Motion control device based on visual guidance

Abstract

The invention relates to the technical field of motion control, in particular to a motion control device based on visual guidance, which comprises a concave plate, a threaded rod is rotatably connected between the inner walls of the two sides of the concave plate, the outer wall of the threaded rod is in threaded connection with a movable block, and the top surface of the movable block is fixedly connected with a supporting plate. A carrying mechanical arm is fixedly installed on the top face of the supporting plate through bolts, and a camera and an oil storage container are further installed on the top face of the supporting plate. According to the motion control device based on visual guidance, lubricating oil in a U-shaped pipe groove is pressed into a flow dividing cavity and then enters a threaded hole of a movable block through a main flow guide pipe to lubricate a threaded rod, and when the main flow guide pipe is blocked, the lubricating oil enters the threaded hole of the movable block from a secondary flow guide pipe to lubricate the threaded rod.

Description

Technical Field

[0001] The present invention relates to the technical field of motion control, and specifically to a motion control device based on visual guidance. Background Art

[0002] A handling robotic arm is used to grasp, transport, and place objects, and is widely applied in the fields of industrial manufacturing, logistics warehousing, medical treatment, and agriculture. Its core function is to replace manual labor to complete repetitive, high-intensity, or high-precision handling tasks, improving production efficiency and reducing labor costs.

[0003] In order to expand the working range of existing handling robotic arms, a moving mechanism needs to be additionally installed. Common moving mechanisms include linear guides. The core function of a linear guide is to provide high-precision and low-friction linear guidance to ensure that moving components move smoothly along a predetermined track. It is used in conjunction with a threaded rod drive system to jointly complete linear motion control.

[0004] Motion control by a threaded rod drive system has the advantages of high precision, high efficiency, and high load. However, the threaded rod drive system requires frequent lubrication. If not lubricated, the threaded rod will experience increased wear and may even become stuck severely.

[0005] To solve the above problems, we made improvements and proposed a motion control device based on visual guidance. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] The present invention provides a motion control device based on visual guidance, including a concave plate. A threaded rod is rotatably connected between the inner walls on both sides of the concave plate. An active block is threadedly connected to the outer wall of the threaded rod. A support plate is fixedly connected to the top surface of the active block. A handling robotic arm is fixedly installed on the top surface of the support plate by bolts. A camera and an oil storage container are also installed on the top surface of the support plate;

[0008] An installation opening and a U-shaped pipe groove are respectively formed in the upper and middle parts of the active block. A C-shaped plate is movably installed inside the installation opening. The bottom surface of the C-shaped plate is symmetrically fixedly connected with piston rods that are slidably connected to the active block. One end of the piston rods that penetrate and extend into the U-shaped pipe groove is coaxially fixedly connected with a piston, and the piston is slidably connected to the U-shaped pipe groove. A diversion cavity is also formed at the bottom of the U-shaped pipe groove. A main diversion pipe communicating with the threaded hole of the active block is fixedly connected to the center of the inner bottom surface of the diversion cavity. A plurality of secondary diversion pipes communicating with the threaded hole of the active block are also provided on the side wall of the diversion cavity. And a piston ring is hermetically and slidably connected between the main diversion pipe and the diversion cavity;

[0009] On the inner bottom surface of the concave plate, two limiting plates are symmetrically and fixedly connected. On the inner side of the limiting plate, a resisting plate is fixedly connected. A number of wave trough protrusions are equidistantly arranged on the resisting plate. On both sides of the U-shaped plate, rollers that roll on the top surface of the resisting plate are rotatably connected.

[0010] As a preferred technical solution of the present invention, a speed reduction motor is fixedly installed on one side of the concave plate, and the output shaft of the speed reduction motor is coaxially and fixedly connected with the threaded rod.

[0011] As a preferred technical solution of the present invention, two sliders are symmetrically and fixedly connected to the bottom surface of the support plate, and the sliders are slidably connected with the limiting plates.

[0012] As a preferred technical solution of the present invention, two limiting slide rods are symmetrically and fixedly connected between the inner top surface and the inner bottom surface of the installation opening. The limiting slide rods are slidably connected with the U-shaped plate. A first return spring is sleeved on the outer part of the limiting slide rod located between the inner top surface of the installation opening and the top surface of the U-shaped plate.

[0013] As a preferred technical solution of the present invention, a sliding groove is formed inside the movable block and is located below the diversion cavity. A plurality of clamping structures are installed on the inner wall of the sliding groove. The clamping structure includes two horizontal sliding grooves symmetrically formed on the inner wall of the sliding groove. A clamping plate is slidably connected inside the horizontal sliding groove, and a third return spring is fixedly connected between the clamping plate and the horizontal sliding groove. A 45-degree chamfer is formed on the upper part of the inner side of the clamping plate.

[0014] As a preferred technical solution of the present invention, a positioning slide rod that is fixedly connected to the bottom surface of the piston ring and slidably connected to the bottom of the diversion cavity penetrates through and extends to the inside of the sliding groove, and a clamping plate is fixedly connected to the end of the positioning slide rod located inside the sliding groove. 45-degree chamfers are formed on the lower parts of both sides of the clamping plate.

[0015] As a preferred technical solution of the present invention, a second return spring is sleeved on the outer wall of the main diversion pipe, and the second return spring is fixedly connected between the piston ring and the diversion cavity.

[0016] As a preferred technical solution of the present invention, an oil inlet pipe is communicated with the bottom surface of the oil storage container, and the other end of the oil inlet pipe penetrates through the movable block and is communicated with the U-shaped pipe groove;

[0017] And one-way valves are installed on the main diversion pipe, the secondary diversion pipe and the oil inlet pipe.

[0018] The beneficial effects of the present invention are:

[0019] 1. This kind of motion control device based on visual guidance, during the movement of the movable block, the roller on the 匚-shaped plate will roll on the contact plate, and under the action of the trough protrusion on the contact plate, the roller drives the 匚-shaped plate to move upward, and the 匚-shaped plate further moves the piston upward through the piston rod, and the lubricating oil in the oil storage container enters the U-shaped pipe groove through the oil inlet pipe, and then under the action of the first return spring, the 匚-shaped plate returns to its original position, and then the piston moves downward, pressing the lubricating oil in the U-shaped pipe groove into the diversion cavity, and then enters the threaded hole of the movable block through the main diversion pipe to lubricate the threaded rod.

[0020] 2. This motion control device based on visual guidance, when the main guide pipe is blocked, the pressure in the U-shaped pipe groove will gradually increase, causing the piston ring to overcome the elastic force of the second return spring and move downward. Under the inertia of the piston ring moving downward, the piston ring drives the clamping plate to move downward through the positioning slide rod. When the clamping plate is clamped by the clamping plate, the piston ring will not move upward under the action of the second return spring, thereby making the oil inlet of one of the secondary guide pipes located above the piston ring. At this time, the lubricating oil will enter the threaded hole of the movable block from the secondary guide pipe to lubricate the threaded rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a three-dimensional schematic diagram of a motion control device based on vision guidance of the present invention;

[0023] Figure 2 is a top view schematic diagram of a motion control device based on vision guidance of the present invention;

[0024] Figure 3 The present invention is a motion control device based on visual guidance Figure 2 AA section view in FIG.

[0025] Figure 4 The present invention is a motion control device based on visual guidance Figure 2 BB section diagram;

[0026] Figure 5 The present invention is a motion control device based on visual guidance Figure 4 A is an enlarged schematic diagram;

[0027] Figure 6 The present invention is a motion control device based on visual guidance Figure 5 An enlarged schematic diagram of point B in FIG.

[0028] Figure 7The present invention is a motion control device based on visual guidance Figure 3 An enlarged schematic diagram of C in FIG.

[0029] In the figure: 1. concave plate; 2. threaded rod; 3. movable block; 4. support plate; 5. handling robot arm; 6. camera; 7. oil storage container; 8. limit plate; 9. slider; 10. installation port; 11. U-shaped plate; 12. piston rod; 13. piston; 14. diversion chamber; 15. main guide pipe; 16. secondary guide pipe; 17. piston ring; 18. contact plate; 19. roller; 20. sliding groove; 21. clamping plate; 22. positioning slide rod; 23. clamping plate; 24. oil inlet pipe; 25. U-shaped pipe groove; 26. limit slide rod. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0031] Example: Figures 1-7 As shown, a motion control device based on vision guidance includes a concave plate 1, a threaded rod 2 is rotatably connected between the inner walls of both sides of the concave plate 1, a movable block 3 is threadedly connected to the outer wall of the threaded rod 2, a support plate 4 is fixedly connected to the top surface of the movable block 3, a transport robot 5 is fixedly installed on the top surface of the support plate 4 by bolts, and a camera 6 and an oil storage container 7 are also installed on the top surface of the support plate 4;

[0032] The upper part and the middle part of the movable block 3 are respectively provided with a mounting opening 10 and a U-shaped pipe groove 25, and a 匚-shaped plate 11 is movably installed inside the mounting opening 10, and a piston rod 12 slidably connected to the movable block 3 is symmetrically fixedly connected to the bottom surface of the 匚-shaped plate 11, and the piston rod 12 extends through the U-shaped pipe groove 25 and is coaxially fixedly connected to one end thereof, and the piston 13 is slidably connected to the U-shaped pipe groove 25, and a shunt chamber 14 is also provided at the bottom of the U-shaped pipe groove 25, and a main shunt pipe 15 connected to the threaded hole of the movable block 3 is fixedly connected at the center of the inner bottom surface of the shunt chamber 14, and a plurality of secondary shunt pipes 16 connected to the threaded hole of the movable block 3 are also provided on the side wall of the shunt chamber 14, and a piston ring 17 is sealingly and slidably connected between the main shunt pipe 15 and the shunt chamber 14;

[0033] Two limit plates 8 are symmetrically fixedly connected to the inner bottom surface of the concave plate 1, and a contact plate 18 is fixedly connected to the inner side of the limit plate 8. A number of trough protrusions are equidistantly provided on the contact plate 18. Both sides of the 匚-shaped plate 11 are rotatably connected to rollers 19 that roll on the top surface of the contact plate 18.

[0034] A reduction motor is fixedly mounted on one side of the concave plate 1 , and an output shaft of the reduction motor is coaxially fixedly connected to the threaded rod 2 .

[0035] Two sliders 9 are symmetrically and fixedly connected to the bottom surface of the support plate 4, and the sliders 9 are slidably connected to the limiting plate 8. As Figure 4 shown, the sliders 9 can limit the movement of the support plate 4 so that it can only move in the vertical direction.

[0036] Two limiting slide bars 26 are symmetrically and fixedly connected between the inner top surface and the inner bottom surface of the installation opening 10. The limiting slide bars 26 are slidably connected to the U-shaped plate 11. A first return spring is sleeved on the outer part of the limiting slide bar 26 between the inner top surface of the installation opening 10 and the top surface of the U-shaped plate 11. As Figure 4 shown, the limiting slide bars 26 can limit the movement of the U-shaped plate 11 so that it can only move in the vertical direction.

[0037] A sliding groove 20 located below the flow dividing cavity 14 is formed inside the movable block 3. A plurality of sets of clamping structures are installed on the inner wall of the sliding groove 20. The clamping structure includes two horizontal sliding grooves symmetrically formed on the inner wall of the sliding groove 20. A clamping plate 21 is slidably connected inside the horizontal sliding groove, and a third return spring is fixedly connected between the clamping plate 21 and the horizontal sliding groove. A forty-five-degree chamfer is formed on the upper part of the inner side of the clamping plate 21.

[0038] A positioning slide bar 22 which is fixedly connected to the bottom surface of the piston ring 17 and slidably connected to the bottom of the flow dividing cavity 14 penetrates through and extends to the inside of the sliding groove 20. One end fixedly connected to the inside of the sliding groove 20 is fixedly connected with a clamping plate 23. Forty-five-degree chamfers are formed on the lower parts of both sides of the clamping plate 23. As Figure 6 shown, when the clamping plate 23 moves downward, the clamping plate 21 slides toward the inside of the horizontal sliding groove through the forty-five-degree chamfers on both sides of the clamping plate 23. Under the action of the third return spring, the clamping plate 21 returns to its original position to limit the upward movement of the clamping plate 23 after being separated from the contact of the clamping plate 23.

[0039] As Figure 5 shown, a second return spring is sleeved on the outer wall of the main flow guiding pipe 15, and the second return spring is fixedly connected between the piston ring 17 and the flow dividing cavity 14. The second return spring makes the piston ring 17 located above the oil inlet of the secondary flow guiding pipe 16 in the normal state of the main flow guiding pipe 15.

[0040] An oil inlet pipe 24 is communicated with the bottom surface of the oil storage container 7. The other end of the oil inlet pipe 24 penetrates through the movable block 3 and is communicated with the U-shaped pipe groove 25;

[0041] And one-way valves (not shown in the figure) are installed on the main flow guiding pipe 15, the secondary flow guiding pipe 16 and the oil inlet pipe 24. The one-way valve on the main flow guiding pipe 15 makes the lubricating oil can only enter the threaded hole of the movable block 3 from the flow dividing cavity 14 and will not flow back. The function of the one-way valve on the secondary flow guiding pipe 16 is the same as that of the one-way valve on the main flow guiding pipe 15. The one-way valve on the oil inlet pipe 24 makes the lubricating oil can only enter the U-shaped pipe groove 25 from the oil storage container 7 and will not flow back either.

[0042] It should be noted that the reduction motor, the handling robotic arm 5 and the camera 6 are all electrically connected to an external controller. Then, the reduction motor is started. The reduction motor drives the threaded rod 2 to rotate, and the threaded rod 2 drives the movable block 3 to perform linear motion. The support plate 4 moves synchronously therewith, and further cooperates with the handling robotic arm 5 to handle the material, improving the working range of the handling robotic arm 5.

[0043] Meanwhile, during the movement of the movable block 3, the roller 19 on the U-shaped plate 11 will roll on the contact plate 18. Under the action of the trough protrusions on the contact plate 18, the roller 19 drives the U-shaped plate 11 to move upward. Further, the U-shaped plate 11 moves the piston 13 upward through the piston rod 12. The lubricating oil in the oil storage container 7 enters the U-shaped tube groove 25 through the oil inlet pipe 24. Then, under the action of the first return spring, the U-shaped plate 11 returns to its original position, and then the piston 13 moves downward, pressing the lubricating oil in the U-shaped tube groove 25 into the diversion cavity 14, and then entering the threaded hole of the movable block 3 through the main diversion pipe 15 to lubricate the threaded rod 2.

[0044] When the main diversion pipe 15 is blocked, the pressure in the U-shaped tube groove 25 will gradually increase, causing the piston ring 17 to move downward against the elastic force of the second return spring. Under the inertial action of the downward movement of the piston ring 17, the piston ring 17 drives the clamping plate 23 to move downward through the positioning slide rod 22. When the clamping plate 23 is clamped by the clamping plate 21, the piston ring 17 will no longer move upward under the action of the second return spring. Furthermore, the oil inlet of one of the secondary diversion pipes 16 is located above the piston ring 17. At this time, the lubricating oil will enter the threaded hole of the movable block 3 from the secondary diversion pipe 16 to lubricate the threaded rod 2.

[0045] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A motion control device based on visual guidance, comprising a concave plate (1), characterized in that, A threaded rod (2) is rotatably connected between the inner walls on both sides of the concave plate (1). An active block (3) is threadedly connected to the outer wall of the threaded rod (2). A support plate (4) is fixedly connected to the top surface of the active block (3). A handling robotic arm (5) is fixedly installed on the top surface of the support plate (4) by bolts. A camera (6) and an oil storage container (7) are also installed on the top surface of the support plate (4). An installation opening (10) and a U-shaped pipe groove (25) are respectively formed in the upper and middle parts of the active block (3). A U-shaped plate (11) is movably installed inside the installation opening (10). The bottom surface of the U-shaped plate (11) is symmetrically and fixedly connected with piston rods (12) that are slidably connected to the active block (3). One end of the piston rod (12) that penetrates and extends into the U-shaped pipe groove (25) is coaxially and fixedly connected with a piston (13), and the piston (13) is slidably connected to the U-shaped pipe groove (25). A diversion cavity (14) is also formed at the bottom of the U-shaped pipe groove (25). A main diversion pipe (15) that communicates with the threaded hole of the active block (3) is fixedly connected to the center of the inner bottom surface of the diversion cavity (14). A plurality of secondary diversion pipes (16) that communicate with the threaded hole of the active block (3) are also provided on the side wall of the diversion cavity (14). A piston ring (17) is hermetically and slidably connected between the main diversion pipe (15) and the diversion cavity (14). Two limiting plates (8) are symmetrically and fixedly connected to the inner bottom surface of the concave plate (1). A resisting plate (18) is fixedly connected to the inner side of the limiting plate (8). A number of wave trough protrusions are equidistantly arranged on the resisting plate (18). Rollers (19) that roll on the top surface of the resisting plate (18) are rotatably connected to both sides of the U-shaped plate (11).

2. The motion control device based on visual guidance according to claim 1, wherein A reduction motor is fixedly installed on one side of the concave plate (1). The output shaft of the reduction motor is coaxially and fixedly connected with the threaded rod (2).

3. The motion control device based on visual guidance according to claim 1, characterized in that, Two sliders (9) are symmetrically and fixedly connected to the bottom surface of the support plate (4). The sliders (9) are slidably connected to the limiting plates (8).

4. The motion control device based on visual guidance according to claim 1, wherein Two limiting slide rods (26) are symmetrically and fixedly connected between the inner top surface and the inner bottom surface of the installation opening (10). The limiting slide rods (26) are slidably connected to the U-shaped plate (11). A first return spring is sleeved on the outer part of the limiting slide rod (26) located between the inner top surface of the installation opening (10) and the top surface of the U-shaped plate (11).

5. A motion control device based on visual guidance according to claim 1, characterized in that, A sliding groove (20) located below the diversion cavity (14) is formed inside the active block (3). Multiple sets of clamping structures are installed on the inner wall of the sliding groove (20). The clamping structure includes two horizontal sliding grooves symmetrically formed on the inner wall of the sliding groove (20). A clamping plate (21) is slidably connected inside the horizontal sliding groove. A third return spring is fixedly connected between the clamping plate (21) and the horizontal sliding groove. A 45-degree chamfer is formed on the upper part of the inner side of the clamping plate (21).

6. The motion control device based on visual guidance according to claim 5, characterized in that, The bottom surface of the piston ring (17) is fixedly connected to a positioning slide bar (22) that is slidably connected to the bottom of the diversion chamber (14). One end of the positioning slide bar (22) that extends through and into the interior of the sliding groove (20) is fixedly connected to a clamping plate (23), and the lower parts on both sides of the clamping plate (23) are provided with 45-degree chamfers.

7. A motion control device based on visual guidance according to claim 1, characterized in that, A second return spring is sleeved on the outer wall of the main diversion pipe (15), and the second return spring is fixedly connected between the piston ring (17) and the diversion chamber (14).

8. A motion control device based on visual guidance according to claim 1, characterized in that, The bottom surface of the oil storage container (7) is communicated with an oil inlet pipe (24), and the other end of the oil inlet pipe (24) passes through the movable block (3) and is communicated with the U-shaped pipe groove (25); And one-way valves are installed on the main diversion pipe (15), the secondary diversion pipe (16), and the oil inlet pipe (24).

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