Industrial robot vision positioning aid

Abstract

This invention discloses a visual positioning aid for industrial robots, relating to the field of industrial robot technology. The invention includes a base plate, a top plate, a lifting mechanism, a rotating mechanism, and a side positioning component. The base plate and top plate are respectively fixedly sleeved on the bottom and top ends of the robotic gripper column. The lifting mechanism for adjusting the height of the side positioning component is fixed between the base plate and the top plate. The rotating mechanism for driving the side positioning component to rotate is fixed to the lifting mechanism. The side positioning component is fixed to the bottom of the rotating mechanism. During the positioning assistance phase, the side positioning component descends to the side of the product; during the idle phase, the side positioning component is located on the side of the robotic gripper column. This invention, by setting up a top contour sensor and a side contour sensor, works together to determine the three-dimensional contour of the product. The robotic gripper determines the gripping position based on the three-dimensional contour, greatly improving the gripping accuracy and solving the problem that existing visual positioning devices are not accurate enough and are difficult to adapt to non-standard products.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, and in particular relates to a visual positioning aid for industrial robots. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. Industrial robots are widely used in various industrial sectors such as electronics, logistics, and chemicals. Visual perception technology is a crucial aspect of industrial robot perception. Visual servo systems use visual information as feedback signals to control and adjust the robot's position and posture. Machine vision systems are also widely used in quality inspection, workpiece identification, food sorting, and packaging. The addition of visual sensing systems allows industrial robots to correct their accurate position through environmental recognition.

[0003] A search revealed that publication number 2021-10-26, publication date CN214490663U, discloses an industrial robot visual positioning auxiliary mechanism, including a robotic arm and a vision camera mounted on the robotic arm. A first pair of connectors is connected to the robotic arm, and a second pair of connectors is connected to the vision camera. The first and second pairs of connectors are mutually connected. This invention connects the vision camera and the robotic arm via connectors, enabling docking between the two. This allows for the detachable nature of the vision camera. Inside the connectors, a rotating post is set based on a semi-circular docking principle. After the two connectors are inserted into each other, the rotating post rotates under the action of a tension spring, achieving docking between the two connectors. The structure is simple, offering high docking stability and convenient connection and disassembly.

[0004] This patent has the following shortcomings:

[0005] 1. The accuracy of this positioning assistance mechanism is not ideal, resulting in low precision in the gripping of industrial robots, which can easily damage products and makes it unsuitable for gripping non-standard products;

[0006] 2. This positioning assistance mechanism is inconvenient to install and has poor coordination with industrial gripping robots.

[0007] Therefore, existing positioning assistance mechanisms cannot meet the needs of actual use, so there is an urgent need for improved technologies to solve the above problems. Summary of the Invention

[0008] The purpose of this invention is to provide an industrial robot vision positioning aid. By setting up a top contour sensor and a side contour sensor, the two work together to determine the three-dimensional contour of the product. The mechanical gripper determines the gripping position based on the three-dimensional contour, which greatly improves the gripping accuracy and solves the problem that the accuracy of existing vision positioning devices is not ideal and is difficult to adapt to non-standard products.

[0009] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0010] This invention relates to a vision positioning aid for industrial robots, comprising a base plate, a top plate, a lifting mechanism, a rotating mechanism, and a side positioning component. The base plate and the top plate are respectively fixedly sleeved on the bottom and top ends of the mechanical gripper column. The lifting mechanism for adjusting the height of the side positioning component is fixed between the base plate and the top plate. The rotating mechanism for driving the side positioning component to rotate is fixed on the lifting mechanism. The side positioning component is fixed at the bottom of the rotating mechanism. During the positioning assistance phase, the side positioning component descends to the side of the product, and during the idle phase, the side positioning component is located on the side of the mechanical gripper column.

[0011] Furthermore, the base plate is composed of two base support plates spliced ​​together, and the bottom of each base support plate is fixed with a first semi-circular sleeve. The two first semi-circular sleeves are locked to the mechanical claw by fasteners.

[0012] Furthermore, top contour sensors are fixed at the bottom corners of both base plates. These sensors are used to scan the top contour of the product and determine its length, width, and height.

[0013] Furthermore, the top plate is composed of two top support plates spliced ​​together, and a second semicircular sleeve is fixed to the bottom of each of the two top support plates. The two second semicircular sleeves are locked to the mechanical claw by fasteners.

[0014] Furthermore, the lifting mechanism includes a first motor, a lead screw, a base, a nut seat, a lifting plate, and guide rods; the first motor is fixed to the top of the top plate, the base is fixed to the top of the bottom plate, the top end of the lead screw is fixedly connected to the output shaft of the first motor, and the bottom end of the lead screw is rotatably connected to the base; the nut seat is movably sleeved on the lead screw, and the nut seat is fixedly connected to the lifting plate by fasteners; two guide rods are provided, symmetrically distributed on both sides of the lead screw, and fixed between the first motor and the base, and the guide rods movably pass through the lifting plate.

[0015] Furthermore, the rotating mechanism includes a second motor, a gear, a gear ring, and a gear ring support; the second motor is fixed to the top of the lifting plate, the gear is fixedly sleeved on the output shaft of the second motor, the gear ring meshes with the gear, the gear ring is supported by the gear ring support, and the gear ring support is fixed to the bottom of the lifting plate.

[0016] Furthermore, the gear ring is larger than the base plate, allowing it to descend below the base plate.

[0017] Furthermore, the side positioning assembly includes a fixed frame, an electric push rod, an arc plate, and a side contour sensor; the fixed frame is fixed to the bottom of the gear ring, the electric push rod is fixed inside the fixed frame, and the movable end of the electric push rod is fixedly connected to the upper end of the outer side surface of the arc plate; multiple side contour sensors are provided on the inner side surface of the arc plate, and the side contour sensors are used to scan the side contour of the product.

[0018] The present invention has the following beneficial effects:

[0019] 1. This invention uses a top contour sensor and a side contour sensor to work together to determine the three-dimensional contour of the product. The mechanical gripper determines the gripping position based on the three-dimensional contour, which greatly improves the gripping accuracy and makes it less likely to damage the product. It is especially suitable for gripping irregular products. Furthermore, by setting a rotating mechanism, the side contour sensor can rotate to perform a full scan of the product's four sides, improving the scanning accuracy.

[0020] 2. By setting up a lifting mechanism and an electric push rod, the present invention makes the height of the side contour sensor adjustable and the distance between it and the product adjustable, thereby adapting to the scanning needs of products of different specifications.

[0021] 3. By setting up a bottom support plate, a first semicircular sleeve, a top support plate, and a second semicircular sleeve, the present invention makes it easy to install the bottom plate and the top plate on the mechanical claw, so that the visual positioning aid does not need to rebuild the installation bracket and has good compatibility. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A three-dimensional diagram of the overall structure Figure 1 ;

[0024] Figure 2 A three-dimensional diagram of the overall structure Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the base plate and top plate structure;

[0026] Figure 4 This is a schematic diagram of the lifting mechanism.

[0027] Figure 5 This is a schematic diagram of the rotating mechanism.

[0028] Figure 6 This is a schematic diagram of the side positioning component structure.

[0029] The attached diagram lists the components represented by each number as follows:

[0030] 1. Base plate; 2. Top plate; 3. Mechanical claw; 4. Lifting mechanism; 5. Rotating mechanism; 6. Side positioning assembly; 11. Bottom support plate; 12. First semicircular sleeve; 13. Top contour sensor; 21. Top support plate; 22. Second semicircular sleeve; 41. First motor; 42. Lead screw; 43. Base; 44. Nut seat; 45. Lifting plate; 46. Guide rod; 51. Second motor; 52. Gear; 53. Gear ring; 54. Gear ring support; 61. Fixing frame; 62. Electric push rod; 63. Arc plate; 64. Side contour sensor. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0032] Please see Figures 1 to 2 As shown, the present invention is a vision positioning aid for an industrial robot, including a base plate 1, a top plate 2, a lifting mechanism 4, a rotating mechanism 5, and a side positioning component 6. The base plate 1 and the top plate 2 are respectively fixedly sleeved on the bottom and top ends of the mechanical gripper 3. The lifting mechanism 4, used to adjust the height of the side positioning component 6, is fixed between the base plate 1 and the top plate 2. The rotating mechanism 5, used to drive the side positioning component 6 to rotate, is fixed on the lifting mechanism 4. The side positioning component 6 is fixed at the bottom of the rotating mechanism 5. During the positioning assistance stage, the side positioning component 6 is lowered to the side of the product. During the idle stage, the side positioning component 6 is located on the side of the mechanical gripper 3.

[0033] Among them, such as Figure 3 As shown, the base plate 1 is composed of two base support plates 11 spliced ​​together. The bottom of each of the two base support plates 11 is fixed with a first semi-circular sleeve 12. The two first semi-circular sleeves 12 are locked to the mechanical claw 3 by fasteners. A top contour sensor 13 is fixed at the bottom corner of each of the two base support plates 11. The top contour sensor 13 is used to scan the top contour of the product and determine the length, width and height of the product. The top plate 2 is composed of two top support plates 21 spliced ​​together. The bottom of each of the two top support plates 21 is fixed with a second semi-circular sleeve 22. The two second semi-circular sleeves 22 are locked to the mechanical claw 3 by fasteners.

[0034] The arrangement of the bottom support plate 11, the first semicircular sleeve 12, the top support plate 21, and the second semicircular sleeve 22 makes it easy for the bottom plate 1 and the top plate 2 to be installed on the mechanical claw 3, so that the visual positioning aid does not need to be re-built and the installation bracket is well compatible.

[0035] Among them, such as Figure 4As shown, the lifting mechanism 4 includes a first motor 41, a lead screw 42, a base 43, a nut seat 44, a lifting plate 45, and guide rods 46. The first motor 41 is fixed to the top of the top plate 2, the base 43 is fixed to the top of the bottom plate 1, the top end of the lead screw 42 is fixedly connected to the output shaft of the first motor 41, and the bottom end of the lead screw 42 is rotatably connected to the base 43. The nut seat 44 is movably sleeved on the lead screw 42, and the nut seat 44 is fixedly connected to the lifting plate 45 by fasteners. There are two guide rods 46, symmetrically distributed on both sides of the lead screw 42, and fixed between the first motor 41 and the base 43. The guide rods 46 movably pass through the lifting plate 45.

[0036] When the lifting mechanism 4 is in operation, the first motor 41 is started, the first motor 41 drives the lead screw 42 to rotate, the lead screw 42 drives the nut seat 44 to move, the nut seat 44 drives the lifting plate 45 to move along the guide rod 46, and the lifting plate 45 drives the rotating mechanism 5 and the side positioning component 6 to move. Thus, when the industrial robot is assisted in positioning, the side contour sensor 64 can be lowered to the side of the product to facilitate scanning the side contour of the product.

[0037] Among them, such as Figure 5 As shown, the rotating mechanism 5 includes a second motor 51, a gear 52, a gear ring 53, and a gear ring support 54; the second motor 51 is fixed to the top of the lifting plate 45, the gear 52 is fixedly sleeved on the output shaft of the second motor 51, the gear ring 53 meshes with the gear 52, the gear ring 53 is supported by the gear ring support 54, and the gear ring support 54 is fixed to the bottom of the lifting plate 45; the gear ring 53 is larger than the bottom plate 1 and can descend below the bottom plate 1.

[0038] When the rotating mechanism 5 is in operation, the second motor 51 is started, the second motor 51 drives the gear 52 to rotate, the gear 52 drives the gear ring 53 to rotate, and the gear ring 53 drives the side positioning component 6 to rotate, thereby enabling a comprehensive scan of the product's four sides. The mechanical claw 3 determines the gripping position based on the product's three-dimensional contour.

[0039] Among them, such as Figure 6 As shown, the side positioning assembly 6 includes a fixed frame 61, an electric push rod 62, an arc plate 63, and a side contour sensor 64. The fixed frame 61 is fixed to the bottom of the gear ring 53, and the electric push rod 62 is fixed inside the fixed frame 61. The movable end of the electric push rod 62 is fixedly connected to the upper end of the outer side surface of the arc plate 63. Multiple side contour sensors 64 are evenly distributed on the inner side surface of the arc plate 63. The side contour sensors 64 are used to scan the side contour of the product.

[0040] When the side positioning component 6 is in operation, based on the length and width dimensions of the product determined by the top contour sensor 13, the arc plate 63 is moved by the electric push rod 62, so that the side contour sensor 64 can reach the optimal shooting position and improve the scanning accuracy.

[0041] The usage operation of this embodiment is as follows:

[0042] S1: By cooperating with the two first semicircular sleeves 12, the base plate 1 is fixed to the lower end of the column of the mechanical claw 3. By cooperating with the two second semicircular sleeves 22, the top plate 2 is fixed to the upper end of the column of the mechanical claw 3. Then, the lifting mechanism 4 is installed and fixed between the base plate 1 and the top plate 2. The rotating mechanism 5 is installed and fixed on the lifting mechanism 4. Finally, the side positioning component 6 is installed and fixed on the rotating mechanism 5.

[0043] S2: When the product is conveyed to the bottom of the mechanical claw 3 by the conveyor belt, the top of the product is first scanned by the top contour sensor 13 to determine the length, width and height of the product.

[0044] S3: The side positioning component 6 is lowered by the lifting mechanism 4 until the lower end of the side positioning component 6 is lowered to the top surface of the conveyor belt. Then, based on the length and width of the product, the distance between the side contour sensor 64 and the product is adjusted to the optimal value by the electric push rod 62.

[0045] S4: The side contour sensor 64 is activated, and the side positioning component 6 is rotated through the rotating mechanism 5 to perform a full scan of the product's four sides. The top contour sensor 13 and the side contour sensor 64 work together to determine the product's three-dimensional contour. The mechanical gripper 3 determines the gripping position based on the three-dimensional contour, which greatly improves the gripping accuracy and makes it less likely to damage the product. It is especially suitable for gripping non-standard products.

[0046] The above are merely preferred embodiments of the present invention and do not limit the present invention. Any modifications, equivalent substitutions, or improvements made to the technical solutions described in the foregoing embodiments, or to some of the technical features, shall fall within the protection scope of the present invention.

Claims

1. An industrial robot vision positioning aid, comprising a base plate (1), a top plate (2), a lifting mechanism (4), a rotating mechanism (5), and a side positioning component (6), characterized in that: The bottom plate (1) and the top plate (2) are respectively fixedly sleeved on the bottom and top of the mechanical claw (3) column; The lifting mechanism (4) for adjusting the height of the side positioning component (6) is fixed between the base plate (1) and the top plate (2); The rotating mechanism (5) used to drive the side positioning component (6) to rotate is fixed on the lifting mechanism (4); The side positioning component (6) is fixed to the bottom of the rotating mechanism (5). The side positioning component (6) descends to the side of the product during the positioning assistance stage and is located on the cylindrical side of the mechanical claw (3) during the idle stage. The base plate (1) is spliced ​​from two base support plates (11). The bottom of each of the two base support plates (11) is fixed with a first semi-circular sleeve (12). The two first semi-circular sleeves (12) are locked together on the mechanical claw (3) by fasteners. The top plate (2) is spliced ​​together from two top support plates (21). The bottom of each of the two top support plates (21) is fixed with a second semi-circular sleeve (22). The two second semi-circular sleeves (22) are locked together on the mechanical claw (3) by fasteners. The lifting mechanism (4) includes a first motor (41), a lead screw (42), a base (43), a nut seat (44), a lifting plate (45), and a guide rod (46). The first motor (41) is fixed to the top of the top plate (2), the base (43) is fixed to the top of the bottom plate (1), the top end of the lead screw (42) is fixedly connected to the output shaft of the first motor (41), and the bottom end of the lead screw (42) is rotatably connected to the base (43). The nut seat (44) is movably sleeved on the lead screw (42), and the nut seat (44) and the lifting plate (45) are fixedly connected by fasteners; Two guide rods (46) are provided, symmetrically distributed on both sides of the lead screw (42) and fixed between the first motor (41) and the base (43), and the guide rods (46) move through the lifting plate (45). The rotating mechanism (5) includes a second motor (51), a gear (52), a gear ring (53), and a gear ring support (54). The second motor (51) is fixed to the top of the lifting plate (45), the gear (52) is fixedly sleeved on the output shaft of the second motor (51), the gear ring (53) meshes with the gear (52), the gear ring (53) is supported by the gear ring support (54), and the gear ring support (54) is fixed to the bottom of the lifting plate (45).

2. An industrial robot vision positioning aid according to claim 1, characterized in that, A top contour sensor (13) is fixed at the bottom corner of each of the two bottom support plates (11). The top contour sensor (13) is used to scan the top contour of the product and determine the length, width and height of the product.

3. An industrial robot vision positioning aid according to claim 1, characterized in that, The toothed ring (53) is larger than the base plate (1) and can descend below the base plate (1).

4. The vision positioning aid for an industrial robot according to claim 1, wherein, The side positioning assembly (6) includes a fixed frame (61), an electric push rod (62), an arc plate (63), and a side contour sensor (64). The fixing frame (61) is fixed to the bottom of the gear ring (53), the electric push rod (62) is fixed inside the fixing frame (61), and the movable end of the electric push rod (62) is fixedly connected to the upper end of the outer side of the arc plate (63). The inner side surface of the arc plate (63) is provided with a plurality of equally spaced side contour sensors (64), which are used to scan the side contour of the product.

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