3D visual precise positioning industrial robot

Abstract

The invention relates to the technical field of industrial robots, in particular to a 3D visual precise positioning industrial robot which comprises a robot body, the robot body comprises a base, a large arm, a small arm and a tail end platform, two connecting rods are connected to the bottom of the tail end platform, and first visual modules are rotationally installed at the bottom ends of the connecting rods; the bottom of the tail end platform is provided with a rotating mechanism used for rotating the first visual module, and the bottom of the tail end platform is rotationally connected with a rotating cylinder driven by a driving mechanism. A hollow object is clamped through a clamping belt, the clamping belt rotates around a synchronous wheel to adjust the position of the object in time, a driving motor enables a mounting plate and the hollow object to rotate, a first visual module collects pictures of the outer side of the hollow object, a lifting rod descends, and the rotated first visual module collects the pictures in a larger range; the servo motor is controlled to drive the rotating frame and the hollow object to rotate, the first visual module collects pictures in the hollow object, the application range is wide, and picture collection is more comprehensive.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot with 3D vision precision positioning. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. 3D vision industrial robots obtain object images through acquisition equipment, reconstruct them into three-dimensional models using algorithms and software information, and then accurately measure the object's shape, color, size, structure and other characteristics.

[0003] The Chinese patent with patent publication number CN117086912A discloses a 3D vision industrial robot, including an industrial robot body, the industrial robot body including an arm, a forearm, an end platform, a drive mechanism, a support mechanism, a clamping assembly and a vision module, and a base is installed at the bottom of the arm.

[0004] This patent uses a visual module to capture images. Since the visual modules are located on both sides of the object, it is difficult to capture images inside a hollow object when capturing images of the object. When capturing images of a long object, the position of the object needs to be repeatedly adjusted, and the range of the visual module's capture is limited. Secondly, the object to be captured is transported by a conveyor belt, and the position of the object is uncertain, making it difficult to adjust the position of the object in time, which in turn affects the capture of the image of the object. Summary of the Invention

[0005] In order to solve the problems raised in the above background technology, the purpose of the present invention is to provide an industrial robot with 3D vision precise positioning.

[0006] The technical solution of the present invention is: a 3D vision precision positioning industrial robot, including a robot body, the robot body includes a base, an upper arm, a lower arm and an end platform, two connecting rods are connected to the bottom of the end platform, and the bottom ends of the connecting rods are rotatably installed with a vision module 1, and the bottom of the end platform is provided with a rotating mechanism for rotating the vision module 1, and the bottom of the end platform is rotatably connected to a rotating drum driven by a driving mechanism, and a mounting plate is connected to the rotating drum, the rotating drum is hollow and a through hole is opened in the middle of the mounting plate, so that the vision module 1 passes through the through hole to the bottom of the mounting plate; two moving frames driven by linear motors are slidably connected to the mounting plate, and the lower part of the moving frames is rotatably connected to a rotating frame, and synchronous wheels are installed at both ends of the rotating frame, and a clamping belt is wound between the two synchronous wheels on the same side, and a support column is fixedly connected to the inside of the rotating frame, and the inner side of the clamping belt is in contact with the support column.

[0007] Furthermore, the driving mechanism includes gear one, gear one is connected to the rotating drum, a driving motor is connected to the side of the end platform, and gear two meshing with gear one is connected to the output shaft of the driving motor.

[0008] Furthermore, the rotating mechanism includes an electric push rod, which is connected to the bottom of the end platform, and a lifting rod is connected to the telescopic rod of the electric push rod. Both ends of the lifting rod are rotatably connected to hinged rods, and the bottom ends of the two hinged rods are respectively rotatably connected to the sides of the two visual modules.

[0009] Furthermore, the 3D vision precision positioning industrial robot also includes a connecting shaft. The two vision modules are rotatably connected to the sides away from each other with a connecting shaft. The rotational connection between the connecting shaft and the vision module is provided with a damper. The bottom end of the connecting shaft is connected to a placement block. The placement block is provided with a placement groove that runs through from top to bottom, and a sponge block is placed in the placement groove.

[0010] Furthermore, the 3D vision precision positioning industrial robot also includes a servo motor, and the rotating frame includes a rotating shaft portion located in the middle thereof. The rotating frame rotates around the rotating shaft portion, and the rotating shaft portion and the movable frame are rotatably connected. The movable frame is connected to a servo motor, and the output shaft of the servo motor and the adjacent rotating shaft portion are transmitted through a gear set.

[0011] Furthermore, the 3D vision precision positioning industrial robot also includes a fixed frame, the end platform is fixedly connected to the fixed frame, two fixed rods are connected to the fixed frame, and the ends of the fixed rods are rotatably installed with vision modules 2.

[0012] Furthermore, the 3D vision precision positioning industrial robot also includes a support mechanism, which includes a guide rod. A pair of guide rods are connected to the side of the two rotating frames that are away from each other, and a support plate with an inclined surface is slidably connected between each pair of guide rods. A pair of electric push rods are connected to the side of the two rotating frames that are away from each other, and the telescopic rods of the electric push rods are connected to an adjacent support plate; the front parts of the support plates are bent upward to form a bending part.

[0013] Furthermore, a circle of light beads is installed at intervals on the bottom of the fixing frame.

[0014] The beneficial effects are: 1. The hollow object is clamped by the clamping belt, and the clamping belt rotates around the synchronous wheel to adjust the position of the object in time. The driving motor rotates the mounting plate and the hollow object, and the visual module collects the picture from the outside of the hollow object. The lifting rod descends, and the rotated visual module collects the picture from a larger range. The servo motor is controlled to drive the rotating frame and the hollow object to rotate, and the visual module collects the picture from the inside of the hollow object. It has a wide range of applications and more comprehensive picture collection.

[0015] 2. When controlling the drive motor to rotate the mounting plate, clamping belt and hollow object, the second vision module can capture images of larger hollow objects.

[0016] 3. After the clamping belt clamps the hollow object, control the second electric push rod to make the two support plates approach each other. The support plates support the hollow object. When the rotating frame rotates, the bent part of the support plates can continue to support the bottom of the hollow object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the present invention with the base, upper arm and lower arm hidden.

[0019] Figure 3 This is a structural diagram of the mounting plate, linear motor, drive mechanism, fixing bracket, fixing rod and vision module 2 of the present invention.

[0020] Figure 4 This is a structural diagram of the visual module 1, rotating drum, mounting plate, linear motor, placement block and driving mechanism of the present invention.

[0021] Figure 5 For the present invention Figure 4 Exploded view of gear 2 after hiding.

[0022] Figure 6 This is a schematic structural diagram of the connecting rod, visual module 1, electric push rod 1, lifting rod, hinged rod, connecting shaft, placement block and sponge block of the present invention.

[0023] Figure 7 For the present invention Figure 6 Schematic diagram of the state of the visual module after rotation.

[0024] Figure 8 It is a structural schematic diagram of the connecting shaft, placement block and sponge block of the present invention.

[0025] Figure 9 It is a structural schematic diagram of the rotating drum, mounting plate, movable frame, rotating frame, servo motor, gear set, clamping belt and supporting mechanism of the present invention.

[0026] Figure 10 It is a structural schematic diagram of the movable frame, rotating frame, servo motor, gear set and clamping belt of the present invention.

[0027] Figure 11 It is a schematic structural diagram of the clamping belt, synchronous wheel and support column of the present invention.

[0028] Figure 12 For the present invention Figure 3 Schematic diagram of the structure from an upward perspective.

[0029] Figure 13 Schematic diagram of the connection relationship between the guide rod, support plate and electric push rod 2 of the present invention.

[0030] In the accompanying drawings: 1-robot body, 100-hollow object, 101-base, 102-upper arm, 103-small arm, 104-end platform, 2-connecting rod, 3-vision module 1, 31-electric push rod 1, 32-lifting rod, 33-hinge rod, 34-connecting shaft, 35-placement block, 36-placement groove, 37-sponge block, 4-rotating cylinder, 41-gear 1, 42-gear 2, 5-mounting plate, 6-linear motor, 7-moving frame, 8-rotating frame, 81-rotating shaft, 82-servo motor, 83-gear set, 9-clamping belt, 91-synchronizing wheel, 92-support column, 111-fixed frame, 112-fixed rod, 113-vision module 2, 121-guide rod, 122-support plate, 1221-bending part, 123-electric push rod 2, 13-lamp beads. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] Example 1: A 3D vision accurate positioning industrial robot, reference Figures 1-11 , including a robot body 1, a connecting rod 2, a vision module 3, a rotating drum 4, a mounting plate 5, a linear motor 6, a moving frame 7, a rotating frame 8, a clamping belt 9, a synchronous wheel 91 and a support column 92. The structure of the robot body 1 is the existing technology. The robot body 1 specifically includes a base 101, a large arm 102, a small arm 103 and an end platform 104. Two symmetrical connecting rods 2 are fixedly connected to the bottom of the end platform 104. The bottom ends of the connecting rods 2 are rotatably installed with a vision module 3. A rotating mechanism for rotating the vision module 3 is provided at the bottom of the end platform 104. The bottom of the end platform 104 is rotatably connected to a rotating drum 4 driven by a driving mechanism. The driving mechanism includes a gear 1 41 and a gear 2 42. The upper part of the rotating drum 4 is fixedly connected to a gear 41. The side of the end platform 104 is bolted with a driving motor. The output shaft of the driving motor is connected to a gear 2 42 that meshes with a gear 1 41; a mounting plate 5 is connected to the rotating drum 4, which is hollow and has a through hole in the middle of the mounting plate 5, so that the visual module 3 can pass through the through hole to the bottom of the mounting plate 5; two moving frames 7 are slidably connected to the mounting plate 5, and two linear motors 6 are installed on the mounting plate 5. The moving frames 7 are driven by the linear motors 6 to move linearly, and the lower parts of the moving frames 7 are rotatably connected to a rotating frame 8. Synchronous wheels 91 are installed at both ends of the rotating frame 8, and a clamping belt 9 is wound around the two synchronous wheels 91 on the same side. When the synchronous wheel 91 rotates, the clamping belt 9 can rotate around the synchronous wheel 91 under the action of friction. A support column 92 is fixedly connected to the inside of the rotating frame 8, and the inner side surface of the clamping belt 9 contacts the left and right sides of the support column 92.

[0033] refer to Figure 5-Figure 7The rotating mechanism includes an electric push rod 31, a lifting rod 32 and a hinged rod 33. The bottom of the end platform 104 is bolted with an electric push rod 31. The lifting rod 32 is fixedly connected to the telescopic rod of the electric push rod 31. The front and rear ends of the lifting rod 32 are rotatably connected to the hinged rod 33. The bottom ends of the two hinged rods 33 are respectively rotatably connected to the sides of the two vision modules 3.

[0034] refer to Figure 1 、 Figure 2 、 Figure 9 and Figure 10 The 3D vision precise positioning industrial robot also includes a servo motor 82 and a gear set 83. The rotating frame 8 includes a rotating shaft portion 81 located in the middle thereof. The rotating frame 8 rotates around the rotating shaft portion 81, and the rotating shaft portion 81 is rotatably connected to the mobile frame 7. The lower part of the mobile frame 7 is bolted with a servo motor 82, and the output shaft of the servo motor 82 is transmitted to the adjacent rotating shaft portion 81 through a gear set 83.

[0035] First, the robot body 1 is controlled, and the end platform 104 can move in three dimensions. The conveyor belt transports the object to be captured. When the outer side of the hollow object 100 needs to be captured, the linear motor 6 is controlled to drive the two moving frames 7 to approach each other, driving the rotating frame 8 and the clamping belt 9 to move together, so that the clamping belt 9 is close to the hollow object 100 to be captured. The two clamping belts 9 clamp the hollow object 100. The driving principle of the synchronous wheel 91 is the existing technology. By controlling the rotation of the synchronous wheel 91, the clamping belt 9 rotates around the synchronous wheel 91. The hollow object 100 clamped by the clamping belt 9 is moved in the front-to-back direction so that the hollow object 100 is located directly below the visual module 13, so that the position of the hollow object 100 can be adjusted in a timely and convenient manner. At the same time, the support column 92 supports the clamping belt 9 to prevent the clamping belt 9 from deforming. Then the drive motor is controlled to drive the gear 2 42 to rotate, and the gear 1 41 rotates under the action of meshing, driving the mounting plate 5, the moving frame 7, the rotating frame 8, the clamping belt 9 and the clamped hollow object 100 to rotate as a whole. At this time, the visual module 13 can capture the image of the outside of the hollow object 100.

[0036] When it is necessary to capture the image of a long hollow object 100, the telescopic rod of the electric push rod 31 is controlled to extend, driving the lifting rod 32 to descend, and the two hinged rods 33 rotate, so that the visual module 3 rotates. The state of the visual module 3 is as follows: Figure 7 As shown, the rotated visual module 3 can capture images in a wider range.

[0037] When it is necessary to capture the image of the interior of the hollow object 100, the two clamping belts 9 clamp the hollow object 100. Figure 9The direction is taken as the standard, and under the transmission action of the gear set 83, the servo motor 82 is controlled to drive the rotating frame 8 to rotate 90 degrees counterclockwise around the rotating shaft 81, driving the clamping belt 9 and the clamped hollow object 100 to rotate together, and the hollow object 100 becomes a state with the opening facing upward. Then the synchronous wheel 91 is controlled to rotate, so that the clamping belt 9 rotates around the synchronous wheel 91, and the hollow object 100 moves up, so that the visual module 3 approaches the inside of the hollow object 100 to collect the picture.

[0038] In this way, the visual module 13 can not only collect data on the outside and inside of the hollow object 100, but is also applicable to longer hollow objects 100, with a wide range of applications and more comprehensive image collection.

[0039] Example 2: Based on Example 1, refer to Figure 4-Figure 8 The 3D vision precision positioning industrial robot also includes a connecting shaft 34, a placement block 35 and a sponge block 37. The two visual modules 3 are rotatably connected to the side away from each other with a connecting shaft 34. The rotation connection between the connecting shaft 34 and the visual module 3 is also provided with a damper. The damping prevents the connecting shaft 34 from rotating at will. The bottom end of the connecting shaft 34 is connected to a placement block 35. The placement block 35 is provided with a placement groove 36 that runs through from top to bottom. The shape of the placement groove 36 is as follows: Figure 8 As shown, sponge blocks 37 are placed in the placement grooves 36, and the sponge blocks 37 can be replaced regularly.

[0040] After the image is collected, the placement block 35 is manually pushed to rotate 180 degrees around the connecting shaft 34. The top of the placement block 35 contacts the bottom of the visual module 3, thereby preventing the visual module 3 from dust. The sponge block 37 wipes the bottom surface of the visual module 3.

[0041] Example 3: Based on Example 2, refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 12 The 3D vision precision positioning industrial robot also includes a fixed frame 111, a fixed rod 112 and a vision module 2 113. The fixed frame 111 is fixedly connected to the end platform 104, and two symmetrical fixed rods 112 are welded on the fixed frame 111. The ends of the fixed rods 112 are rotatably installed with vision modules 2 113, and the vision module 2 113 is specifically driven by a motor; a circle of light beads 13 are installed at intervals at the bottom of the fixed frame 111.

[0042] When it is necessary to capture images of larger objects, the control drive motor drives gear 2 42 to rotate, and gear 1 41 rotates under the action of meshing, driving the mounting plate 5, movable frame 7, rotating frame 8, clamping belt 9 and the clamped object to rotate as a whole. At the same time, the motor is controlled to rotate the vision module 2 113 to adjust the angle of the vision module 2 113. The vision module 2 113 captures images of larger objects to avoid the outer side of larger objects from being unable to be captured, thereby increasing the range of image capture; the lamp beads 13 can also provide stronger light, which is conducive to capturing images of the interior of the hollow object 100.

[0043] Example 4: Based on Example 3, refer to Figure 1 、 Figure 2 、 Figure 9 and Figure 13 The 3D vision precision positioning industrial robot also includes a supporting mechanism, which includes a guide rod 121, a support plate 122 and an electric push rod 123. The two rotating frames 8 are fixedly connected to a pair of guide rods 121 on the side away from each other, and a support plate 122 is slidably connected between each pair of guide rods 121. The two support plates 122 are provided with an inclined surface on the side close to each other, and a pair of electric push rods 123 are bolted to the side away from each other of the two rotating frames 8. The telescopic rods of the electric push rods 123 are fixedly connected to an adjacent support plate 122; the front parts of the support plates 122 are bent upward to form a bending portion 1221.

[0044] When the two clamping belts 9 clamp the hollow object 100, the telescopic rod of the second electric push rod 123 is controlled to shorten, driving the two support plates 122 to move closer to each other. The support plates 122 move to the bottom of the hollow object 100 through the action of the inclined surface. The support plates 122 play a supporting role to prevent the hollow object 100 from slipping off the clamping belts 9; when the rotating frame 8 rotates 90 degrees counterclockwise around the rotating shaft 81, the support plates 122 rotate together with the rotating frame 8, and the bent portion 1221 of the support plate 122 can continue to support the bottom of the hollow object 100, thereby facilitating image capture of the object.

[0045] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A 3D vision precision positioning industrial robot, comprising a robot body (1), wherein the robot body (1) comprises a base (101), an upper arm (102), a lower arm (103) and an end platform (104), characterized in that: The bottom of the terminal platform (104) is connected to two connecting rods (2), and the bottom ends of the connecting rods (2) are rotatably mounted with a vision module (3). The bottom of the terminal platform (104) is provided with a rotating mechanism for rotating the vision module (3). The bottom of the terminal platform (104) is rotatably connected to a rotating drum (4) driven by a driving mechanism. The rotating drum (4) is connected to a mounting plate (5). The rotating drum (4) is hollow and a through hole is opened in the middle of the mounting plate (5) so that the vision module (3) can be rotated. 3) passing through the through hole to the bottom of the mounting plate (5); two moving frames (7) driven by a linear motor (6) are slidably connected to the mounting plate (5), and the lower part of the moving frame (7) is rotatably connected to a rotating frame (8), and synchronous wheels (91) are installed at both ends of the rotating frame (8), and a clamping belt (9) is wound between the two synchronous wheels (91) on the same side, and a support column (92) is fixedly connected to the inside of the rotating frame (8), and the inner side of the clamping belt (9) is in contact with the support column (92).

2. The 3D vision precise positioning industrial robot according to claim 1, characterized in that: The driving mechanism includes a gear 1 (41), the rotating drum (4) is connected to the gear 1 (41), the side of the end platform (104) is connected to a driving motor, and the output shaft of the driving motor is connected to a gear 2 (42) meshing with the gear 1 (41).

3. The 3D vision precise positioning industrial robot according to claim 2, characterized in that: The rotating mechanism includes an electric push rod (31), the bottom of the end platform (104) is connected to the electric push rod (31), the telescopic rod of the electric push rod (31) is connected to a lifting rod (32), both ends of the lifting rod (32) are rotatably connected to hinged rods (33), and the bottom ends of the two hinged rods (33) are respectively rotatably connected to the side surfaces of the two visual modules (3).

4. The 3D vision precise positioning industrial robot according to claim 3, characterized in that: The 3D vision precision positioning industrial robot also includes a connecting shaft (34), and the two vision modules (3) are rotatably connected to the connecting shaft (34) on the sides away from each other. The rotation connection between the connecting shaft (34) and the vision module (3) is provided with a damper. The bottom end of the connecting shaft (34) is connected to a placement block (35), and the placement block (35) is provided with a placement groove (36) that passes through from top to bottom. A sponge block (37) is placed in the placement groove (36).

5. The 3D vision precise positioning industrial robot according to claim 4, characterized in that: The 3D vision precise positioning industrial robot also includes a servo motor (82), the rotating frame (8) includes a rotating shaft portion (81) located in the middle thereof, the rotating frame (8) rotates around the rotating shaft portion (81), and the rotating shaft portion (81) and the moving frame (7) are rotatably connected, and the moving frame (7) is connected to a servo motor (82), and the output shaft of the servo motor (82) and the adjacent rotating shaft portion (81) are driven by a gear set (83).

6. The 3D vision precise positioning industrial robot according to claim 5, characterized in that: The 3D vision precision positioning industrial robot also includes a fixed frame (111), the fixed frame (111) is fixedly connected to the end platform (104), the fixed frame (111) is connected to two fixed rods (112), and the ends of the fixed rods (112) are rotatably mounted with a second vision module (113).

7. The 3D vision precise positioning industrial robot according to claim 6, characterized in that: The 3D vision precision positioning industrial robot also includes a support mechanism, which includes a guide rod (121). A pair of guide rods (121) are connected to the sides of the two rotating frames (8) that are away from each other. A support plate (122) with an inclined surface is slidably connected between each pair of guide rods (121). A pair of electric push rods (123) are connected to the sides of the two rotating frames (8) that are away from each other. The telescopic rods of the electric push rods (123) are connected to an adjacent support plate (122); the front parts of the support plates (122) are bent upward to form a bent portion (1221).

8. The 3D vision precise positioning industrial robot according to claim 7, characterized in that: A circle of lamp beads (13) is installed at intervals on the bottom of the fixing frame (111).

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