.
  • the distance, d4 is the distance between the movable rail 12 and the fixed rail 11 when the movable rail 12 is in the working position.
  • a first calibration point 23 may be preset at the first calibration position on the fixed rail 11, and a second calibration point 23 may be preset at the second calibration position on the movable rail 12.
  • the fixed point 24, the first calibration point 23 and the second calibration point 24 can be attached to the surfaces of the fixed rail 11 and the movable rail 12 by machining or other means.
  • the first calibration point 23 and the second calibration point 24 may not be limited to polygons such as circles, squares, and diamonds.
  • the center of the first calibration point 23 and the second calibration point 24 and the distance d4 between the movable track 12 and the fixed track 11 when the movable track 12 is at the working position 22 are fixed values, which can be preset in the computer in advance.
  • the number of the first mating parts 52 is two, and the two first mating parts 52 are spaced apart at the two axial ends of the second moving assembly 54.
  • the second mating parts 70 and the first mating parts 52 are spaced apart from each other in the axial direction.
  • a matching portion 52 corresponds to it, which can improve the stability of the width adjustment process.
  • the online intelligent work robot 200 includes the width adjusting device 100 for the track mechanism 10 according to the embodiment of the first aspect of the present disclosure.
  • the online intelligent working robot 200 further includes: a base 210, a plurality of uprights 220, a supporting part 230, and two mounting bosses 240.
  • a plurality of uprights 220 are spaced apart on the base 210, the supporting part 230 is connected to the plurality of uprights 220 and is supported by the uprights 220, the upper end of each upright 220 extends upwards beyond the supporting part 230, and the base 20 is mounted on the support Above the portion 230, two mounting bosses 240 are spaced apart and disposed oppositely on the column 220, and the upper surface of each mounting boss 240 is formed as a driving mechanism mounting surface that can be used to mount the driving assembly 50.
  • the width adjustment method 300 for the track mechanism 10 according to the third aspect of the present disclosure can be applied to the width adjustment device 100 for the track mechanism 10 and the online intelligent operation with the width adjustment device 100 In the robot 200.
  • the width adjustment method 300 for the track mechanism 10 according to the third aspect of the present disclosure can move the movable track 12 from the initial position 21 to the working position 22.
  • the width adjustment method 300 for the track mechanism 10 includes the following steps:
  • the width of the track mechanism 10 can be adjusted quickly and accurately, which is convenient to implement and easy to operate.
  • the fixed rail 11 and the movable rail 12 have the same width, and the first calibration point 23 and the second calibration point 24 may be located along the width of the corresponding fixed rail 11 and the movable rail 12, respectively.
  • the center position of the direction is convenient to obtain the data of d2 and d3 and simplify the calculation formula and calculation process.
  • the fixed rail 11 and the movable rail 12 respectively extend in the first direction, and the movable rail 12 moves from the initial position 21 to the working position 22 in the second direction.
  • the first direction is perpendicular to the second direction
  • the position information of the first calibration position acquired in step S1 is (X1, Y1)
  • the position information of the second calibration position acquired in step S2 is (X2, Y2)
  • the distance d1 between the movable track 12 and the fixed track 11 Y2-Y1. That is to say, in the calculation process, if there is a lateral deviation between the first calibration point 23 and the second calibration point 24 in the first direction, this value has no effect on this calculation method, and this value can be automatically ignored in the calculation.
  • step S1 and step S2 the position information of the fixed track 11 and the position information of the movable track 12 are obtained through the camera assembly 41, respectively.
  • step S1 the camera assembly 41 moves above the fixed track 11 and obtains the image information of the first calibration position.
  • step S2 the camera assembly 41 moves from the first calibration position toward the second calibration position until it moves above the movable track 12 at the initial position 21 and obtains image information of the second calibration position.
  • the debugger can first input a required distance d4, and then start to find the first calibration point 23 and the second calibration point 24 manually or automatically.
  • the method of automatically searching for the first calibration point 23 and the second calibration point 24 is as follows: firstly, the camera assembly 41 is moved to the first calibration point 23 to complete the shooting. Then, the camera assembly 41 is driven to move toward the direction away from the fixed rail 11 by the driving assembly 50 until the camera assembly 41 captures the second calibration point 24.
  • the method of manually searching for the calibration point is as follows: firstly, the camera assembly 41 is moved to the first calibration point 23 to complete the shooting. Then, the operator controls the camera assembly 41 to move toward the direction away from the fixed rail 11 to within the shooting range of the second calibration point 24, and the camera assembly 41 shoots the second calibration point 24.
  • step S2 every time the camera component 41 moves the preset shooting range and the preset shooting time period is interval, a shooting is performed.
  • the preset shooting range is 10mm ⁇ 10mm, and the preset shooting time period is 200ms.
  • the width adjustment device 100 for the track mechanism 10 includes: a first position information acquisition module, a second position information acquisition module, an initial distance calculation module, a movement distance calculation module, and a driving module.
  • the first position information acquiring module is used to acquire the first position information of the fixed track 11 according to the first calibration position preset on the fixed track 11
  • the second position information acquiring module is used to acquire the first position information of the fixed track 11 according to the preset position on the movable track 12.
  • the second calibration position is set to obtain the second position information when the movable track 12 is at the initial position
  • the initial distance calculation module is used to calculate the movable track 12 and the fixed track when the movable track 12 is at the initial position according to the first position information and the second position information.
  • the moving distance calculation module is used to calculate the moving distance d when the movable track 12 moves from the initial position to the working position according to the above formula (1), and the driving module can drive the movable track according to the calculated moving distance d 12 moves from the initial position to the working position.
  • the driving module can drive the movable track according to the calculated moving distance d 12 moves from the initial position to the working position.
  • the width adjusting device 100 for the track mechanism 10 can quickly and accurately adjust the width of the track mechanism 10, and has the advantages of high degree of automation and easy operation.
  • the computer storage medium according to the embodiment of the fifth aspect of the present disclosure includes one or more computer program instructions, and when executed, the one or more computer program instructions can realize the use of the above-mentioned embodiment of the third aspect of the present disclosure.
  • the computer storage medium stores a computer program, and when the computer program is run by the processor, the processor executes the width adjustment method 300 for the track mechanism 10 according to the embodiment of the third aspect of the present disclosure.
  • the electronic device 400 includes a memory 410 and a processor 420.
  • the memory 410 is used to store one or more computer program instructions
  • the processor 420 is used to call and execute the one. Or multiple computer program instructions to implement the method 300 according to the above-mentioned embodiment of the third aspect of the present disclosure.
  • the electronic device 400 includes a memory 410 and a processor 420.
  • One or more computer program instructions are stored in the memory 410.
  • the processor 420 is executed according to the present invention.
  • the method 300 of the embodiment of the third aspect described above is disclosed.
  • the electronic device 400 further includes a network interface 430, an input device 440, a hard disk 450, and a display device 460.
  • the above-mentioned interfaces and various devices can be interconnected through a bus architecture.
  • the bus architecture may include any number of interconnected buses and bridges. Specifically, one or more central processing units (CPU) represented by the processor 420 and various circuits of one or more memories represented by the memory 410 are connected together.
  • the bus architecture can also connect various other circuits such as peripherals, voltage regulators, and power management circuits. It can be understood that the bus architecture is used to realize the connection and communication between these components.
  • the bus architecture may also include a power bus, a control bus, and a status signal bus. These buses are well-known in the art, and therefore will not be described in detail herein.
  • the network interface 430 can be connected to a network (such as the Internet, a local area network, etc.) to obtain relevant data from the network, and can store the obtained relevant data in the hard disk 450.
  • a network such as the Internet, a local area network, etc.
  • the input device 440 may receive various instructions input by the operator, and send the received various instructions to the processor 420 for execution by the processor 420.
  • the input device 440 may include a keyboard or a pointing device, such as a mouse, a trackball (trackball), a touch panel, or a touch screen.
  • the display device 460 may display the result obtained after the processor 420 executes the instruction.
  • the memory 410 is used to store programs and data necessary for the operation of the operating system, and data such as intermediate results in the calculation process performed by the processor 420.
  • the memory 410 in the embodiment of the present disclosure may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory may be read only memory (ROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), or flash memory.
  • Volatile memory may be random access memory (RAM), which acts as an external cache.
  • RAM random access memory
  • the memory 410 stores the following elements: executable modules or data structures, or their subsets, or their extended sets, the operating system 411 and the application programs 412.
  • the operating system 411 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks.
  • the application program 412 includes various application programs, such as a browser (Browser), etc., which are used to implement various application services.
  • a program for implementing the width adjustment method 300 according to the embodiment of the third aspect of the present disclosure may be included in the application program 412.
  • the processor 420 calls and executes the application programs and data stored in the memory 410, specifically, when calling and executing the programs or instructions stored in the application program 412, it distributes one of the first set and the second set. To nodes distributed by the other of the first set and the second set, where the other is stored in at least two nodes; and according to the node distribution of the first set and the nodes of the second set Distribute and perform intersection processing at points.
  • the method 300 described in the embodiment of the third aspect of the present disclosure may be applied to the processor 420 or implemented by the processor 420.
  • the processor 420 may be an integrated circuit chip with signal processing capabilities.
  • the steps of the width adjustment method 300 described above can be completed by an integrated logic circuit in the form of hardware in the processor 420 or instructions in the form of software.
  • the aforementioned processor 420 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the components can implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of the present disclosure.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present disclosure may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 410, and the processor 420 reads the information in the memory 410 and completes the steps of the foregoing method in combination with hardware.
  • the processor 420 can be implemented in one or more application-specific integrated circuits (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array ( FPGA), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or a combination thereof.
  • ASIC application-specific integrated circuits
  • DSP digital signal processor
  • DSPD digital signal processing device
  • PLD programmable logic device
  • FPGA field programmable gate array
  • general-purpose processors controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or a combination thereof.
  • the technology described herein can be implemented by modules (such as procedures, functions, etc.) that perform the functions described herein.
  • the software codes may be stored in the memory 410 and executed by the processor 420.
  • the memory 410 may be implemented in the processor 420 or external to the processor 420.
  • the processor 420 is further configured to read the foregoing computer program, and execute the method 300 according to the foregoing embodiment of the third aspect of the present disclosure.
  • the described methods and devices may be implemented in other ways.
  • the embodiments of the device described above are only exemplary.
  • the division of units is only a logical function division, but there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be an electrical connection, a mechanical connection, or other forms.
  • the functional units in the various embodiments of the present disclosure may be integrated into one processing unit, or physically separated, or two or more functional units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of a combination of hardware and software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
  • the above-mentioned software function unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute part of the steps of the receiving and sending process described in the various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes. Medium.

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Abstract

一种用于轨道机构(10)的宽度调节装置(100)，轨道机构(10)包括相互平行的固定轨道(11)和活动轨道(12)，宽度调节装置(100)包括：基座(20)，适于设有固定轨道(11)；第一导轨(30)，设在基座(20)上，适于安装有活动轨道(12)，活动轨道(12)沿第一导轨(30)的轴向朝向或背向固定轨道(11)可移动；移动距离获取模块(40)，用于获取活动轨道(12)从初始位置移动至工作位置时的移动距离；驱动组件(50)，与活动轨道(12)可拆卸地相连，用于驱动活动轨道(12)根据移动距离从初始位置移动至工作位置。

Description

用于轨道机构的宽度调节装置和宽度调节方法
相关申请的交叉引用
本申请要求常州铭赛机器人科技股份有限公司于2019年9月23日提交的名称为“轨道机构宽度调节装置和具有其的在线式智能作业机器人”的中国专利申请号“201910900345.5”以及2019年9月23日提交的名称为“轨道机构宽度调节方法、装置、存储介质及电子设备”的中国专利申请号“201910899565.0”的优先权。
技术领域
本公开涉及轨道领域，尤其是涉及一种用于轨道机构的宽度调节装置和宽度调节方法。
背景技术
传统的轨道宽度调节方式是通过花键和丝杆配合实现的，例如传统的柜式点胶机需要额外增加的宽度调节装置来进行宽度调节，成本较高，结构较为复杂，占用空间大并且宽度调节方法复杂。
公开内容
本公开旨在至少解决现有技术中存在的技术问题之一。
为此，本公开提出一种用于轨道机构的宽度调节装置，该用于轨道机构的宽度调节装置能够有效利用空间，简化结构，实现对轨道机构进行快速、准确地宽度调节。
本公开还提出一种用于轨道机构的宽度调节方法。
根据本公开一方面实施例的用于轨道机构的宽度调节装置，所述轨道机构包括相互平行的固定轨道和活动轨道，所述用于轨道机构的宽度调节装置用于将所述活动轨道从初始位置移动至工作位置，所述用于轨道机构的宽度调节装置包括：基座，所述基座上适于设有所述固定轨道；第一导轨，所述第一导轨设在所述基座上，所述第一导轨上适于安装有所述活动轨道，所述活动轨道沿所述第一导轨的轴向朝向或者背向所述固定轨道可移动；移动距离获取模块，所述移动距离获取模块用于获取所述活动轨道从所述初始位置移动至所述工作位置时的移动距离；驱动组件，所述驱动组件与所述活动轨道可拆卸地相连，所述驱动组件用于驱动所述活动轨道根据所述移动距离从所述初始位置移动至所述工作位置。
根据本公开实施例的用于轨道机构的宽度调节装置，通过移动距离获取模块获取活动轨道从初始位置移动至工作位置时的移动距离，随后采用驱动组件将活动轨道从初始位置移动至工作位置。该用于轨道机构的宽度调节装置能够对轨道机构进行宽度调节，降低宽度调节难度，提高宽度调节精度。
根据本公开的一些实施例，所述用于轨道机构的宽度调节装置进一步包括锁定件，所述锁定件分别与所述活动轨道和所述第一导轨相连，所述锁定件用于将所述活动轨道在所述第一导轨上锁止或者松开。
根据本公开的一些实施例，所述锁定件为安装在所述第一导轨上的气压常闭型的导轨制动器。
根据本公开的一些实施例，所述驱动组件包括：第一运动组件，所述第一运动组件位于所述活动轨道的上方且其轴向与所述第一导轨的轴向平行；第一配合部，所述第一配合部与所述第一运动组件相连且沿所述第一运动组件的轴向可移动，所述第一配合部运动至所述初始位置时与所述活动轨道可拆卸地相连。
根据本公开的一些实施例，所述用于轨道机构的宽度调节装置进一步包括第二配合部，所述第二配合部安装在所述活动轨道上，所述第二配合部与所述第一配合部配合以带动所述活动轨道沿所述第一导轨移动。
根据本公开的一些实施例，所述第一配合部的下端设有开口槽，所述第二配合部为伸缩型定位销，在所述第一配合部移动至所述初始位置时，所述伸缩型定位销朝向所述开口槽活动并插接在所述开口槽内。
根据本公开的一些实施例，所述驱动组件进一步包括第二运动组件，所述第二运动组件位于所述活动轨道的上方且与所述第一运动组件相连，所述第二运动组件的轴向与所述第一运动组件的轴向相垂直，所述第二运动组件沿所述第一运动组件的轴向可移动；所述移动距离获取模块包括摄像组件，所述摄像组件设在所述第二运动组件上且沿所述第二运动组件的轴向可移动，所述摄像组件用于采集所述固定轨道和所述活动轨道的位置信息。
根据本公开的一些实施例，所述固定轨道上预设有第一标定位置，所述活动轨道上预设有第二标定位置，所述摄像组件沿第一运动组件的轴向可移动并适于依次采集所述第一标定位置以及所述第二标定位置的图像信息。
根据本公开另一方面实施例的用于轨道机构的宽度调节方法，所述轨道机构包括相互平行的固定轨道和活动轨道，所述宽度调节方法用于将所述活动轨道从初始位置移动至工作位置，所述宽度调节方法包括以下步骤：
S1、根据在所述固定轨道上预设的第一标定位置获取所述固定轨道的第一位置信息；
S2、根据在所述活动轨道上预设的第二标定位置获取所述活动轨道位于所述初始位置时的第二位置信息；
S3、根据所述第一位置信息和所述第二位置信息计算所述活动轨道位于所述初始位置时所述活动轨道与所述固定轨道之间的距离d1；
S4、根据下面的公式计算所述活动轨道从所述初始位置移动至所述工作位置时的移动距离d，
d＝d1-d2-d3-d4，
其中，d2为步骤S1中所述第一标定位置与所述固定轨道的边沿之间的距离，d3为步骤S2中所述第二标定位置与所述活动轨道的和所述固定轨道相对设置的边沿之间的距离，d4为所述活动轨道位于所述工作位置时所述活动轨道与所述固定轨道之间的距离；
S5、根据计算得到的所述移动距离d，驱动所述活动轨道从所述初始位置移动至所述工作位置，其中，当d＞0时，所述活动轨道朝着靠近所述固定轨道的方向移动，当d＜0时，所述活动轨道朝着背向所述固定轨道的方向移动，当d＝0时，所述活动轨道保持不动。
根据本公开的一些实施例，当所述d2与所述d3相等时，d＝d1-2×d2-d4。
根据本公开的一些实施例，所述固定轨道和所述活动轨道分别沿第一方向延伸，所述活动轨道沿第二方向从所述初始位置移动至所述工作位置，所述第一方向与所述第二方向相垂直，在步骤S1中获取的所述第一标定位置的位置信息为(X1,Y1)，在步骤S2中获取的所述第二标定位置的位置信息为(X2,Y2)，步骤S3中的所述活动轨道位于初始位置时所述活动轨道与所述固定轨道之间的距离d1＝Y2-Y1。
根据本公开的一些实施例，步骤S1和步骤S2中分别通过摄像组件获取所述固定轨道的位置信息和所述活动轨道的位置信息。
根据本公开的一些实施例，步骤S1中，所述摄像组件移动至所述固定轨道的上方并获取所述第一标定位置的图像信息；步骤S2中，所述摄像组件从所述第一标定位置朝向所述第二标定位置的一侧移动，直至移动至位于所述初始位置的所述活动轨道的上方并获取所述第二标定位置的图像信息。
根据本公开的一些实施例，步骤S2中，所述摄像组件每移动预设拍摄范围且间隔预设拍摄时间段，则进行一次拍摄。
根据本公开的一些实施例，所述预设拍摄范围为10mm×10mm,所述预设拍摄时间段为200ms。
本公开的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
本公开的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本公开实施例的用于轨道机构的宽度调节装置的驱动组件位于一位置的结构示意图；
图2是根据本公开实施例的用于轨道机构的宽度调节装置的驱动组件位于又一位置的结构示意图；
图3是根据本公开实施例的用于轨道机构的宽度调节装置的轨道机构和第一导轨的装配示意图；
图4是根据本公开实施例的用于轨道机构的宽度调节装置的移动距离获取模块的局部结构示意图；
图5是根据本公开实施例的用于轨道机构的宽度调节装置的第一配合部与第二配合部的配合示意图；
图6是根据本公开实施例的用于轨道机构的宽度调节方法的流程示意图；
图7是根据本公开实施例的用于轨道机构的宽度调节方法的活动轨道位于初始位置的示意图；
图8是根据本公开实施例的用于轨道机构的宽度调节方法的活动轨道从初始位置移动至工作位置的示意图；
图9是根据本公开实施例的电子设备的示意图。
附图标记：
宽度调节装置100；
轨道机构10；固定轨道11；活动轨道12；
基座20；第一导轨30；移动距离获取模块40；摄像组件41；
驱动组件50；第一运动组件51；第一配合部52；开口槽53；
第二运动组件54；锁定件60；第二配合部70；
在线式智能作业机器人200；底座210；立柱220；支撑部230；安装凸台240。
宽度调节方法300；初始位置21；工作位置22；第一标定点23；第二标定点24；
电子设备400；存储器410；操作系统411；应用程序412；
处理器420；网络接口430；输入设备440；硬盘450；显示设备460。
具体实施方式
下面详细描述本公开的实施例。所描述的实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本公开，而不能理解为对本公开的限制。
在本公开的描述中，需要理解的是，术语“中心”、“横向”、“宽度”、“上”、“下”、“顶”、“底”、“内”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本公开的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可 以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
下面参考附图具体描述根据本公开实施例的用于轨道机构10的宽度调节装置100和宽度调节方法300。
如图1至图5所示，根据本公开第一方面实施例的用于轨道机构10的宽度调节装置100，轨道机构10包括相互平行的固定轨道11和活动轨道12，用于轨道机构10的宽度调节装置100用于将活动轨道12从初始位置移动至工作位置，用于轨道机构10的宽度调节装置100可以包括：基座20、第一导轨30、移动距离获取模块40和驱动组件50。
具体而言，基座20上适于设有固定轨道11，第一导轨30设在基座20上。第一导轨30上适于安装有活动轨道12，活动轨道12沿第一导轨30的轴向朝向或者背向固定轨道11可移动。移动距离获取模块40能够用于获取活动轨道12从初始位置移动至工作位置时的移动距离。驱动组件50与活动轨道12可拆卸地相连，驱动组件50用于驱动活动轨道12根据移动距离从初始位置移动至工作位置。
换言之，根据本公开实施例的用于轨道机构10的宽度调节装置100用于调节轨道机构10的宽度，用于轨道机构10的宽度调节装置100包括基座20、第一导轨30、移动距离获取模块40和驱动组件50，具体地，沿轨道机构10的轴向设有输送通道，相互平行的固定轨道11和活动轨道12之间可以配合以限定该输送通道，通过将活动轨道12从初始位置移动至工作位置，可以实现对于该输送通道的宽度的快速调节。固定轨道11和活动轨道12分别安装在基座20上，活动轨道12相对于固定轨道11可以移动。在基座20上设有第一导轨30，第一导轨30分别与固定轨道11和活动轨道12互相垂直。活动轨道12沿着第一导轨30的轴向可移动。当活动轨道12朝着靠近固定轨道11的方向移动时，轨道机构10的宽度能够缩短；当活动轨道12背向固定轨道11的方向移动时，轨道机构10的宽度能够扩大。移动距离获取模块40能够获取活动轨道12从初始位置移动至工作位置时活动轨道12的移动距离。驱动组件50能够接收该移动距离信息，并且驱动活动轨道12沿着第一导轨30从初始位置移动至工作位置。
由此，根据本公开实施例的用于轨道机构10的宽度调节装置100采用基座20、第一导轨30、移动距离获取模块40和驱动组件50相结合，能够有效提高轨道机构10的宽度的调节速度和调节精度。
可选地，如图1所示，驱动组件50可以位于活动轨道12的上方，这方便驱动组件50驱动活动轨道12移动。
可选地，第一导轨30与固定轨道11互相垂直，这确保活动轨道12在第一导轨30上移动时保持平行于固定轨道11。
根据本公开的一个实施例，用于轨道机构10的宽度调节装置100还包括锁定件60。锁定 件60分别与活动轨道12和第一导轨30相连，锁定件60能够将活动轨道12在第一导轨30上锁止或者松开。需要说明的是，在驱动组件50驱动活动轨道12移动之前，活动轨道12可以被锁止在第一导轨30上；在需要调节轨道机构10的宽度时，锁定件60可以将活动轨道12松开，并且，在宽度调节完毕后，可以将活动轨道12锁止在第一导轨30上，这能够防止轨道机构10输送工件时发生晃动，能够提高结构稳定性。
可选地，锁定件60为安装在第一导轨30上的气压常闭型的导轨制动器。该导轨制动器在使用时，可以使用气压启动。该导轨制动器在不通气时能够依靠弹簧力将斜块顶在第一导轨30上，实现锁紧的效果；该导轨制动器在通气时气压将弹簧压缩，斜块松开，这能够将活动轨道12松开。采用导轨制动器具有使用方便、结构紧凑、免维护、可靠性高、断电断气时也可以使用等优点。
在本公开的一些具体实施例中，驱动组件50包括：第一运动组件51和第一配合部52，第一运动组件51位于活动轨道12的上方且其轴向与第一导轨30的轴向相平行，第一配合部52与第一运动组件51相连且沿第一运动组件51的轴向可移动，第一配合部52运动至初始位置时与活动轨道12可拆卸地相连，在第一配合部52带动活动轨道12从初始位置移动至工作位置时，第一配合部52可与活动轨道12松开。
进一步地，用于轨道机构10的宽度调节装置100还包括第二配合部70，第二配合部70安装在活动轨道12上，第二配合部70与第一配合部52配合以带动活动轨道12沿第一导轨30移动。也就是说，在需要驱动活动轨道12时，第一配合部52移动至第二配合部70的上方且与第二配合部70进行配合。
如图1、图2和图5所示，可选地，第一配合部52的下端设有开口槽53，第二配合部70形成为伸缩型定位销，在第一配合部52移动至初始位置时，伸缩型定位销朝向开口槽53活动并插接在开口槽53内。伸缩型的定位销沿上下方向可移动，当第一配合部52朝向第二配合部70的方向移动并移动至第二配合部70的上方时，伸缩型的定位销能够沿上下方向向上移动并插接至开口槽53内，实现对于第一配合部52和第二配合部70之间的快速相连。当伸缩型的定位销沿上下方向向下移动时，该伸缩型的定位销能够与开口槽53脱离，能够实现第一配合部52和第二配合部70之间的快速拆卸。
在本公开的一些具体实施例中，第一配合部52可以形成为三角形的拨叉，这具有结构稳定、长时间运行不会变形等优点；并且第一配合部52上可设有减重孔，这能够在保证强度的情况下减少重量。
根据本公开的一个实施例，驱动组件50还包括第二运动组件54，移动距离获取模块40包括摄像组件41。第二运动组件54位于活动轨道12的上方且与第一运动组件51相连，第二运动组件54的轴向与第一运动组件51的轴向相垂直，第二运动组件54沿第一运动组件51的轴向可移动。摄像组件41设在第二运动组件54上且沿着第二运动组件54轴向可移动，从而能够调节摄像组件41在第二运动组件54上的位置。摄像组件41可以包括相机，并且用于 采集固定轨道11和活动轨道12的位置信息。第二运动组件54可以沿第一方向延伸，第一运动组件51可以沿第二方向延伸，当第二运动组件54沿着第二方向运动时，可以实现同步调宽、降低成本、有效利用空间、简化结构。
需要说明的是，当第二运动组件54的至少一部分沿着第一运动组件51的轴向移动时，摄像组件41能够随着第二运动组件54一起移动。
在实际操作过程中，宽度调节装置100调节轨道机构10的宽度的过程可主要分为两个阶段：
(1)采集位置信息阶段
首先，第二运动组件54带动摄像组件41沿着第一运动组件51的轴向移动，当摄像组件41运动至固定轨道11的上方时能够采集固定轨道11的位置信息。随后，摄像组件41继续朝着活动轨道12的方向移动，当摄像组件41运动至活动轨道12的上方时能够采集活动轨道12的位置信息。
(2)轨道机构10的宽度调节阶段
首先，在摄像组件41采集固定轨道11的位置信息和活动轨道12的位置信息之后，使用计算公式可以得到活动轨道12从初始位置移动至工作位置的移动距离。随后，第二运动组件54带动第一配合部52运动至第二配合部70所在位置，第一配合部52与第二配合部70相配合，第二运动组件54通过第一配合部52带动活动轨道12朝向工作位置运动计算得到的移动距离。
进一步地，固定轨道11上预设有第一标定位置，活动轨道12上预设有第二标定位置，摄像组件41沿第一运动组件51的轴向可移动并适于依次采集第一标定位置以及第二标定位置的图像信息。摄像组件41进行拍摄，能够实现校准和调宽的功能。
可选地，固定轨道11上预设的第一标定位置的位置信息为第一位置信息，活动轨道12上预设的第二标定位置的位置信息为活动轨道12位于初始位置时的第二位置信息，活动轨道12位于初始位置时活动轨道12与固定轨道11之间的距离为d1，d1可以根据第一位置信息和第二位置信息得出，活动轨道12从初始位置移动至工作位置时的移动距离d满足公式(1)，
d＝d1-d2-d3-d4         (1)
其中，如图7-图8所示，d2为第一标定位置与固定轨道11的边沿之间的距离，d3为第二标定位置与活动轨道12的和固定轨道11相对设置的边沿之间的距离，d4为活动轨道12位于工作位置时活动轨道12与固定轨道11之间的距离。
进一步可选地，如图7和图8所示，可在固定轨道11上的第一标定位置预设有第一标定点23，在活动轨道12上的第二标定位置预设有第二标定点24，第一标定点23和第二标定点24可由机械加工或者其他方式附着在固定轨道11和活动轨道12的表面。第一标定点23和第二标定点24可以不限于圆形、方形、菱形等多边形。第一标定点23和第二标定点24的中心以及活动轨道12位于工作位置22时与固定轨道11之间的距离d4是固定值，可以提前预置 在计算机中。
驱动组件50能够根据计算得到的移动距离d，驱动活动轨道12从初始位置移动至工作位置，其中，当d＞0时，活动轨道12朝着靠近固定轨道11的方向移动，当d＜0时，活动轨道12朝着背向固定轨道11的方向移动，当d＝0时，活动轨道12保持不动。
根据本公开的一个实施例，第一配合部52的数量为两个，两个第一配合部52间隔开地分布在第二运动组件54的轴向的两端，第二配合部70与第一配合部52相对应，这能够提高宽度调节过程的稳定性。
如图1、图2和图5所示，根据本公开第二方面实施例的在线式智能作业机器人200，包括根据本公开上述第一方面实施例的用于轨道机构10的宽度调节装置100，在线式智能作业机器人200还包括：底座210、多个立柱220、支撑部230和两个安装凸台240。
具体地，多个立柱220间隔开地设在底座210上，支撑部230与多个立柱220相连且由立柱220支撑，每个立柱220的上端超出支撑部230向上延伸，基座20安装于支撑部230的上方，两个安装凸台240间隔开且相对设在立柱220上，每个安装凸台240的上表面形成为能够用于安装驱动组件50的驱动机构安装面。
如图6所示，根据本公开第三方面实施例的用于轨道机构10的宽度调节方法300，可以应用于用于轨道机构10的宽度调节装置100以及具有宽度调节装置100的在线式智能作业机器人200中。参考图6-图8，通过本公开第三方面实施例的用于轨道机构10的宽度调节方法300能够将活动轨道12从初始位置21移动至工作位置22。如图6所示，用于轨道机构10的宽度调节方法300包括如下步骤：
S1、根据在固定轨道11上预设的第一标定位置23获取固定轨道11的第一位置信息；
S2、根据在活动轨道12上预设的第二标定位置24获取活动轨道12位于初始位置21时的第二位置信息；
S3、根据第一位置信息和第二位置信息计算活动轨道12位于初始位置21时活动轨道12与固定轨道11之间的距离d1；
S4、根据如上所述的公式(1)计算活动轨道12从初始位置21移动至工作位置22时的移动距离d；
S5、根据计算得到的移动距离d，驱动活动轨道12从初始位置21移动至工作位置22，其中，当d＞0时，活动轨道12朝着靠近固定轨道11的方向移动，当d＜0时，活动轨道12朝着背向固定轨道11的方向移动，当d＝0时，活动轨道12保持不动。
由此，根据本公开实施例的用于轨道机构10的宽度调节方法300，能够快速、准确地对轨道机构10的宽度进行调节，实施方便，便于操作。
根据本公开的一个实施例，第一标定位置和固定轨道11的边沿之间的距离d2与第二标定位置和活动轨道12的边沿之间的距离信息d3相等时，d＝d1-2×d2-d4。
可选地，如图7-图8所示，固定轨道11和活动轨道12的宽度相同，第一标定点23和第 二标定点24可分别位于对应的固定轨道11以及活动轨道12的沿宽度方向的中心位置，便于获取d2和d3的数据，简化计算公式和计算过程。
在本公开的一些具体实施例中，如图7和图8所示，固定轨道11和活动轨道12分别沿第一方向延伸，活动轨道12沿第二方向从初始位置21移动至工作位置22，第一方向与第二方向相垂直，在步骤S1中获取的第一标定位置的位置信息为(X1,Y1)，在步骤S2中获取的第二标定位置的位置信息为(X2,Y2)，步骤S3中的活动轨道12位于初始位置21时活动轨道12与固定轨道11之间的距离d1＝Y2-Y1。也就是说，在计算过程中，若第一标定点23与第二标定点24在第一方向上存在横向偏差，此值对于这个计算方法无影响，计算时可以自动忽略此值。
根据本公开的一个实施例，步骤S1和步骤S2中分别通过摄像组件41获取固定轨道11的位置信息与活动轨道12的位置信息。
可选地，步骤S1中，摄像组件41移动至固定轨道11的上方并获取第一标定位置的图像信息。步骤S2中，摄像组件41从第一标定位置朝向第二标定位置的方向移动，直至移动至位于初始位置21的活动轨道12的上方并获取第二标定位置的图像信息。
在实际操作时，在调宽前，调试人员可以首先输入一个需要的距离d4，然后开始手动或自动寻找第一标定点23和第二标定点24。
其中，自动寻找第一标定点23和第二标定点24的方法为：首先将摄像组件41移动到第一标定点23，完成拍摄。然后通过驱动组件50驱动摄像组件41朝着背向固定轨道11的方向移动，直到摄像组件41拍摄到第二标定点24。
手动寻找标定点的方法为：首先将摄像组件41移动到第一标定点23，完成拍摄。然后由操作人员控制摄像组件41朝着背向固定轨道11的方向移动到第二标定点24的拍摄范围内，摄像组件41拍摄第二标定点24。
进一步地，步骤S2中，摄像组件41每移动预设拍摄范围且间隔预设拍摄时间段，则进行一次拍摄。
优选地，预设拍摄范围为10mm×10mm,预设拍摄时间段为200ms。
根据本公开第四方面实施例的用于轨道机构10的宽度调节装置100，包括：第一位置信息获取模块、第二位置信息获取模块、初始距离计算模块、移动距离计算模块和驱动模块。
具体而言，第一位置信息获取模块用于根据在固定轨道11上预设的第一标定位置获取固定轨道11的第一位置信息，第二位置信息获取模块用于根据在活动轨道12上预设的第二标定位置获取活动轨道12位于初始位置时的第二位置信息，初始距离计算模块用于根据第一位置信息和第二位置信息计算活动轨道12位于初始位置时活动轨道12与固定轨道11之间的距离d1，移动距离计算模块用于根据上述的公式(1)计算活动轨道12从初始位置移动至工作位置时的移动距离d，驱动模块能够根据计算得到的移动距离d驱动活动轨道12从初始位置移动至工作位置，其中，当d＞0时，活动轨道12朝着靠近固定轨道11的方向移动，当d＜0 时，活动轨道12朝着背向固定轨道11的方向移动，d＝0时，活动轨道12保持不动。
由此，根据本公开实施例的用于轨道机构10的宽度调节装置100能够快速、精确地调节轨道机构10的宽度，具有自动化程度高，便于操作等优点。
另外，根据本公开第五方面实施例的计算机存储介质，包括一条或多条计算机程序指令，该一条或多条计算机程序指令在被执行时能够实现根据本公开上述第三方面实施例的用于轨道机构10的宽度调节方法300。
也就是说，该计算机存储介质存储有计算机程序，该计算机程序被处理器运行时，使得处理器执行根据本公开上述第三方面实施例的用于轨道机构10的宽度调节方法300。
如图9所示，根据本公开第六方面实施例的电子设备400，包括存储器410和处理器420，存储器410用于存储一条或多条计算机程序指令，处理器420用于调用并执行该一条或多条计算机程序指令，从而实现根据本公开上述第三方面实施例的方法300。
也就是说，电子设备400包括存储器410和处理器420，在存储器410中存储有一条或多条计算机程序指令，其中，在该计算机程序指令被处理器420运行时，使得处理器420执行根据本公开上述第三方面实施例的方法300。
进一步地，如图9所示，电子设备400还包括网络接口430、输入设备440、硬盘450、和显示设备460。
上述接口和各个设备之间可以通过总线架构互连。总线架构可以是包括任意数量的互联的总线和桥。具体由处理器420代表的一个或者多个中央处理器(Central Processing Unit，CPU)以及由存储器410代表的一个或者多个存储器的各种电路连接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等的各种其它电路连接在一起。可以理解，总线架构用于实现这些组件之间的连接通信。总线架构除了包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线，这些总线都是本领域所公知的，因此本文不再对其进行详细描述。
网络接口430可以连接至网络(如因特网、局域网等)，从网络中获取相关数据，并可以将获取的相关数据保存在硬盘450中。
输入设备440可以接收操作人员输入的各种指令，并将接收到的各种指令发送给处理器420以供处理器420执行。输入设备440可以包括键盘或者点击设备，例如鼠标、轨迹球(trackball)、触感板或者触摸屏等。
显示设备460可以将处理器420执行指令后获得的结果进行显示。
存储器410用于存储操作系统运行所必须的程序和数据以及处理器420执行的计算过程中的中间结果等数据。
可以理解，本公开实施例中的存储器410可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。非易失性存储器可以是只读存储器(ROM)、可编程只读存储器(PROM)、可擦除可编程只读存储器(EPROM)、电可擦除可编程只读存储器(EEPROM)或闪存。 易失性存储器可以是随机存取存储器(RAM)，其用作外部高速缓存。本文描述的装置和方法的存储器410旨在包括但不限于这些和任意其它适合类型的存储器。
在一些实施例中，存储器410存储了如下的元素：可执行模块或者数据结构，或者它们的子集，或者它们的扩展集，操作系统411和应用程序412。
其中，操作系统411包含各种系统程序，例如框架层、核心库层、驱动层等，用于实现各种基础业务以及处理基于硬件的任务。应用程序412包含各种应用程序，例如浏览器(Browser)等，用于实现各种应用业务。实现根据本公开上述第三方面实施例的宽度调节方法300的程序可以包含在应用程序412中。
处理器420在调用并执行存储器410中所存储的应用程序和数据时，具体地在调用并执行应用程序412中存储的程序或指令时，将第一集合和第二集合中的一者分散发送至该第一集合和第二集合中的另一者所分布的节点，其中，所述另一者分散存储于至少两个节点；并根据该第一集合的节点分布和该第二集合的节点分布，分节点地进行交集处理。
本公开上述第三方面实施例所描述的方法300可以应用于处理器420中，或者由处理器420实现。处理器420可以是一种集成电路芯片，具有信号处理能力。在实现过程中，上述宽度调节方法300的各步骤可以通过处理器420中的硬件形式的集成逻辑电路或者软件形式的指令完成。上述的处理器420可以是通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本公开实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开实施例所公开的方法的步骤可以直接体现为由硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器、闪存、只读存储器、可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器410中，处理器420读取存储器410中的信息并结合硬件完成上述方法的步骤。
可以理解的是，本文描述的宽度调节方法300的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现，处理器420可以实现在一个或多个专用集成电路(ASIC)、数字信号处理器DSP)、数字信号处理设备(DSPD)、可编程逻辑设备(PLD)、现场可编程门阵列(FPGA)、通用处理器、控制器、微控制器、微处理器、用于执行本申请所述功能的其它电子单元或其组合中。
对于软件实现，可通过执行本文所述功能的模块(例如过程、函数等)来实现本文所述的技术。软件代码可存储在存储器410中并通过处理器420执行。存储器410可以在处理器420中或在处理器420外部实现。
具体地，处理器420还用于读取上述计算机程序，执行根据本公开上述第三方面实施例的方法300。
应该理解，在本申请所提供的实施例中，所描述的方法和装置可以通过其它的方式实现。 例如，上文所描述的装置的实施例仅仅是示例性的，例如，单元的划分仅仅为一种逻辑功能划分，但实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或者一些特征可以忽略或不执行。另外，所显示或讨论的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，可以是电性连接、机械连接或其它的形式。
另外，本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以在物理上分开，也可以两个或两个以上功能单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件和软件功能单元的组合形式实现。
上述以软件功能单元的形式实现的集成单元，可以存储在一个计算机可读存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开各个实施例所描述的收发过程的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本公开的实施例，本领域的普通技术人员可以理解：在不脱离本公开的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本公开的范围由权利要求及其等同物限定。

Claims (15)

  1. 一种用于轨道机构的宽度调节装置，其特征在于，所述轨道机构包括相互平行的固定轨道和活动轨道，所述用于轨道机构的宽度调节装置用于将所述活动轨道从初始位置移动至工作位置，所述用于轨道机构的宽度调节装置包括：
    基座，所述基座上适于设有所述固定轨道；
    第一导轨，所述第一导轨设在所述基座上，所述第一导轨上适于安装有所述活动轨道，所述活动轨道沿所述第一导轨的轴向朝向或者背向所述固定轨道可移动；
    移动距离获取模块，所述移动距离获取模块用于获取所述活动轨道从所述初始位置移动至所述工作位置时的移动距离；
    驱动组件，所述驱动组件与所述活动轨道可拆卸地相连，所述驱动组件用于驱动所述活动轨道根据所述移动距离从所述初始位置移动至所述工作位置。
  2. 根据权利要求1所述的用于轨道机构的宽度调节装置，其特征在于，进一步包括：
    锁定件，所述锁定件分别与所述活动轨道和所述第一导轨相连，所述锁定件用于将所述活动轨道在所述第一导轨上锁止或者松开。
  3. 根据权利要求2所述的用于轨道机构的宽度调节装置，其特征在于，所述锁定件为安装在所述第一导轨上的气压常闭型的导轨制动器。
  4. 根据权利要求1-3中任一项所述的用于轨道机构的宽度调节装置，其特征在于，所述驱动组件包括：
    第一运动组件，所述第一运动组件位于所述活动轨道的上方且其轴向与所述第一导轨的轴向平行；
    第一配合部，所述第一配合部与所述第一运动组件相连且沿所述第一运动组件的轴向可移动，所述第一配合部运动至所述初始位置时与所述活动轨道可拆卸地相连。
  5. 根据权利要求4所述的用于轨道机构的宽度调节装置，其特征在于，进一步包括：
    第二配合部，所述第二配合部安装在所述活动轨道上，所述第二配合部与所述第一配合部配合以带动所述活动轨道沿所述第一导轨移动。
  6. 根据权利要求5所述的用于轨道机构的宽度调节装置，其特征在于，所述第一配合部的下端设有开口槽，所述第二配合部为伸缩型定位销，在所述第一配合部移动至所述初始位置时，所述伸缩型定位销朝向所述开口槽活动并插接在所述开口槽内。
  7. 根据权利要求5或6所述的用于轨道机构的宽度调节装置，其特征在于，所述驱动组件进一步包括：
    第二运动组件，所述第二运动组件位于所述活动轨道的上方且与所述第一运动组件相连，所述第二运动组件的轴向与所述第一运动组件的轴向相垂直，所述第二运动组件沿所述第一运动组件的轴向可移动；
    所述移动距离获取模块包括：
    摄像组件，所述摄像组件设在所述第二运动组件上且沿所述第二运动组件的轴向可移动，所述摄像组件用于采集所述固定轨道和所述活动轨道的位置信息。
  8. 根据权利要求7所述的用于轨道机构的宽度调节装置，其特征在于，所述固定轨道上预设有第一标定位置，所述活动轨道上预设有第二标定位置，所述摄像组件沿第一运动组件的轴向可移动并适于依次采集所述第一标定位置以及所述第二标定位置的图像信息。
  9. 一种用于轨道机构的宽度调节方法，其特征在于，所述轨道机构包括相互平行的固定轨道和活动轨道，所述宽度调节方法用于将所述活动轨道从初始位置移动至工作位置，所述宽度调节方法包括以下步骤：
    S1、根据在所述固定轨道上预设的第一标定位置获取所述固定轨道的第一位置信息；
    S2、根据在所述活动轨道上预设的第二标定位置获取所述活动轨道位于所述初始位置时的第二位置信息；
    S3、根据所述第一位置信息和所述第二位置信息计算所述活动轨道位于所述初始位置时所述活动轨道与所述固定轨道之间的距离d1；
    S4、根据下面的公式计算所述活动轨道从所述初始位置移动至所述工作位置时的移动距离d，
    d＝d1-d2-d3-d4
    其中，d2为步骤S1中所述第一标定位置与所述固定轨道的边沿之间的距离，d3为步骤S2中所述第二标定位置与所述活动轨道的和所述固定轨道相对设置的边沿之间的距离，d4为所述活动轨道位于所述工作位置时所述活动轨道与所述固定轨道之间的距离；
    S5、根据计算得到的所述移动距离d，驱动所述活动轨道从所述初始位置移动至所述工作位置，其中，当d＞0时，所述活动轨道朝着靠近所述固定轨道的方向移动，当d＜0时，所述活动轨道朝着背向所述固定轨道的方向移动，当d＝0时，所述活动轨道保持不动。
  10. 根据权利要求9所述的用于轨道机构宽度的调节方法，其特征在于，当所述d2与所述d3相等时，d＝d1-2×d2-d4。
  11. 根据权利要求9或10所述的用于轨道机构的宽度调节方法，其特征在于，所述固定轨道和所述活动轨道分别沿第一方向延伸，所述活动轨道沿第二方向从所述初始位置移动至所述工作位置，所述第一方向与所述第二方向相垂直，在步骤S1中获取的所述第一标定位置的位置信息为(X1,Y1)，在步骤S2中获取的所述第二标定位置的位置信息为(X2,Y2)，步骤S3中的所述活动轨道位于初始位置时所述活动轨道与所述固定轨道之间的距离d1＝Y2-Y1。
  12. 根据权利要求9-11中任一项所述的用于轨道机构的宽度调节方法，其特征在于，步骤S1和步骤S2中分别通过摄像组件获取所述固定轨道的位置信息和所述活动轨道的位置信息。
  13. 根据权利要求12所述的用于轨道机构的宽度调节方法，其特征在于，步骤S1中，所 述摄像组件移动至所述固定轨道的上方并获取所述第一标定位置的图像信息；
    步骤S2中，所述摄像组件从所述第一标定位置朝向所述第二标定位置的一侧移动，直至移动至位于所述初始位置的所述活动轨道的上方并获取所述第二标定位置的图像信息。
  14. 根据权利要求12或13所述的用于轨道机构的宽度调节方法，其特征在于，步骤S2中，所述摄像组件每移动预设拍摄范围且间隔预设拍摄时间段，则进行一次拍摄。
  15. 根据权利要求14所述的用于轨道机构的宽度调节方法，其特征在于，所述预设拍摄范围为10mm×10mm,所述预设拍摄时间段为200ms。
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