Positioning and guiding equipment based on industrial robot

Abstract

The utility model discloses positioning and guiding equipment based on an industrial robot, and relates to the technical field of industrial robots. The robot comprises a robot body, a connecting plate is arranged on one side of the robot body, a visual positioning device is detachably installed on one side of the connecting plate, a support is arranged on the outer side of the connecting plate in a sliding mode, a rotating rod rotatably penetrates through the lower surface of the inner wall of the support, and a motor is fixedly installed on the lower surface of the inner wall of the support. The output end of the motor and the rotating rod are coaxially and fixedly mounted, and the motor is arranged to conveniently drive the rotating rod to rotate, so that the reciprocating movement of the cleaning plate and the dust removal cloth is realized; the bottom of the rotating rod is fixedly sleeved with a fixing ring. According to the visual positioning device, dust at the camera shooting part of the visual positioning device can be erased through reciprocating movement of the cleaning plate and the dust removal cloth, and the situation that the visual positioning device is affected by the dust during use, and consequently measurement data deviates is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a positioning and guiding device based on an industrial robot. Background Art

[0002] Visual positioning guidance equipment means that industrial robots or servo systems can understand the changes in the working environment in real time through the visual system, adjust the action accordingly, and ensure the correct completion of the task. In this case, even if there are large errors in the adjustment or positioning of the production line, it will not have much impact on the accurate operation. In fact, the visual system provides an external closed-loop control mechanism to ensure that the robot or servo system automatically compensates for the errors caused by environmental changes; the accuracy of visual positioning guidance is related to the resolution of the visual system itself, and also depends on the size of the working field; the visual system is usually implemented through a visual positioning device;

[0003] When the visual positioning device in the prior art is used for too long, its camera part is easily contaminated with dust, which causes deviations in the measurement data of the visual positioning device, resulting in the inability of the industrial robot to accurately complete the task, affecting its use. Utility Model Content

[0004] In order to solve the problem that the camera part of the visual positioning device is easily contaminated with dust when it is used for too long, the purpose of the utility model is to provide a positioning and guiding device based on an industrial robot.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions: a positioning and guiding device based on an industrial robot, comprising a robot body, a connecting plate is provided on one side of the robot body, a visual positioning device is detachably installed on one side of the connecting plate, a bracket is slidably provided on the outer side of the connecting plate, a rotating rod is rotatably penetrated through the lower surface of the inner wall of the bracket, a motor is fixedly installed on the lower surface of the inner wall of the bracket, the output end of the motor and the rotating rod are coaxially fixedly installed, and by providing a motor, it is convenient to drive the rotating rod to rotate, thereby realizing the reciprocating movement of the cleaning plate and the dust removal cloth; the bottom fixed sleeve of the rotating rod is provided with a fixing ring The bottom end of the fixing ring is fixedly installed with a first rotating shaft, the first rotating shaft is located at the eccentric part of the fixing ring, the bottom movable sleeve of the first rotating shaft is provided with a first ring, the bottom end of the bracket is away from the fixing ring and is slidably installed with a support plate, the bottom end of the support plate is fixedly installed with a second rotating shaft, the bottom movable sleeve of the second rotating shaft is provided with a second ring, the second ring and the first ring are fixedly connected by a connecting rod, the bottom end of the support plate is away from the second rotating shaft and is fixedly installed with a fixing plate, the fixing plate is distributed in an L-shaped state, the bottom of the fixing plate is fixedly installed with a cleaning plate, and the top of the cleaning plate is fixedly installed with a dust removal cloth.

[0006] Preferably, the outer fixed sleeve of the visual positioning device is provided with a card plate, and sliding covers are slidably provided at the four outer corners of the card plate, and the sliding covers are distributed in an L-shaped state. The card plate is provided with symmetrically distributed empty grooves on both sides close to the sliding covers, and a spring is fixedly installed on the inner wall of the empty groove, and a positioning block is fixedly installed on the other end of the spring, and the sliding cover and the positioning block are used in combination, and a symmetrically distributed cross plate is fixedly installed on one side of the top of the connecting plate close to the card plate, and symmetrically distributed fixing holes are opened on the outer side of the cross plate.

[0007] Compared with the prior art, the beneficial effects of the utility model are:

[0008] 1. The present application can wipe the dust from the camera part of the visual positioning device by reciprocating the cleaning plate and the dust removal cloth, so as to avoid the visual positioning device being affected by dust during use, resulting in deviation in the measurement data;

[0009] 2. This application can prevent the visual positioning device from being limited, avoid shaking during subsequent installation, and improve the installation efficiency of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0012] Figure 2 It is a structural schematic diagram of the connecting plate of the utility model.

[0013] Figure 3 It is a structural schematic diagram of the first rotating shaft of the utility model.

[0014] Figure 4 It is a structural schematic diagram of the pallet of the utility model.

[0015] Figure 5 It is a structural schematic diagram of the positioning block in the utility model.

[0016] In the figure: 1. Robot body; 11. Connecting plate; 12. Visual positioning device; 13. Bracket; 14. Rotating rod; 15. Fixed ring; 16. First rotating shaft; 17. First set of rings; 18. Support plate; 19. Second rotating shaft; 191. Second set of rings; 192. Connecting rod; 193. Fixed plate; 194. Cleaning plate; 195. Dust cloth; 2. Card plate; 21. Sliding cover; 22. Empty slot; 23. Spring; 24. Positioning block; 25. Horizontal plate; 26. Fixed hole; 3. Fixed rod; 31. Movable rod; 4. Stable slot; 41. Stable plate; 5. Fixed block; 51. Electric push rod; 6. Mounting plate; 61. Through slot; 7. Limit block; 8. Motor. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Example: Figure 1-5 As shown, the utility model provides a positioning and guiding device based on an industrial robot, including a robot body 1, a connecting plate 11 is provided on one side of the robot body 1, a visual positioning device 12 is detachably installed on one side of the connecting plate 11, a bracket 13 is slidably provided on the outer side of the connecting plate 11, a rotating rod 14 is rotatably penetrated through the lower surface of the inner wall of the bracket 13, a motor 8 is fixedly installed on the lower surface of the inner wall of the bracket 13, and the output end of the motor 8 and the rotating rod 14 are coaxially fixedly installed. By setting the motor 8, it is convenient to drive the rotating rod 14 to rotate, thereby realizing the reciprocating movement of the cleaning plate 194 and the dust removal cloth 195; a fixing ring 15 is provided on the bottom fixed sleeve of the rotating rod 14, and the bottom end of the fixing ring 15 is fixedly installed There is a first rotating shaft 16, which is located at the eccentric part of the fixed ring 15. The bottom movable sleeve of the first rotating shaft 16 is provided with a first ring 17. A support plate 18 is slidably installed on the side of the bottom end of the bracket 13 away from the fixed ring 15. The bottom end of the support plate 18 is fixedly installed with a second rotating shaft 19. The bottom movable sleeve of the second rotating shaft 19 is provided with a second ring 191. The second ring 191 and the first ring 17 are fixedly connected by a connecting rod 192. A fixing plate 193 is fixedly installed on the side of the bottom end of the support plate 18 away from the second rotating shaft 19. The fixing plate 193 is distributed in an L-shaped state. A cleaning plate 194 is fixedly installed on the bottom of the fixing plate 193, and a dust removal cloth 195 is fixedly installed on the top of the cleaning plate 194.

[0019] The outer fixed sleeve of the visual positioning device 12 is provided with a card plate 2, and sliding covers 21 are slidably provided at the four corners of the outer side of the card plate 2. The sliding cover 21 is distributed in an L-shaped state. Symmetrically distributed empty grooves 22 are opened on both sides of the card plate 2 close to the sliding cover 21. A spring 23 is fixedly installed on the inner wall of the empty groove 22, and a positioning block 24 is fixedly installed on the other end of the spring 23. The sliding cover 21 and the positioning block 24 are used in conjunction with each other. A symmetrically distributed cross plate 25 is fixedly installed on one side of the top of the connecting plate 11 close to the card plate 2, and symmetrically distributed fixing holes 26 are opened on the outer side of the cross plate 25.

[0020] A fixing rod 3 is fixedly installed on one side of the inner wall of the hollow groove 22 close to the spring 23, and a movable rod 31 is movably inserted in the middle of the fixing rod 3. The movable rod 31 and the positioning block 24 are fixedly connected. By setting the fixing rod 3 and the movable rod 31, the stability of the positioning block 24 is improved to prevent it from shaking when moving.

[0021] Two groups of symmetrically distributed stabilizing grooves 4 are provided on both sides of the card plate 2 near the positioning block 24, and a symmetrically distributed stabilizing plate 41 is fixedly installed on one side of the inner wall of the sliding cover 21 near the positioning block 24. The stabilizing plate 41 is movably clamped in the stabilizing groove 4. By setting the stabilizing groove 4 and the stabilizing plate 41, the sliding cover 21 can slide.

[0022] A symmetrically distributed fixed block 5 is fixedly installed on one side of the top of the connecting plate 11 away from the visual positioning device 12, and an electric push rod 51 is fixedly installed on the outer side of the fixed block 5. The output end of the electric push rod 51 is fixedly connected to the bracket 13. By setting the electric push rod 51, the electric push rod 51 can drive the bracket 13 to move, thereby driving the cleaning plate 194 and the dust removal cloth 195 to come under the camera part of the visual positioning device 12 to clean the camera part.

[0023] Mounting plates 6 are fixedly installed on opposite sides of the inner wall of the bracket 13, and through grooves 61 are opened on both sides of the connecting plate 11 close to the bracket 13. The mounting plate 6 is movably clamped in the through groove 61. By setting the mounting plate 6 and the through groove 61, the bracket 13 is more stable when moving and the chance of shaking is reduced; limiting blocks 7 are fixedly installed on both sides of the connecting plate 11 close to the through groove 61. By setting the limiting blocks 7, the moving position of the bracket 13 can be limited, so that it is convenient for it to drive the cleaning plate 194 and the dust removal cloth 195 to move to the bottom of the camera position.

[0024] Working principle: In actual use, by pushing the bracket 13 to move, the support plate 18 is driven to move, the support plate 18 drives the fixed plate 193 to move, the fixed plate 193 drives the cleaning plate 194 and the dust cloth 195 to move, until the dust cloth 195 reaches the camera position of the visual positioning device 12 and fits therewith, and then by driving the rotating rod 14 to rotate, the rotating rod 14 drives the fixed ring 15 to rotate, and the fixed ring 15 drives the first rotating shaft 16 to rotate. Since the first rotating shaft 16 is at the eccentric position of the bottom end of the fixed ring 15, when the first rotating shaft 16 rotates to a certain angle and comes to the side close to the second rotating shaft 19, the first rotating shaft 16 pushes the first sleeve 17 to move, and the first sleeve 17 pushes the second sleeve 191 to move through the connecting rod 192, and the second sleeve 191 drives the second rotating shaft 19 and the support plate 18 to move, so that the support plate 18 moves in the direction away from the fixed ring 15, and the support plate 18 Driving the fixing plate 193, the cleaning plate 194 and the dust-removing cloth 195 to move in the direction away from the fixing ring 15, when the first rotating shaft 16 rotates to the other side, it can drive the cleaning plate 194 and the dust-removing cloth 195 to move in the opposite direction, and repeating this process, so that the cleaning plate 194 and the dust-removing cloth 195 can move back and forth, so that the dust-removing cloth 195 can wipe the dust on the camera part, thereby preventing the visual positioning device 12 from being affected by dust during use and causing deviations in the measurement data; by sliding the sliding cover 21 in the direction away from the card plate 2 until the sliding cover 21 and the positioning block 24 are disengaged, the spring 23 releases its elastic force at this time, pushing the positioning block 24 in the direction away from the card plate 2, so that the positioning block 24 is stuck in the fixing hole 26, thereby limiting the card plate 2 and the visual positioning device 12, avoiding shaking during subsequent installation, and improving the installation efficiency of the staff.

[0025] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A positioning and guiding device based on an industrial robot, comprising a robot body (1), characterized in that: A connecting plate (11) is provided on one side of the robot body (1), and a visual positioning device (12) is detachably installed on one side of the connecting plate (11). A bracket (13) is slidably provided on the outer side of the connecting plate (11), and a rotating rod (14) is rotatably penetrated through the lower surface of the inner wall of the bracket (13). A fixing ring (15) is fixedly provided on the bottom fixed sleeve of the rotating rod (14), and a first rotating shaft (16) is fixedly installed on the bottom end of the fixing ring (15). The first rotating shaft (16) is located at an eccentric position of the fixing ring (15), and a first ring (17) is movably provided on the bottom movable sleeve of the first rotating shaft (16). The bottom end of the bracket (13) is away from the fixing ring. A support plate (18) is slidably mounted on one side of the support plate (15), a second rotating shaft (19) is fixedly mounted on the bottom end of the support plate (18), a second sleeve (191) is movably mounted on the bottom of the second rotating shaft (19), the second sleeve (191) and the first sleeve (17) are fixedly connected via a connecting rod (192), a fixing plate (193) is fixedly mounted on the side of the bottom end of the support plate (18) away from the second rotating shaft (19), the fixing plate (193) is arranged in an L-shaped state, a cleaning plate (194) is fixedly mounted on the bottom of the fixing plate (193), and a dust removal cloth (195) is fixedly mounted on the top end of the cleaning plate (194).

2. The industrial robot positioning and guiding device according to claim 1, characterized in that: The outer fixed sleeve of the visual positioning device (12) is provided with a card plate (2), and sliding covers (21) are slidably provided at the four outer corners of the card plate (2), and the sliding covers (21) are distributed in an L-shaped state. The card plate (2) is provided with symmetrically distributed empty grooves (22) on both sides close to the sliding covers (21), and a spring (23) is fixedly installed on the inner wall of the empty groove (22), and a positioning block (24) is fixedly installed on the other end of the spring (23). The sliding cover (21) and the positioning block (24) are used in combination, and a symmetrically distributed cross plate (25) is fixedly installed on one side of the top of the connecting plate (11) close to the card plate (2), and the outer side of the cross plate (25) is provided with symmetrically distributed fixing holes (26).

3. The industrial robot positioning and guiding device according to claim 2, characterized in that: A fixing rod (3) is fixedly mounted on one side of the inner wall of the hollow groove (22) close to the spring (23), a movable rod (31) is movably inserted in the middle of the fixing rod (3), and the movable rod (31) is fixedly connected to the positioning block (24).

4. The industrial robot positioning and guiding device according to claim 3, characterized in that: Two groups of symmetrically distributed stabilizing grooves (4) are provided on both sides of the clamping plate (2) close to the positioning block (24); a symmetrically distributed stabilizing plate (41) is fixedly mounted on one side of the inner wall of the sliding cover (21) close to the positioning block (24); and the stabilizing plate (41) is movably clamped in the stabilizing grooves (4).

5. The industrial robot positioning and guiding device according to claim 2, characterized in that: A symmetrically distributed fixing block (5) is fixedly mounted on the top of the connecting plate (11) on one side away from the visual positioning device (12), an electric push rod (51) is fixedly mounted on the outer side of the fixing block (5), and an output end of the electric push rod (51) is fixedly connected to the bracket (13).

6. The industrial robot positioning and guiding device according to claim 5, characterized in that: Mounting plates (6) are fixedly mounted on opposite sides of the inner wall of the bracket (13); through grooves (61) are formed on both sides of the connecting plate (11) close to the bracket (13); and the mounting plates (6) are movably mounted in the through grooves (61).

7. The industrial robot positioning and guiding device according to claim 6, characterized in that: Limiting blocks (7) are fixedly mounted on both sides of the connecting plate (11) close to the through slot (61).

8. The industrial robot positioning and guiding device according to claim 6, characterized in that: A motor (8) is fixedly mounted on the lower surface of the inner wall of the bracket (13), and the output end of the motor (8) and the rotating rod (14) are coaxially fixedly mounted.

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