A vision device and robot

Abstract

The application relates to the technical field of robots, and discloses a visual device and a robot, which comprise a mounting part, a visual body and a connecting part. The upper part of the mounting part is provided with a mounting port, the mounting part is connected with a rotating arm of a robot hand through the mounting port; the visual body comprises a shell with two open ends, an upper cover, a lower cover, a transparent guard plate, a control board and a camera, the control board is electrically connected with the camera and is arranged in the shell, the upper cover and the lower cover are correspondingly and sealingly connected at the two open ends of the shell, a through hole is arranged in the middle part of the lower cover, the transparent guard plate is covered on the through hole, and the transparent guard plate is located below a lens of the camera; and the mounting part is detachably connected with the visual body through the connecting part. The visual device and the robot have good protection effect and wide application range.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a vision device and a robot. Background Technology

[0002] Robots are multi-jointed manipulators or multi-degree-of-freedom robotic devices widely used in industrial fields. They possess a degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. They are widely applied in electronics, logistics, chemical, and other industrial sectors. Robots equipped with vision systems can acquire and recognize workpiece images through their vision devices, improving operational accuracy. However, current robots lack adequate protection in working environments with high dust concentrations, high humidity, and steam, making them highly susceptible to malfunction and potential safety accidents. Summary of the Invention

[0003] The purpose of this invention is to provide a vision device and robot with good protective effect and wide range of applications.

[0004] To achieve the above objectives, in a first aspect, the present invention provides a visual device, comprising:

[0005] The mounting part has a mounting port on the upper part, and the mounting part is connected to the rotating arm of the robot arm through the mounting port;

[0006] A vision unit includes a housing with openings at both ends, an upper cover, a lower cover, a transparent protective plate, a control board, and a camera. The control board is electrically connected to the camera and is housed within the housing. The upper cover and the lower cover are correspondingly and sealingly connected to the openings at both ends of the housing. The lower cover has a through hole in the middle, and the transparent protective plate covers the through hole, positioned below the camera lens.

[0007] The mounting part is detachably connected to the visual body via the connecting part.

[0008] In some embodiments, the housing includes an upper shell portion and a housing seat that is sealed to the bottom end of the upper shell portion, the control panel is disposed in the upper shell portion, the camera is disposed in the housing seat, the upper cover is disposed at the top end of the upper shell portion, and the lower cover is disposed at the bottom end of the housing seat.

[0009] In some embodiments, the top end of the upper shell portion protrudes upward to form a first boss, the upper cover is disposed on the outer periphery of the first boss, the bottom end of the upper cover has a first groove on the side near the first boss, the first groove is provided with a first sealing ring, and the upper cover is connected to the upper shell portion through the first sealing ring.

[0010] In some embodiments, the top of the housing base protrudes upward to form a second boss, the bottom end of the upper shell portion is located on the outer periphery of the second boss, the bottom end of the upper shell portion has a second groove on the side near the second boss, the second groove is provided with a second sealing ring, and the upper shell portion is connected to the housing base through the second sealing ring.

[0011] In some embodiments, the upper surface of the lower cover protrudes upward to form a third boss, the bottom end of the housing seat is located on the outer periphery of the third boss, the bottom end of the housing seat has a third groove on the side near the third boss, a third sealing ring is provided in the third groove, and the housing seat is connected to the lower cover through the third sealing ring.

[0012] In some embodiments, a fourth groove is formed in the third boss, the fourth groove is connected to the through hole, and the transparent protective plate is embedded in the fourth groove.

[0013] In some embodiments, both the vision body and the mounting portion are provided with waterproof plugs, which are electrically connected to the control board.

[0014] In some embodiments, the connecting portion includes an integrally formed stepped first connecting portion and a circular second connecting portion. The first stepped portion is connected to the housing. The upper surface of the second connecting portion is provided with an annular groove. The bottom of the mounting portion protrudes downward to form an annular protrusion, and the protrusion is disposed in the groove.

[0015] In some embodiments, the two sides of the second connecting portion extend downward to form connecting plates, and the connecting plates are provided with mounting holes.

[0016] In a second aspect, the present invention provides a robot, including a robotic arm, an electrical control box, and the aforementioned vision device, wherein the electrical control box is electrically connected to the control board of the vision device.

[0017] This invention provides a vision device and a robot, which have the following advantages compared with the prior art:

[0018] The control board is electrically connected to the camera and is housed within the housing. The upper and lower covers are correspondingly and sealingly connected to the openings at both ends of the housing, providing good protection and enabling normal operation in environments with high dust concentration, high humidity, and steam. The lower cover has a through-hole in the center, and a transparent protective plate covers this through-hole, positioned below the camera lens. This allows the camera to function normally in a sealed state, broadening its application range. Attached Figure Description

[0019] Figure 1This is a first three-dimensional structural schematic diagram of the vision device provided in an embodiment of the present invention.

[0020] Figure 2 This is a second three-dimensional structural schematic diagram of the vision device provided in an embodiment of the present invention.

[0021] Figure 3 This is a cross-sectional structural diagram of the vision device provided in an embodiment of the present invention.

[0022] Figure 4 for Figure 3 Enlarged schematic diagram of the local structure at point A

[0023] Figure 5 for Figure 3 A magnified schematic diagram of the structure at point B in the middle.

[0024] Figure 6 for Figure 3 A magnified schematic diagram of the structure at point C.

[0025] Figure 7 This is an enlarged structural diagram of the lower cover of the vision device provided in an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the connection structure of the vision device provided in an embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the bottom structure of the mounting portion of the vision device provided in an embodiment of the present invention.

[0028] In the diagram: 1. Mounting part; 11. Mounting port; 12. Protrusion; 2. Vision body; 21. Housing; 211. Upper housing; 211a. First boss; 211b. Second groove; 212. Housing base; 212a. Second boss; 212b. Third groove; 22. Top cover; 22a. First groove; 23. Bottom cover; 23a. Third boss; 231. Through hole; 232. Fourth groove; 24. Transparent protective plate; 25. Control board; 26. Camera; 3. Connecting part; 31. First connecting part; 32. Second connecting part; 321. Groove; 322. Connecting plate; 323. Mounting hole; 4. First sealing ring; 5. Second sealing ring; 6. Third sealing ring; 7. Waterproof plug; 8. End plug. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0030] It should be understood that in the description of this application, the terms "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. That is, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, unless otherwise stated, "a plurality of" means two or more.

[0031] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0032] like Figure 1-9 As shown, a vision device provided in one embodiment of the present invention includes a mounting part 1, a vision body 2, and a connecting part 3. The upper part of the mounting part 1 has a mounting port 11, and the mounting part 1 is connected to the rotating arm of a robot through the mounting port 11. The vision body 2 includes a housing 21 with openings at both ends, an upper cover 22, a lower cover 23, a transparent protective plate 24, a control board 25, and a camera 26. The control board 25 is electrically connected to the camera 26 and is located inside the housing 21. The upper cover 22 and the lower cover 23 are correspondingly and sealingly connected to the openings at both ends of the housing 21. The lower cover 23 has a through hole 231 in the middle, and the transparent protective plate 24 covers the through hole 231 and is located below the lens of the camera 26. The mounting part 1 is detachably connected to the vision body 2 through the connecting part 3.

[0033] In use, the mounting part 1 of the vision device is connected to the rotating arm of the robot via the mounting port 11. The upper cover 22 and the lower cover 23 are correspondingly and sealingly connected to the openings at both ends of the housing 21, providing protection against external dust, splashes of water, and other contaminants, preventing these from entering the housing 21. The mounting part 1 is detachably connected to the vision body 2 via the connecting part 3. Furthermore, the vision body 2 can be detached and installed in other locations as needed without affecting its protective capabilities.

[0034] Based on the above settings, the vision device in this embodiment has good protection effect and a wide range of applications.

[0035] like Figure 1 and 2As shown, in one embodiment, the housing 21 includes an upper housing portion 211 and a housing seat 212 that is sealed to the bottom end of the upper housing portion 211. A control plate 25 is disposed in the upper housing portion 211, a camera 26 is disposed in the housing seat 212, an upper cover 22 is disposed at the top end of the upper housing portion 211, and a lower cover 23 is disposed at the bottom end of the housing seat 212. To further enhance the protective effect, the internal cavity of the upper housing portion 211 and the internal cavity of the housing seat 212 are isolated from each other. When an accident causes damage to the housing 21, the closed relationship between the upper housing portion 211 and the housing seat 212 reduces the probability of simultaneous damage to the control plate 25 and the camera 26.

[0036] like Figure 3 and 4 As shown, in one embodiment, the top of the upper shell 211 protrudes upward to form a first boss 211a, and the upper cover 22 is disposed on the outer periphery of the first boss 211a. Specifically, the upper cover 22 and the first boss 211a are connected by threads. The bottom end of the upper cover 22 has a first groove 22a on the side near the first boss 211a. A first sealing ring 4 is provided in the first groove 22a. The upper cover 22 is connected to the upper shell 211 through the first sealing ring 4. When the upper cover 22 is screwed onto the upper shell 211, the first sealing ring 4 is squeezed and deformed to achieve a sealed connection between the upper cover 22 and the upper shell 211.

[0037] like Figure 3 and 5 As shown, in one embodiment, the top of the housing base 212 protrudes upward to form a second boss 212a, and the bottom end of the upper housing portion 211 is located on the outer periphery of the second boss 212a. Specifically, the upper housing portion 211 and the second boss 212a are threaded together. The bottom end of the upper housing portion 211 near the second boss 212a has a second groove 211b, and a second sealing ring 5 is provided in the second groove 211b. The upper housing portion 211 is connected to the housing base 212 through the second sealing ring 5. When the upper housing portion 211 is screwed onto the housing base 212, the second sealing ring 5 is deformed by compression, thereby achieving a sealed connection between the upper housing portion 211 and the housing base 212.

[0038] like Figure 3 and 6 As shown, in one embodiment, the upper surface of the lower cover 23 protrudes upward to form a third boss 23a. The bottom end of the housing seat 212 is located on the outer periphery of the third boss 23a. Specifically, the housing seat 212 and the third boss 23a are threaded together. The bottom end of the housing seat 212 has a third groove 212b on the side near the third boss 23a. A third sealing ring 6 is provided in the third groove 212b. The housing seat 212 is connected to the lower cover 23 through the third sealing ring 6. When the lower cover 23 is screwed onto the bottom of the housing seat 212, the third sealing ring 6 is deformed by compression, thereby achieving a sealed connection between the lower cover 23 and the housing seat 212.

[0039] like Figure 1 and 7 As shown, in one embodiment, to avoid obstructing the shooting range of the camera 26, a fourth groove 232 is formed within the third protrusion 23a. The fourth groove 232 is connected to the through hole 231, and the transparent protective plate 24 is embedded in the fourth groove 232. Specifically, the transparent protective plate 24 is glued to the fourth groove 232 to prevent the transparent protective plate 24 from loosening and to prevent external moisture and dust from entering the housing base 212 through the gap between the transparent protective plate 24 and the lower cover 23. Furthermore, to maintain the airtightness of the transparent protective plate 24 installation, the area of ​​the fourth groove 232 is larger than the area of ​​the through hole 231, and the area of ​​the transparent protective plate 24 is adapted to the area of ​​the fourth groove 232.

[0040] In one embodiment, both the vision body 2 and the mounting part 1 are provided with waterproof plugs 7, which are electrically connected to the control board 25. The mounting part 1 is also provided with an end plug 8, which is electrically connected to the control board 25. The waterproof plug 7 is fixedly mounted on the housing 21 and the mounting part 1, and the fixed position of the waterproof plug 7 on the housing 21 and the mounting part 1 has a sealing structure to prevent external dust or moisture from entering the housing 21 and the mounting part 1 through the connection. The external wiring harness of the waterproof plug 7 on the vision body 2 is connected to the waterproof plug 7 on the mounting part 1, and the internal wiring harness of the waterproof plug 7 on the vision body 2 is connected to the control board 25, providing power and transmitting signals to the control board 25. The end plug 8 includes a power cord and a communication line, which can be used to connect external devices, such as grippers, in which case the end plug 8 is also electrically connected to the control board 25.

[0041] like Figure 1 and 8 As shown, in one embodiment, the connecting part 3 includes an integrally formed stepped first connecting part 31 and a circular second connecting part 32. The first stepped part 31 is connected to the housing 21 by bolts. The upper surface of the second connecting part 32 is provided with an annular groove 321. The bottom of the mounting part 1 protrudes downward to form an annular protrusion 12, which is disposed in the groove 321. The mounting part 1 is connected to the second connecting part 32 by bolts. To facilitate the installation of the connecting part 3, both the first connecting part 31 and the second connecting part 32 are provided with positioning holes, and positioning pins are provided in the positioning holes. During installation, the positioning pins are inserted into the positioning holes respectively provided on the housing 21 and the mounting part 1 to achieve positioning, and then the bolts are installed to fix it, thereby ensuring the accuracy of the installation position.

[0042] Furthermore, connecting plates 322 extend downward from both sides of the second connecting portion 32, and mounting holes 323 are provided on the connecting plates 322. The mounting holes 323 can be used to mount end tools and grippers to perform the required work.

[0043] Another embodiment of the present invention provides a robot including a robotic arm, an electrical control box, and the aforementioned vision device, wherein the electrical control box is electrically connected to the control board 25 of the vision device. The robot with the above-described configuration offers good protection and has a wide range of applications.

[0044] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A visual device, characterized in that, include: The mounting part has a mounting port on the upper part, and the mounting part is connected to the rotating arm of the robot arm through the mounting port; A vision unit includes a housing with openings at both ends, an upper cover, a lower cover, a transparent protective plate, a control board, and a camera. The control board is electrically connected to the camera and is housed within the housing. The upper cover and the lower cover are correspondingly and sealingly connected to the openings at both ends of the housing. The lower cover has a through hole in the middle, and the transparent protective plate covers the through hole, positioned below the camera lens. The mounting part is detachably connected to the visual body via the connecting part; The connecting part includes an integrally formed stepped first connecting part and a circular second connecting part. The first connecting part is connected to the housing. The upper surface of the second connecting part is provided with an annular groove. The bottom of the mounting part protrudes downward to form an annular protrusion. The protrusion is located in the groove. The two sides of the second connecting part extend downward to form connecting plates. The connecting plates are provided with mounting holes. The housing includes an upper shell portion and a housing seat that is sealed to the bottom end of the upper shell portion. The control panel is disposed in the upper shell portion, the camera is disposed in the housing seat, the upper cover is disposed at the top end of the upper shell portion, and the lower cover is disposed at the bottom end of the housing seat. The top of the upper shell protrudes upward to form a first boss. The upper cover is disposed on the outer periphery of the first boss. The bottom end of the upper cover has a first groove on the side near the first boss. A first sealing ring is provided in the first groove. The upper cover is connected to the upper shell through the first sealing ring. The top of the housing base protrudes upward to form a second boss. The bottom end of the upper shell is located on the outer periphery of the second boss. The bottom end of the upper shell has a second groove on the side near the second boss. A second sealing ring is provided in the second groove. The upper shell is connected to the housing base through the second sealing ring. The upper surface of the lower cover protrudes upward to form a third boss. The bottom end of the housing seat is located on the outer periphery of the third boss. The bottom end of the housing seat has a third groove on the side near the third boss. A third sealing ring is provided in the third groove. The housing seat is connected to the lower cover through the third sealing ring.

2. The visual device according to claim 1, characterized in that, A fourth groove is formed inside the third protrusion, and the fourth groove is connected to the through hole. The transparent protective plate is embedded in the fourth groove.

3. The visual device according to claim 1, characterized in that, Both the vision unit and the mounting part are equipped with waterproof plugs, which are electrically connected to the control board.

4. A robot, characterized in that, It includes a robotic arm, an electrical control box, and a vision device as described in any one of claims 1-3, wherein the electrical control box is electrically connected to the control board of the vision device.

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