A positioning and measuring manipulator automation device

Abstract

The invention discloses a positioning and measuring manipulator automation device, comprising a manipulator body, wherein the manipulator body is connected to a heat sink through a connecting mechanism, the heat sink is provided with a groove, a protective glass is installed at the groove of the heat sink, a positioning and measuring mechanism is fixedly connected inside the heat sink, and a first laser rangefinder, a second laser rangefinder and a camera are provided, and data measured by the first laser rangefinder, the second laser rangefinder and the camera are displayed, so that not only the position of a measured object can be digitized, but also the shape and color can be digitized, so that the measured object can be positioned more accurately.

Description

Technical Field

[0001] The invention relates to the field of positioning and measuring manipulators, and in particular to an automation device for positioning and measuring manipulators. Background Art

[0002] Nowadays, many workpieces need to be positioned and measured during processing, such as steel billets. However, most of these steel billets are positioned by manually determining the position of the billet head relative to the burner, which is time-consuming and labor-intensive, and is prone to errors. In order to perform positioning measurements more accurately, laser rangefinders are gradually used to replace manual measurements.

[0003] However, the measurement of laser rangefinder is not necessarily accurate, and simple manual sampling is still required. Moreover, the existing laser rangefinder can only simply digitize the position of the measured object, and cannot describe the measured object more vividly to make the positioning more specific. Summary of the invention

[0004] The purpose of the present invention is to provide a positioning and measuring robot automation device to solve the above technical problems.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A positioning and measuring manipulator automation device comprises a manipulator body, wherein the manipulator body is connected to a heat sink through a connecting mechanism, the heat sink is provided with a groove, a protective glass is installed at the groove of the heat sink, and a positioning and measuring mechanism is fixedly connected inside the heat sink.

[0007] Preferably, the positioning and measuring mechanism includes a mounting base, to which a first laser rangefinder and a second laser rangefinder are fixedly connected, a camera is arranged between the first laser rangefinder and the second laser rangefinder, a limiting groove is arranged through the mounting base, a support column is arranged inside the limiting groove, one end of the support column is fixedly connected to the camera, and the other end of the support column is fixedly connected to a mounting plate, and the mounting plate and the mounting base are connected via a rotating assembly.

[0008] Preferably, the rotating assembly includes a fourth rotating seat, the fourth rotating seat is fixedly connected to the mounting plate, the fourth rotating seat is rotatably connected to a worm, the worm is meshed with a worm wheel, the worm wheel is fixedly connected to a second rotating rod, the second rotating rod is rotatably connected to the first rotating seat, the first rotating seat is fixedly connected to the mounting plate, the second rotating rod is fixedly connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the first rotating rod, the first rotating rod is rotatably connected to the second rotating seat, the first rotating rod is fixedly connected to the third rotating seat, the second rotating seat is fixedly connected to the mounting plate, and the third rotating seat is fixedly connected to the mounting base.

[0009] Preferably, one end of the worm passes through the heat sink and extends to the outside of the heat sink, and the worm is rotatably connected to the heat sink.

[0010] Preferably, a control switch is installed on the right side of the heat dissipation box, and the control switch is used to control the start and stop of the first laser rangefinder, the second laser rangefinder, and the camera.

[0011] Preferably, a display screen and a control panel are installed at the bottom of the heat dissipation box, the display screen is used to display the measurement data, and the control panel is used to control the first laser rangefinder, the second laser rangefinder, and the camera.

[0012] The beneficial effects of the present invention are:

[0013] 1. The present invention provides a first laser rangefinder, a second laser rangefinder, and a camera, and displays the data measured by the first laser rangefinder, the second laser rangefinder, and the camera, which can not only digitize the position of the measured object, but also digitize the shape and color, so that the measured object can be located more accurately.

[0014] 2. Multiple first heat dissipation bosses are arranged at intervals on the bottom of the first heat dissipation plate, and an air flow channel is formed on the periphery of each first heat dissipation boss. The accumulated heat can be dispersed along the periphery of the first heat dissipation boss, so that the structure has a fast heat dissipation speed and a good heat dissipation effect; and the first heat dissipation boss and the second heat dissipation boss can be cylinders or cubes. Compared with traditional straight heat dissipation ribs, the heat dissipation circumference formed by the first heat dissipation boss and the second heat dissipation boss is the same as the area of ​​the straight heat dissipation rib, and has the same heat dissipation effect, while saving more than half of the material, thereby reducing production costs.

[0015] 3. By pressing the pressure rod, the piston plate can push the piston column, and the tilting block can be returned to the inside of the connection box with the help of the piston column, which is convenient for the installation or disassembly of the heat sink and the manipulator body. In addition, an extrusion groove is provided on the tilting block to facilitate accurate extrusion of the piston column. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the connection between the heat dissipation box and the connecting column of the present invention;

[0018] Figure 3 It is a schematic diagram of the internal structure of the heat dissipation box of the present invention;

[0019] Figure 4 for Figure 3 A magnified schematic diagram of part A;

[0020] Figure 5 It is a structural schematic diagram of the connection mechanism of the present invention;

[0021] Figure 6 It is a schematic diagram of the structure of the first laser rangefinder and the first angle of the second laser rangefinder of the present invention;

[0022] Figure 7 It is a structural schematic diagram of the first laser rangefinder and the second laser rangefinder of the present invention at a second angle;

[0023] Figure 8 It is a schematic diagram of the structure of the first laser rangefinder and the second laser rangefinder at a third angle of the present invention;

[0024] Fig. 9 It is a schematic diagram of the connection between the first heat dissipation plate and the first heat dissipation boss of the present invention;

[0025] Fig.10 It is a schematic diagram of the connection between the second heat dissipation plate and the second heat dissipation boss of the present invention.

[0026] Figure numerals: 1, manipulator body; 2, heat sink; 3, heat sink; 4, connecting plate; 5, connecting box; 6, connecting column; 7, fixing block; 8, protective glass; 9, mounting plate; 10, tape measure; 11, piston plate; 12, pressure rod; 13, connecting groove; 14, piston column; 15, mounting tube; 16, first spring; 17, hollow plate; 18, slide plate; 19, second spring; 20, tilting block; 21, extrusion groove; 22, first laser rangefinder; 23, camera ; 24. Second laser rangefinder; 25. Mounting base; 26. Worm gear; 27. Worm; 28. First rotating seat; 29. ​​First bevel gear; 30. Second bevel gear; 31. First rotating rod; 32. Second rotating seat; 33. Third rotating seat; 34. Fourth rotating seat; 35. Support column; 36. Limiting groove; 37. First heat dissipation boss; 38. First heat dissipation plate; 39. Second heat dissipation plate; 40. Second heat dissipation boss; 41. Indicator line; 42. Second rotating rod. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments and drawings, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0028] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0029] Embodiment 1:

[0030] like Figure 1-3 , Figure 6-8 As shown, a positioning and measuring manipulator automation device comprises a manipulator body 1, the manipulator body 1 is connected to a heat sink 2 through a connecting mechanism, a groove is provided on the heat sink 2, a protective glass 8 is installed at the groove on the heat sink 2, a positioning and measuring mechanism is fixedly connected inside the heat sink 2, a control switch is installed on the right side of the heat sink 2, the control switch is used to control the start and stop of a first laser rangefinder 22, a second laser rangefinder 24, and a camera 23, a display screen and a control panel are installed at the bottom of the heat sink 2, the display screen is used to display measurement data, and the control panel is used to control the first laser rangefinder 22, the second laser rangefinder 24, and the camera 23;

[0031] When positioning measurement is required, the robot body 1 can be controlled. Since the robot body 1 adopts a conventional robot on the market, the control method of the robot body 1 belongs to the prior art and will not be described in detail here.

[0032] The positioning and measuring mechanism includes a mounting base 25, on which a first laser rangefinder 22 and a second laser rangefinder 24 are fixedly connected, a camera 23 is arranged between the first laser rangefinder 22 and the second laser rangefinder 24, a limiting groove 36 is arranged through the mounting base 25, a supporting column 35 is arranged inside the limiting groove 36, one end of the supporting column 35 is fixedly connected to the camera 23, and the other end of the supporting column 35 is fixedly connected to the mounting plate 9, and the mounting plate 9 is connected to the mounting base 25 through a rotating component;

[0033] When the robot body 1 is controlled to move the heat sink 2 to a designated position for measurement;

[0034] The first laser rangefinder 22, the second laser rangefinder 24, and the camera 23 can be started by controlling the switch, and the first laser rangefinder 22, the second laser rangefinder 24, and the camera 23 can be used to position and measure the object to be measured. The first laser rangefinder 22 and the second laser rangefinder 24 can digitize each corner of the object to be measured to form a coordinate system, and the coordinate system can be used to accurately determine the position, and the camera 23 can take a picture of the object to be measured, provide the shape and color of the object to be measured, so that the object to be measured can be displayed more intuitively on the display screen;

[0035] The rotating assembly includes a fourth rotating seat 34, the fourth rotating seat 34 is fixedly connected to the mounting plate 9, a worm 27 is rotatably connected to the fourth rotating seat 34, a worm wheel 26 is meshed on the worm 27, a second rotating rod 42 is fixedly connected to the worm wheel 26, a first rotating seat 28 is rotatably connected to the second rotating rod 42, the first rotating seat 28 is fixedly connected to the mounting plate 9, a first bevel gear 29 is fixedly connected to the second rotating rod 42, a second bevel gear 30 is meshed on the first bevel gear 29, a first rotating rod 31 is fixedly connected to the second bevel gear 30, a first rotating rod 31 is rotatably connected to the second rotating seat 32, a third rotating seat 33 is fixedly connected to the first rotating rod 31, the second rotating seat 32 is fixedly connected to the mounting plate 9, the third rotating seat 33 is fixedly connected to the mounting base 25, one end of the worm 27 passes through the heat sink 2 and extends to the outside of the heat sink 2, the worm 27 Rotatingly connected with the heat sink 2, in order to better digitize the measured object, the worm 27 can be rotated. The angles generated by the forward and reverse rotation of the worm 27 are different, and multi-angle measurement can be achieved. The rotation of the worm 27 will drive the worm wheel 26 to rotate, and the worm wheel 26 drives the second rotating rod 42 to rotate. The second rotating rod 42 rotates the first rotating rod 31 through the first bevel gear 29 and the second bevel gear 30. The first rotating rod 31 drives the third rotating seat 33 to rotate, so that the third rotating seat 33 drives the mounting base 25 to rotate. The rotation of the mounting base 25 will drive the first laser rangefinder 22 and the second laser rangefinder 24 to rotate. When the first laser rangefinder 22 and the second laser rangefinder 24 rotate, the angles of the measured object are different, and the data generated will also be different. The combination of more data will better digitize the measured object and realize the positioning measurement of the measured object.

[0036] By providing the limiting groove 36, the rotation angles of the first laser rangefinder 22 and the second laser rangefinder 24 can be limited so that they can perform measurements at reasonable angles;

[0037] After the measurement is completed, manual measurement can also be performed with the help of the tape measure 10 to determine whether the measurement results of the first laser rangefinder 22 and the second laser rangefinder 24 are correct.

[0038] Embodiment 2:

[0039] like Figure 9-10As shown, when other parts are the same as those of Example 1, the difference between this embodiment and Example 1 is that grooves are provided on both the front and rear sides of the heat dissipation box 2, and a heat dissipation net 3 is provided at the groove, and the heat dissipation net 3 is connected to the heat dissipation box 2 by screws;

[0040] The first laser rangefinder 22, the second laser rangefinder 24, and the camera 23 are all fixedly connected to the back thereof with a first heat sink 38, which is used to absorb the heat dissipated by the first laser rangefinder 22, the second laser rangefinder 24, and the camera 23 during operation. A plurality of first heat dissipation bosses 37 are fixedly connected to the first heat dissipation plate 38, and the plurality of first heat dissipation bosses 37 are installed according to the pre-specified indication lines 41, and the plurality of first heat dissipation bosses 37 are divided into a plurality of groups, and an air flow channel is formed between each group. Since the plurality of first heat dissipation bosses 37 are arranged at intervals on the bottom of the first heat dissipation plate 38, and an air flow channel is formed on the periphery of each first heat dissipation boss 37, the accumulated heat can be dispersed along the periphery of the heat dissipation boss, and the structure has a fast heat dissipation speed and a good heat dissipation effect;

[0041] The first heat dissipation boss 37 and the first heat dissipation plate 38 mentioned above can be replaced by the second heat dissipation plate 39 and the second heat dissipation boss 40, but the indicator line 41 on the second heat dissipation plate 39 is changed, and the straight-line installation is changed to the curved installation;

[0042] The plurality of first heat dissipation bosses 37 are arranged on a plurality of straight lines, which are radial lines passing through the center, and the plurality of straight first heat dissipation bosses 37 can be changed into a plurality of second heat dissipation bosses 40 evenly distributed or arranged along a plurality of curves, wherein the plurality of curves are arcs that bend from the center point toward the edge thereof. This structure is simple and reasonable, and the accumulated heat can be dispersed along the periphery of the heat dissipation bosses for heat dissipation;

[0043] The first heat dissipation boss 37 and the second heat dissipation boss 40 can be cylinders or cubes. Compared with traditional straight heat dissipation ribs, the heat dissipation circumference formed by the first heat dissipation boss 37 and the second heat dissipation boss 40 is the same as the area of ​​the straight heat dissipation ribs, and has the same heat dissipation effect, while saving more than half of the materials, thereby reducing production costs.

[0044] Embodiment 3:

[0045] like Figure 4-5As shown, in the case where other parts are the same as those in Example 1, the difference between this embodiment and Example 1 is that: the connecting mechanism includes a connecting plate 4, a plurality of connecting grooves 13 are provided on the connecting plate 4, a connecting box 5 is provided inside the connecting groove 13, a groove is provided on the connecting box 5, a slide plate 18 is slidably connected inside the connecting box 5, one side of the slide plate 18 is connected to the connecting box 5 through a second spring 19, and a tilting block 20 is fixedly connected to the other side of the slide plate 18, an extrusion groove 21 is provided on the tilting block 20, the tilting block 20 passes through the extrusion groove 21, and the connecting box 5 is fixedly connected to the heat dissipation box 2;

[0046] Two fixed blocks 7 are fixedly connected to the top of the connecting plate 4, and the fixed block 7 is located between the two connecting boxes 5. A mounting tube 15 is fixedly connected inside the fixed block 7, and the mounting tube 15 is T-shaped. Two hollow plates 17 are fixedly connected inside the mounting tube 15, and the two hollow plates 17 are fixedly connected to the first springs 16 on the opposite sides, and the two first springs 16 are fixedly connected to the piston column 14 on the opposite sides. The piston column 14 is slidably connected to the mounting tube 15, and a pressure rod 12 is provided on the top of the mounting tube 15, and the pressure rod 12 is slidably connected to the mounting tube 15. The bottom of the pressure rod 12 is fixedly connected to the piston plate 11, and the bottom of the piston plate 11 is slidably connected to the mounting tube 15. The space between the piston plate 11 and the piston column 14 in the mounting tube 15 is filled with flowing liquid, and the diameter of the piston column 14 is smaller than the diameter of the extrusion groove 21;

[0047] A connecting column 6 is fixedly connected to the middle of the top of the connecting plate 4, and the connecting column 6 is fixedly connected to the robot body 1;

[0048] When the heat sink 2 needs to be installed on the manipulator body 1, the four connection boxes 5 on the top of the heat sink 2 can be directly inserted into the connection slots 13 on the connection plate 4. Due to the limit of the connection plate 4, the tilting block 20 can be squeezed back into the connection box 5, so that the connection box 5 is inserted into the connection slot 13 intact, and at this time the tilting block 20 loses the limit and will return to the original position to play a limit role, thereby achieving installation;

[0049] When it is necessary to remove it, the pressure rod 12 can be pressed, so that the pressure rod 12 drives the piston plate 11 to squeeze the flowing liquid inside the mounting tube 15, and the flowing liquid squeezes the piston column 14, so that the piston column 14 pulls the first spring 16 out of the mounting tube 15 and plugs into the squeezing groove 21. As the piston column 14 is continuously moved out, the piston column 14 will continuously squeeze the tilting block 20, so that the tilting block 20 squeezes the second spring 19 back into the connection box 5. When the tilting block 20 returns to the connection box 5, the heat sink 2 can be pulled downward, so that the heat sink 2 together with the connection box 5 and the tilting block 20 are all moved downward;

[0050] After the tilting block 20 moves down to the inside of the connecting groove 13, the pressing rod 12 is released to restore the piston column 14 to its original state, and the heat sink 2 is continued to be pulled, so that the heat sink 2 can be effectively disassembled.

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A positioning and measuring robot automation device, comprising a robot body (1), characterized in that: The manipulator body (1) is connected to a heat sink (2) via a connecting mechanism, a groove is provided through the heat sink (2), a protective glass (8) is installed at the groove on the heat sink (2), and a positioning measurement mechanism is fixedly connected inside the heat sink (2); The positioning and measuring mechanism comprises a mounting base (25), a first laser rangefinder (22) and a second laser rangefinder (24) are fixedly connected to the mounting base (25), a camera (23) is arranged between the first laser rangefinder (22) and the second laser rangefinder (24), a limiting groove (36) is arranged through the mounting base (25), a support column (35) is arranged inside the limiting groove (36), one end of the support column (35) is fixedly connected to the camera (23), and the other end of the support column (35) is fixedly connected to the mounting plate (9), and the mounting plate (9) and the mounting base (25) are connected via a rotating assembly; The rotating assembly comprises a fourth rotating seat (34), the fourth rotating seat (34) being fixedly connected to the mounting plate (9), a worm (27) being rotatably connected to the fourth rotating seat (34), a worm gear (26) being meshed with the worm gear (27), a second rotating rod (42) being fixedly connected to the worm gear (26), a first rotating seat (28) being rotatably connected to the second rotating rod (42), the first rotating rod (42) being rotatably connected to the first rotating seat (28), the first rotating seat (28) being fixedly connected to the mounting plate (9), a first bevel gear (29) being fixedly connected to the second rotating rod (42), a second bevel gear (30) being meshed with the first bevel gear (29), a first rotating rod (31) being fixedly connected to the second bevel gear (30), the first rotating rod (31) being rotatably connected to the second rotating seat (32), the first rotating rod (31) being fixedly connected to the third rotating seat (33), the second rotating seat (32) being fixedly connected to the mounting plate (9), and the third rotating seat (33) being fixedly connected to the mounting base (25); The heat dissipation box (2) is provided with grooves on both the front and rear sides, and a heat dissipation net (3) is provided in the groove, and the heat dissipation net (3) is connected to the heat dissipation box (2) by screws; The first laser rangefinder (22), the second laser rangefinder (24), and the camera (23) are all fixedly connected to a first heat sink (38) on their backs. The first heat sink (38) is used to absorb heat dissipated by the first laser rangefinder (22), the second laser rangefinder (24), and the camera (23) during operation. A plurality of first heat sink bosses (37) are fixedly connected to the first heat sink (38). The plurality of first heat sink bosses (37) are installed according to the indicator lines (41). The plurality of first heat sink bosses (37) are divided into a plurality of groups, and airflow channels are formed between each group. The plurality of first heat sink bosses (37) are arranged at intervals on the bottom of the first heat sink (38), and an airflow channel is formed around the periphery of each first heat sink boss (37).

2. The positioning and measuring robot automation device according to claim 1, characterized in that: One end of the worm (27) passes through the heat sink (2) and extends to the outside of the heat sink (2), and the worm (27) is rotatably connected to the heat sink (2).

3. The positioning and measuring robot automation device according to claim 1, characterized in that: A control switch is installed on the right side of the heat sink (2), and the control switch is used to control the start and stop of the first laser rangefinder (22), the second laser rangefinder (24), and the camera (23).

4. The positioning and measuring robot automation device according to claim 1, characterized in that: A display screen and a control panel are installed at the bottom of the heat dissipation box (2); the display screen is used to display measurement data; and the control panel is used to control the first laser rangefinder (22), the second laser rangefinder (24), and the camera (23).

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