A robot based on laser radar posture correction

Abstract

The present invention belongs to the field of robotics and discloses a robot with laser radar posture correction. The robot comprises a mechanical platform with a workstation fixed to it. A rotating processing disk is rotatably connected to the top of the workstation. The rotating processing disk has a detection port formed in the upper portion thereof, and a workpiece fixing device is provided within the detection port for placing the workpiece. A mechanical arm base is also fixed to the workstation, and a detection device including a laser radar sensor is provided on the mechanical arm base, which corresponds to the detection port. The present invention has a simple structure and is easy to implement. It can monitor whether parts on the workstation are missing and can adopt different working modes according to different working conditions, making it easy to operate and highly practical.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot based on laser radar posture correction. Background Art

[0002] Parts are the basic elements of a machine and fall into two main categories: universal parts, such as gears and shafts, are used in all types of machines; specialized parts, such as bolts and propellers, are used only in certain types of machines. Furthermore, assemblies of parts that work together are called components or assemblies, such as couplings and speed reducers.

[0003] During the parts production process, most operations such as drilling, grinding, or welding are required. These processes are usually completed in batches through different processes in the assembly line. When processing a batch of products, if a product is omitted from a certain process, the omitted parts are often treated as defective products. When defective products appear, the operator will return the workpiece to the upstream process to continue the processing operation, which will reduce the production efficiency of the product. In addition, because the operator cannot predict when and where the parts at the workstation will miss the processing procedure, manual continuous monitoring of the processing system is required, which increases the monitoring burden on the operator and greatly increases labor costs.

[0004] Based on the above analysis, it can be seen that during the existing parts processing process, manual monitoring is required to check whether the parts are missing at the workstation, which not only reduces production efficiency but also wastes human resources. Therefore, it is necessary to propose a robot that can monitor whether the parts are missing at the workstation to solve the shortcomings of the existing technology. Summary of the Invention

[0005] The purpose of the present invention is to propose a robot based on laser radar posture correction, which has a simple structure, is easy to implement, can monitor whether parts on the work station are missing, and can adopt different working modes for different working conditions, is easy to operate, and has strong practicality.

[0006] The technical solution adopted to achieve the purpose of the present invention is: a robot based on laser radar posture correction, including a mechanical platform, a work station is fixed on the mechanical platform, a rotating processing disk is rotatably connected to the top of the work station, and a detection port is opened on the upper part of the rotating processing disk, and a workpiece fixing device for placing the workpiece is provided in the detection port; a robotic arm seat is also fixed on the work station, and a detection device containing a laser radar sensor corresponding to the detection port is provided on the robotic arm seat.

[0007] Furthermore, the rotating processing disk is a hollow cylindrical ring structure, and the number of detection ports on the rotating processing disk is 2N, where N is greater than or equal to 2, and the detection ports are evenly arranged on the cylindrical ring; the number of robotic arm seats is two, and the robotic arm seats are located on both sides of the workstation, and the two robotic arm seats are in the same straight line with the center of the rotating processing disk.

[0008] Furthermore, a ring rack is provided on the middle surface of the rotating processing disk; it also includes a first drive motor, the output shaft of the first drive motor is perpendicular to the mechanical platform, and the end of the output shaft is also fixed with a first gear meshing with the ring rack.

[0009] Furthermore, a through slot connected to the detection port is horizontally opened inside the rotating processing disk, and the number of the through slots corresponds to the number of the detection ports; a hollow fixed block is fixed in the through slot, and a transverse rod is slidably connected to the fixed block; an arc-shaped contact head is fixed at one end of the transverse rod, and a clamping block is fixed at the other end, wherein the transverse rod with the arc-shaped contact head at one end extends into the hollow hole of the cylindrical ring-shaped rotating processing disk; the transverse rod with the clamping block at one end moves in the through slot; a reset spring is also provided on the transverse rod located between the arc-shaped contact head and the fixed block, and the two ends of the reset spring are respectively fixedly connected to the arc-shaped contact head and the fixed block.

[0010] Furthermore, the workstation is cylindrical, and the rotating processing disk is arranged concentrically with the workstation; a fixed frame is fixedly connected to the center of the top of the workstation, and a positioning piston is fixedly connected to the top of the fixed frame; the positioning piston and the arc-shaped contact head are arranged at the same height, and the top of the positioning piston is elliptical, wherein two groups of arc-shaped contact heads conflict with the two ends of the long axis of the elliptical positioning piston.

[0011] Furthermore, the detection device includes an L-shaped detection arm frame rotatably connected to the robotic arm base, and a laser radar sensor is installed at the other end of the detection arm frame, with the detection end of the laser radar sensor facing downward.

[0012] Furthermore, a through hole is provided at the bottom of the detection port, which passes through the rotating processing disk, and the diameter of the through hole is smaller than the diameter of the detection port; two guide rails are provided on the mechanical platform directly below the detection port, and the two guide rails, the two mechanical arm seats and the center of the rotating processing disk are in the same straight line; a vertical rack is also slidably provided on the guide rail, and the width of the vertical rack is smaller than the diameter of the through hole; a second drive motor is fixed on both sides of the work station, and a horizontal reciprocating shaft perpendicular to the vertical rack is fixed to the output end of the second drive motor, and a second gear meshing with the vertical rack is also fixed on the horizontal reciprocating shaft.

[0013] Furthermore, a vertical balance shaft is rotatably connected inside the robotic arm seat, and the upper end of the vertical balance shaft extends out of the robotic arm seat and is fixedly connected to the detection arm frame; a first bevel gear is also fixed to the end of the horizontal reciprocating shaft away from the second drive motor; a second bevel gear is fixed on the vertical balance shaft and meshes with the first bevel gear.

[0014] Furthermore, a limiting groove for placing the workpiece is provided on the top of the workpiece fixing device.

[0015] The beneficial effects of the present invention are:

[0016] 1. In the present invention, two groups of laser radar sensors are used to detect the workpiece, and whether the workpiece is missed is determined by detecting the distance between the laser radar sensor and the workpiece to be detected, which can achieve rapid detection, easy operation, and sensitive detection.

[0017] 2. The present invention makes the workpiece fixing device with missing parts more prominent and eye-catching through the cooperation between the second drive motor, the horizontal reciprocating shaft and the vertical rack, so that the operator can quickly find and replenish them, thereby preventing defective products from occurring in the downstream process.

[0018] 3. In the present invention, the workpiece that has been inspected is rotated to the position to be processed by the rotating processing disk, and can be directly processed at the position to be processed without taking the workpiece out for further processing, which greatly improves work efficiency.

[0019] 4. In the process of pushing the workpiece fixing device upward, the detection arm drives the laser radar sensor to rotate 180°, so that the laser radar sensor leaves the top of the rotating processing disk, and then leaves the space above the workpiece fixture, which greatly increases the operating space and provides convenience for the replenishment of the workpiece or other operation processes. In addition, the posture of the detection arm and the laser radar sensor can be self-corrected, which is flexible and reliable.

[0020] 5. After the missing workpiece is detected correctly, the second drive motor drives the rotating processing disk to rotate through the second gear and the annular rack, and the single rotation angle is the corresponding angle. At this time, the workpiece after detection is moved to the position to be processed, and the undetected workpiece is rotated to the position directly below the laser radar sensor. The entire process is orderly and the degree of automated operation is high.

[0021] 6. In the present invention, as the rotating processing disk rotates after the detection is completed, the detection position is moved to the processing position. During this process, due to the fixation of the positioning piston, the arc-shaped contact head changes from the previous non-contact state to the extrusion state, so that the workpiece fixing device can adjust its own fixed state when the position is switched, without the assistance of other power devices. The design is novel and, in conjunction with the implementation of the above scheme, makes the switching of the detection and processing states of the workpiece more comfortable.

[0022] 7. The present invention has a simple structure and is easy to implement. It can monitor whether parts on the workstation are missing and can adopt different working modes according to different working conditions. It is easy to operate and has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below with reference to the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.

[0024] Figure 1 It is a schematic diagram of the overall structure of the device of the present invention.

[0025] Figure 2 yes Figure 1 A schematic diagram of a cross-sectional structure.

[0026] Figure 3 yes Figure 2 A locally enlarged schematic diagram of point A in the middle.

[0027] Figure 4 It is a structural schematic diagram of the rotary processing disk of the present invention.

[0028] Figure 5 It is a structural schematic diagram of the workstation of the present invention.

[0029] Figure 6 It is a schematic diagram of a top view of the structure of the device of the present invention.

[0030] Figure 7 yes Figure 6 A schematic diagram of a cross-sectional structure.

[0031] Figure 8 It is a structural diagram of the cooperation among the vertical rack, the second gear and the guide rail of the present invention.

[0032] Figure 9 yes Figure 8 A schematic diagram of a top view structure.

[0033] Figure 10 It is a structural schematic diagram of the cooperation between the workpiece fixing device and the workpiece body of the present invention.

[0034] Figure 11 It is a schematic diagram of a top view of the workpiece fixing device of the present invention.

[0035] In the figure: 1. Mechanical platform; 2. Work station; 3. Rotating processing disk; 4. Inspection port; 5. Workpiece fixture; 6. Robot arm base; 7. Inspection device; 8. Ring rack; 9. First drive motor; 10. First gear; 11. Through slot; 12. Fixing block; 13. Transverse rod; 14. Arc contact head; 15. Clamping block; 16. Return spring; 17. Fixing bracket; 18. Positioning piston; 19. Through hole; 20. Guide rail; 21. Vertical rack; 22. Second drive motor; 23. Transverse reciprocating shaft; 24. Second gear; 25. Vertical balancing shaft; 26. First bevel gear; 27. Second bevel gear; 28. Limiting slot; 29. ​​Swivel; 30. Ring rail slot; 31. Workpiece body;

[0036] 701. LiDAR sensor; 702. Detection arm. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the following will be a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work shall fall within the scope of protection of the present invention.

[0038] like Figures 1 to 11 As shown, a robot based on laser radar posture correction includes a mechanical platform 1, a work station 2 is fixed on the mechanical platform 1, a rotating processing disk 3 is rotatably connected to the top of the work station 2, and a detection port 4 is opened on the upper part of the rotating processing disk 3, and a workpiece fixing device 5 for placing the workpiece is provided in the detection port 4; a robotic arm seat 6 is also fixed on the work station 2, and a detection device 7 containing a laser radar sensor 701 corresponding to the detection port 4 is provided on the robotic arm seat 6.

[0039] The overall device of the present invention is used to be installed on a workstation at a processing position on an assembly line. The workpiece transported from the previous process first needs to be placed in the detection port 4 below the robotic arm seat 6 and fixed and limited by the workpiece fixing device 5. The detection port 4 is a cylindrical or regular quadrangular prism-shaped detection port 4, and the workpiece fixing device 5 is a cylindrical detection structure that matches the shape of the cylindrical or regular quadrangular prism-shaped detection port 4, and the tool fixing device is mainly used to place the workpiece to be inspected. The robotic arm seat 6 is mainly used to fix the detection device 7. The function of the detection device 7 is to detect whether there is any omission in the workpiece to be processed. When the detection device 7 detects that there is a workpiece in the detection port 4 located below, the rotary processing disk 3 rotates and rotates the detected detection port 4 to the processing position. At this time, the workpiece in the detection port 4 that has been inspected can be directly removed, and the workpiece in the detection port 4 can also be directly processed. During the above process, a corresponding mechanical gripper can be set on the assembly line to improve efficiency for grabbing the workpiece. At the same time, in order to prevent errors, staff can be arranged at the corresponding workstation for further monitoring. In order to further improve processing efficiency, the present invention preferably processes the workpieces directly in the inspection port 4, removes the workpieces after processing, and then puts in the next batch of workpieces to be inspected. When the inspection port 4 that has been inspected rotates to the processing position, the inspection port 4 on the rotating processing disk 3 with the next batch of workpieces to be inspected rotates to the position of the inspection device 7 to inspect the next batch of workpieces. The above process is repeated to complete the inspection and processing of a batch of workpieces.

[0040] like Figure 1 、 Figure 2 、 Figure 4 、 Figure 6 and Figure 7 As shown, the rotating processing disk 3 is a hollow cylindrical ring structure, and there are four detection ports 4 on the rotating processing disk 3, and the four detection ports 4 are evenly arranged on the cylindrical ring; there are two robotic arm seats 6, and the two robotic arm seats 6 are on the same straight line with the center of the rotating processing disk 3.

[0041] The four inspection ports 4 are evenly distributed on the cylindrical ring, ensuring consistent spacing between the inspection ports 4 and facilitating batch placement, inspection, and processing of workpieces. In the present invention, the two robotic arm bases 6 are aligned with the center of the rotating processing disk 3, allowing the two robotic arm bases 6 to be located on an extended diameter of the rotating processing disk 3. Because the four inspection ports 4 are evenly distributed on the rotating processing disk 3, the line connecting two non-adjacent inspection ports 4 can be located on an extended diameter of the rotating processing disk 3, further ensuring that the two non-adjacent inspection ports 4 can be separately engaged with the two robotic arms after rotation.

[0042] The mechanical platform 1 in the present invention is mainly used to fix and carry other parts, and the workstation 2 is used to carry the rotating processing disk 3, and the two are rotatably connected.

[0043] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, in one embodiment of the present invention, the selective connection method between the work station 2 and the rotating processing disk 3 adopts the method of an annular groove to achieve rotational connection. Specifically, a swivel 29 is fixedly connected to the bottom of the rotating processing disk 3, and an annular track groove 30 is provided on the top of the work station 2. The swivel 29 is rotatably installed in the annular track groove 30. In this embodiment, a circle of annular rack 8 is provided on the middle surface of the rotating processing disk 3; it also includes a first drive motor 9, the output shaft of the first drive motor 9 is perpendicular to the mechanical platform 1, and the end of the output shaft is also fixed with a first gear 10 that meshes with the annular rack 8. During actual operation, the first drive motor 9 drives the first gear 10 to rotate, the first gear 10 drives the annular rack 8 to rotate, and the annular rack 8 drives the rotating processing disk 3 connected thereto to rotate. Since the motor and gears in the above method are exposed on the entire surface of the device, it is convenient to observe and replace. Therefore, the present invention uses this embodiment as a preferred embodiment.

[0044] In another embodiment of the invention, the workstation 2 and the rotating processing disk 3 can be connected by a gear connection. For example, a hollow gear is provided at the top of the workstation 2, a connecting shaft is provided at the bottom of the rotating processing disk 3, and another gear is provided at the bottom of the connecting shaft to cooperate with the hollow gear. A motor is provided at the bottom of the workstation 2 and fixedly connected to the hollow gear. When the motor drives the hollow gear to rotate, it can drive another gear at the bottom of the rotating processing disk 3 to rotate, thereby driving the rotating processing disk 3 to rotate.

[0045] In the present invention, the rotating processing disk 3 is a hollow cylindrical ring structure. The number of detection ports 4 on the rotating processing disk 3 is 2N, where N is greater than or equal to 2, and the detection ports 4 are evenly distributed on the cylindrical ring. The number of robotic arm seats 6 is two, and the robotic arm seats 6 are located on both sides of the workstation 2, and the two robotic arm seats 6 are aligned with the center of the rotating processing disk 3. The number of detection ports 4 is 2N, where N is greater than or equal to 2, so that two detection ports 4 can be matched. Because each detection port 4 is evenly distributed on the cylindrical ring, two detection ports 4 distributed on the same diameter of the cylindrical ring can be considered a group. The angle of rotation of the rotating processing disk 3 is the angle corresponding to the arc formed by the line connecting the centers of two adjacent detection ports 4. For example, if the number of detection ports is 4, the angle of rotation of the rotating processing disk 3 is 90° each time; if the number of detection ports is 6, the angle of rotation of the rotating processing disk 3 is 60° each time; if the number of detection ports is 8, the angle of rotation of the rotating processing disk 3 is 45° each time. That is, if the number of the detection ports is 2N, the angle of each rotation of the rotating processing disk 3 is 180 / N degrees, where N is greater than or equal to 2.

[0046] like Figure 2 、 Figure 3 and Figure 5As shown, in the present invention, the preferred number of detection ports 4 is four, specifically: a through groove 11 is horizontally opened inside the rotating processing disk 3, which is respectively connected to the four detection ports 4, and a hollow fixed block 12 is fixed in the through groove 11, and a transverse rod 13 is slidably connected to the fixed block 12; an arc-shaped contact head 14 is fixed at one end of the transverse rod 13, and a clamping block 15 is fixed at the other end, wherein the transverse rod 13 with an arc-shaped contact head 14 at one end extends into the hollow hole of the cylindrical ring-shaped rotating processing disk 3; the transverse rod 13 with a clamping block 15 at one end moves in the through groove 11; a reset spring 16 is also sleeved on the transverse rod 13 located between the arc-shaped contact head 14 and the fixed block 12, and the two ends of the reset spring 16 are respectively fixedly connected to the arc-shaped contact head 14 and the fixed block 12.

[0047] The work station 2 is cylindrical, and the rotating processing disk 3 is arranged concentrically with the work station 2; a fixing frame 17 is fixedly connected to the center of the top of the work station 2, and a positioning piston 18 is fixedly connected to the top of the fixing frame 17; the positioning piston 18 is arranged at the same height as the arc-shaped contact head 14, and the top of the positioning piston 18 is elliptical, wherein the two groups of arc-shaped contact heads 14 conflict with the two ends of the long axis of the elliptical positioning piston 18.

[0048] In the present invention, the fixed block 12 and the traverse rod 13 are clearance-matched, ensuring that the traverse rod 13 can slide within the fixed block 12. The arc-shaped contact head 14 can interfere with the positioning piston 18. In the present invention, the positioning piston 18 is elliptical, with the ends of the minor axis of the elliptical positioning piston 18 corresponding to the position of the workpiece to be inspected, and the ends of the major axis of the elliptical positioning piston 18 corresponding to the position of the workpiece to be processed after inspection.

[0049] like Figure 1 and Figure 2 As shown, the detection device 7 includes an L-shaped detection arm 702 rotatably connected to the robotic arm base 6, and a laser radar sensor 701 is installed at the other end of the detection arm 702, with the detection end of the laser radar sensor 701 facing downward.

[0050] The workpiece body 31 to be processed is fixed on the workpiece fixing device 5 in the detection port 4. Initially, the two groups of laser radar sensors 701 are located directly above the two groups of workpiece fixtures. The laser radar sensor 701 detects the workpiece of the workpiece fixing device 5. If the vertical distance value between the laser radar sensor 701 and the fixed workpiece body 31 is the same as the preset value, the workpiece on the workstation is not missing; on the contrary, if the detected distance is different from the preset value, the workpiece on the workstation is missing or has a fault, so as to achieve missed detection, and then countermeasures can be taken to avoid missed processing.

[0051] like Figure 2 、 Figure 4 、 Figure 8 and Figure 9 As shown, a through hole 19 is provided at the bottom of the detection port 4, which passes through the rotating processing disk 3, and the diameter of the through hole 19 is smaller than the diameter of the detection port 4; two guide rails 20 are also provided on the mechanical platform 1 directly below the detection port 4, and the two guide rails 20, the two robotic arm seats 6 and the center of the rotating processing disk 3 are in the same straight line; a vertical rack 21 is also slidably provided on the guide rail 20, and the width of the vertical rack 21 is smaller than the diameter of the through hole 19; a second drive motor 22 is fixed on both sides of the work station 2, and a horizontal reciprocating shaft 23 perpendicular to the vertical rack 21 is fixed to the output end of the second drive motor 22, and a second gear 24 meshing with the vertical rack 21 is also fixed on the horizontal reciprocating shaft 23.

[0052] A vertical balancing shaft 25 is also rotatably connected inside the robotic arm seat 6, and the upper end of the vertical balancing shaft 25 extends out of the robotic arm seat 6 and is fixedly connected to the detection arm frame 702; a first bevel gear 26 is also fixed to the end of the horizontal reciprocating shaft 23 away from the second drive motor 22; a second bevel gear 27 that meshes with the first bevel gear 26 is fixed on the vertical balancing shaft 25.

[0053] like Figure 7 、 Figure 10 and Figure 11 As shown, the top of the workpiece fixture 5 is also provided with a retaining groove 28 for placing the workpiece. In the present invention, retaining groove 28 primarily serves to position the workpiece, allowing the workpiece to be inserted into retaining groove 28 for secure positioning. The shape of retaining groove 28 can be designed based on actual conditions, specifically the shape of the workpiece to be inspected. When inspecting different workpieces, retaining groove 28 can be designed to match the shape of the workpiece to be inspected.

[0054] During the detection process of the laser radar sensor 701, if a workpiece is missed, the second drive motor 22 is turned on, and the second drive motor 22 drives the horizontal reciprocating shaft 23 and the second gear 24 to rotate. Since the second gear 24 is engaged with the vertical rack 21, the vertical rack 21 moves toward the detection port 4 until the vertical rack 21 passes through the through hole 19 and pushes the workpiece fixing device 5 upward, so that the part with the limit groove 28 at the upper end of the workpiece fixing device 5 is moved out of the detection port 4, so as to add the missed workpiece to be processed into the workpiece fixing device 5, avoid the difficulty in adding workpieces due to the small space of the detection port 4, and on the other hand, make the workpiece fixing device 5 without a workpiece more prominent and eye-catching, so that the operator can quickly find it.

[0055] After the workpiece body 31 that has been missed from inspection is replenished, the second drive motor 22 drives the horizontal reciprocating shaft 23 and the second gear 24 to reverse, so that the vertical rack 21 moves downward and out of the inspection port 4 and the through hole 19, and releases the external force applied to the workpiece fixing device 5, so that the workpiece fixing device 5 can reset itself and slide into the inspection port 4, and the machinery for processing the workpiece body 31 can be installed on the workstation corresponding to the inspection port 4 that has been inspected by the rotating processing disk 3, so that the workpiece after the inspection and processing is completed can proceed to the next processing step.

[0056] In the above process, when the second drive motor 22 drives the vertical rack 21 to move upward, the first bevel gear 26 on the horizontal reciprocating shaft 23 is engaged with the second bevel gear 27 on the vertical balance shaft 25, so that the vertical balance shaft 25 drives the detection arm 702 to rotate, that is, when the vertical rack 21 pushes the upper part of the workpiece fixing device 5 out of the detection port 4, the detection arm 702 drives the laser radar sensor 701 to rotate 180° to change the posture of the detection arm 702, so that the two leave the top of the rotating processing disk 3, and then leave the space above the workpiece fixing device 5, thereby greatly increasing the operating space. When replenishing workpieces, an external manipulator can be used to grab and place the workpiece to be replenished, which provides convenience for the replenishment or other manipulation of the workpiece. When the vertical rack 21 is reset, the detection arm 702 can be corrected to the initial state; after the missing workpiece is detected correctly, the first drive motor 9 drives the rotating processing disk 3 to rotate through the first gear 10 and the annular rack, and the single rotation angle is 90°. At this time, the workpiece after detection is moved to the position to be processed, and the undetected workpiece is rotated to the position directly below the laser radar sensor 701. The entire process is orderly and the degree of automation is high.

[0057] During the above process, the long axis ends of the positioning piston 18 face the inspection port 4 where the workpiece inspection has been completed. That is, when the rotating processing disk 3 moves the workpiece to the processing position, the positioning piston 18 squeezes the arcuate contact head 14, causing the traverse rod 13 to slide along the fixed block 12 and drive the clamping block 15 to move toward the workpiece fixture 5 until the clamping block 15 abuts the workpiece fixture 5 in the inspection port 4, thereby clamping the workpiece fixture 5 and preventing it from loosening. At this time, the short axis ends of the positioning piston 18 face the inspection port 4 located on both sides of the inspection device 7. The positioning piston 18 does not contact the arcuate contact heads 14 near the two sides of the inspection device 7, causing the corresponding clamping blocks 15 to be in a released state and not securing the workpiece fixtures 5 on both sides. The purpose of adopting the above arrangement is to ensure that the workpiece on the workpiece fixture 5 below the inspection device 7 is in the inspection state, without being fixed, and is kept within the inspection port 4. If a workpiece is missed during inspection, the unfixed state of the workpiece fixture 5 can cause the vertical rack 21 to push the workpiece fixture 5 upward. As the rotating processing disk 3 rotates after the detection is completed, the detection position is moved to the processing position. During this process, due to the fixation of the positioning piston 18, the arc-shaped contact head 14 changes from the previous non-contact state to the extrusion state, so that the workpiece fixing device 5 can adjust its own fixed state when the position is switched, without the assistance of other power devices. The design is novel and, in conjunction with the implementation of the above-mentioned scheme, makes the switching of the detection and processing states of the workpiece more comfortable.

[0058] The motors of the present invention are all connected to an external control device, and the specific operating state of the motors is controlled by the external control device. The external control device can be an existing chip processor, etc. The specific control program can be written according to actual needs. The above method is common in the prior art and can be implemented based on the technical solution of the present invention. In addition, the present invention protects the mechanical structure, and the above control method and program writing are not within the scope of protection of the present invention.

[0059] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the scope of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot based on laser radar posture correction, characterized in that: The invention comprises a mechanical platform (1), a workstation (2) is fixed on the mechanical platform (1), a rotating processing disk (3) is rotatably connected to the top of the workstation (2), and a detection port (4) is opened on the top of the rotating processing disk (3), and a workpiece fixing device (5) for placing a workpiece is provided in the detection port (4); a mechanical arm seat (6) is also fixed on the workstation (2), and a detection device (7) including a laser radar sensor (701) is provided on the mechanical arm seat (6) and corresponds to the detection port (4); The rotating processing disk (3) is a hollow cylindrical ring structure. The number of detection ports (4) on the rotating processing disk (3) is 2N, where N is greater than or equal to 2, and the detection ports (4) are evenly arranged on the cylindrical ring; the number of the robotic arm seats (6) is two, and the robotic arm seats (6) are respectively located on both sides of the workstation (2), and the two robotic arm seats (6) are on the same straight line with the center of the rotating processing disk (3); A through slot (11) communicating with the detection port (4) is transversely opened inside the rotating processing disk (3), and the number of the through slots (11) corresponds to the number of the detection ports (4); a hollow fixed block (12) is fixed in the through slot (11), and a transverse rod (13) is slidably connected to the fixed block (12); an arc-shaped contact head (14) is fixed at one end of the transverse rod (13), and a clamping block (15) is fixed at the other end, wherein the transverse rod (13) with one end of the arc-shaped contact head (14) extends into the hollow hole of the cylindrical ring-shaped rotating processing disk (3); the transverse rod (13) with one end of the clamping block (15) moves in the through slot (11); a reset spring (16) is also sleeved on the transverse rod (13) located between the arc-shaped contact head (14) and the fixed block (12), and the two ends of the reset spring (16) are fixedly connected to the arc-shaped contact head (14) and the fixed block (12), respectively.

2. The robot based on laser radar posture correction according to claim 1, characterized in that: A ring rack (8) is provided on the central surface of the rotating processing disk (3); and the rotating processing disk (3) further comprises a first driving motor (9), the output shaft of the first driving motor (9) being perpendicular to the mechanical platform (1), and a first gear (10) meshing with the ring rack (8) is fixed at the end of the output shaft.

3. The robot based on laser radar posture correction according to claim 1 or 2, characterized in that: The workstation (2) is cylindrical, and the rotating processing disc (3) is concentrically arranged with the workstation (2); a fixing frame (17) is fixedly connected to the center of the top of the workstation (2), and a positioning piston (18) is fixedly connected to the top of the fixing frame (17); the positioning piston (18) and the arc-shaped contact head (14) are arranged at the same height, and the top of the positioning piston (18) is elliptical, wherein two groups of arc-shaped contact heads (14) are in conflict with the two ends of the long axis of the elliptical positioning piston (18).

4. The robot based on laser radar posture correction according to claim 1 or 2, characterized in that: The detection device (7) includes an L-shaped detection arm (702) rotatably connected to the mechanical arm base (6), and a laser radar sensor (701) is installed at the other end of the detection arm (702), and the detection end of the laser radar sensor (701) faces downward.

5. The robot based on laser radar posture correction according to claim 3, characterized in that: The detection device (7) includes an L-shaped detection arm (702) rotatably connected to the mechanical arm base (6), and a laser radar sensor (701) is installed at the other end of the detection arm (702), and the detection end of the laser radar sensor (701) faces downward.

6. The robot based on laser radar posture correction according to claim 4, characterized in that: A through hole (19) penetrating the rotating processing disk (3) is also provided at the bottom of the detection port (4), and the diameter of the through hole (19) is smaller than the diameter of the detection port (4); two guide rails (20) are also provided on the mechanical platform (1) directly below the detection port (4), and the two guide rails (20), the two mechanical arm seats (6) and the center of the rotating processing disk (3) are in the same straight line; a vertical rack (21) is also slidably provided on the guide rail (20), and the width of the vertical rack (21) is smaller than the diameter of the through hole (19); a second driving motor (22) is fixed on both sides of the workstation (2), and a horizontal reciprocating shaft (23) perpendicular to the vertical rack (21) is fixed to the output end of the second driving motor (22), and a second gear (24) meshing with the vertical rack (21) is also fixed on the horizontal reciprocating shaft (23).

7. The robot based on laser radar posture correction according to claim 6, characterized in that: A vertical balancing shaft (25) is also rotatably connected in the mechanical arm seat (6), and the upper end of the vertical balancing shaft (25) extends outside the mechanical arm seat (6) and is fixedly connected to the detection arm frame (702); a first bevel gear (26) is also fixed to the end of the transverse reciprocating shaft (23) away from the second drive motor (22); and a second bevel gear (27) meshing with the first bevel gear (26) is fixed on the vertical balancing shaft (25).

8. The robot based on laser radar posture correction according to claim 1, 2, 5, 6 or 7, characterized in that: A limiting groove (28) for placing the workpiece is also provided on the top of the workpiece fixing device (5).

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