Trajectory tracking device for industrial robot

Abstract

The utility model relates to the technical field of industrial robots, in particular to an industrial robot track tracking device which comprises a conveying belt, an industrial robot body is fixedly installed on one side of the conveying belt, and a tracking assembly is arranged at the bottom of the industrial robot body. The tracking assembly comprises a mark target, the mark target is fixedly installed at the bottom of the industrial robot body, a control box body is arranged on the other side of the conveying belt, a precise rotating table is fixedly installed at the top of the control box body, and a supporting frame is fixedly installed at the top of the precise rotating table; an infrared camera is fixedly installed at the top of the supporting frame, and a control host is fixedly installed in the control box body. According to the industrial robot trajectory tracking device, the infrared camera can sense the mark target synchronously, so that tracking of the robot trajectory is achieved, and the problem that binocular vision measurement is inconsistent in precision in different areas in a working space in robot calibration is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a trajectory tracking device for an industrial robot. Background Art

[0002] Industrial robots have the characteristics of large working space, high flexibility, high degree of automation and intelligence, and have been widely used in various fields of industrial production. However, compared with traditional machines, industrial robots have poorer precision. Kinematic calibration is the main method to improve the precision of industrial robots.

[0003] Although binocular vision measurement has the advantages of large measurement range, low cost and easy operation, due to the influence of camera distortion effect, the measurement accuracy of areas far away from the center of the field of view is low and cannot meet the needs of industrial robot calibration.

[0004] In order to solve the problem of inconsistent accuracy in different areas of the workspace of binocular vision measurement in robot calibration, this paper proposes an industrial robot tracking trajectory device. Utility Model Content

[0005] The purpose of the utility model is to provide an industrial robot tracking trajectory device to solve the problem raised in the above background technology that due to the influence of the camera distortion effect, the measurement accuracy of the area far from the middle of the field of view is low and cannot meet the needs of industrial robot calibration. To achieve the above purpose, the utility model provides the following technical solutions: an industrial robot tracking trajectory device, including a conveyor belt, an industrial robot body is fixedly installed on one side of the conveyor belt, and a tracking component is arranged at the bottom of the industrial robot body;

[0006] The tracking component includes a mark target, which is fixedly installed at the bottom of the industrial robot body, a control box is provided on the other side of the conveyor belt, a precision rotating table is fixedly installed on the top of the control box, a support frame is fixedly installed on the top of the precision rotating table, an infrared camera is fixedly installed on the top of the support frame, a control host is fixedly installed inside the control box, a control panel is fixedly installed on the top of the control box in front of the precision rotating table, and a display screen is fixedly installed on the right end of the control panel; the tracking component is set up so that the infrared camera will sense the light emitted by the mark target during use, and when the mark target is sensed to move, the precision rotating table will drive the support frame and the infrared camera to adjust the angle, so that the infrared camera can synchronously sense the mark target, thereby realizing the tracking of the robot trajectory, and effectively solving the problem of inconsistent accuracy in different areas of the workspace of binocular vision measurement in robot calibration;

[0007] The infrared cameras are symmetrically distributed on the top of the support frame, and the infrared cameras are compatible with the marking target.

[0008] Further preferably, a heat dissipation component is provided inside the control box, and the heat dissipation component includes a heat conductive block, which is fixedly installed on the back of the control host, and a heat conductive copper tube is fixedly installed inside the heat conductive block. With the setting of the heat dissipation component, the heat generated by the long-term operation of the control host will first be conducted to the inside of the heat conductive copper tube by the heat conductive block, so that the heat conductive copper tube will first dissipate the heat, and then the fan blades at its transmission end are driven to rotate by the rotating motor, thereby accelerating the circulation of air around the heat conductive copper tube, thereby cooling and dissipating the heat conductive copper tube, effectively improving the safety of the control host operation, extending the service life of the control host, and facilitating the use of the staff.

[0009] Further preferably, the heat-conducting copper tubes are symmetrically distributed inside the heat-conducting block, copper fins are fixedly installed on the outside of the heat-conducting copper tubes, the copper fins are distributed vertically and parallelly to the outside of the heat-conducting copper tubes, and a partition plate is fixedly installed inside the control box behind the heat-conducting copper tubes.

[0010] Further preferably, a ventilation slot is opened inside the partition plate, a rotating motor is fixedly installed inside the ventilation slot, and a fan blade is fixedly installed at the transmission end of the rotating motor.

[0011] Further preferably, a ventilation assembly is provided on the back of the control box, and the ventilation assembly includes a heat dissipation groove, which is opened on the back of the control box, and a strip grille is fixedly installed inside the heat dissipation groove, and the strip grille is distributed vertically and parallelly to the inside of the heat dissipation groove, and an air inlet groove is opened at the bottom of the control box. The setting of the ventilation assembly can effectively play a role of air circulation through the exhaust of the heat dissipation groove and the intake of the air inlet groove, thereby improving the heat dissipation efficiency and facilitating the use of the staff.

[0012] Further preferably, a support column is fixedly installed on the bottom of the control box, and an anti-skid pad is fixedly installed on the bottom of the support column. The installation of the anti-skid pad can increase the friction with the placement surface, effectively improve the safety and stability of the placement of the control box, and facilitate the use of the staff.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] In the utility model, the tracking component is set up so that the infrared camera will sense the bright light emitted by the mark target during use. When the movement of the mark target is sensed, the precision rotating table will drive the support frame and the infrared camera to adjust the angle, so that the infrared camera can synchronously sense the mark target, thereby realizing the tracking of the robot trajectory, and effectively solving the problem of inconsistent accuracy of different areas in the working space of binocular vision measurement in robot calibration.

[0015] In the utility model, the heat dissipation component is set, and the heat generated by the long-term operation of the control host will first be conducted to the inside of the heat-conducting copper tube by the heat-conducting block, so that the heat-conducting copper tube dissipates the heat first, and then the fan blades at its transmission end are driven to rotate by the rotating motor, thereby accelerating the circulation of air around the heat-conducting copper tube, thereby playing a role in cooling and dissipating the heat of the heat-conducting copper tube, effectively improving the safety of the control host operation, extending the service life of the control host, and facilitating the use of the staff.

[0016] In the utility model, the setting of the ventilation component can effectively play the role of air circulation through the exhaust of the heat dissipation groove and the air intake of the ventilation groove, thereby improving the heat dissipation efficiency and facilitating the use of the staff. The installation of the anti-slip pad can increase the friction with the placement surface, effectively improving the safety and stability of the placement of the control box and facilitating the use of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0020] Figure 4 It is a schematic diagram of the local planar structure of the utility model.

[0021] In the figure: 1. conveyor belt; 2. industrial robot body; 3. tracking component; 4. heat dissipation component; 5. ventilation component; 6. support column; 7. anti-skid pad; 301. mark target; 302. control box; 303. precision rotating table; 304. support frame; 305. infrared camera; 306. control host; 307. control panel; 308. display screen; 401. heat conduction block; 402. heat conduction copper tube; 403. copper fin; 404. partition plate; 405. ventilation slot; 406. rotating motor; 407. fan blade; 501. heat dissipation slot; 502. bar grille; 503. air inlet slot. DETAILED DESCRIPTION

[0022] 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 technical personnel in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figure 1 - Figure 4 , the utility model provides a technical solution: an industrial robot tracking track device, comprising a conveyor belt 1, an industrial robot body 2 is fixedly installed on one side of the conveyor belt 1, and a tracking component 3 is arranged at the bottom of the industrial robot body 2;

[0024] The tracking component 3 includes a marker target 301, which is fixedly installed at the bottom of the industrial robot body 2. A control box 302 is provided on the other side of the conveyor belt 1. A precision rotating table 303 is fixedly installed on the top of the control box 302. A support frame 304 is fixedly installed on the top of the precision rotating table 303. An infrared camera 305 is fixedly installed on the top of the support frame 304. A control host 306 is fixedly installed inside the control box 302. A control panel 307 is fixedly installed on the top of the control box 302 in front of the precision rotating table 303. A display screen 308 is fixedly installed on the right end of the control panel 307.

[0025] The infrared cameras 305 are symmetrically distributed on the top of the support frame 304 , and the infrared cameras 305 are compatible with the marking target 301 .

[0026] In this embodiment, Figure 4 As shown, a heat dissipation component 4 is provided inside the control box 302, and the heat dissipation component 4 includes a heat conductive block 401, which is fixedly mounted on the back of the control host 306, and a heat conductive copper tube 402 is fixedly mounted inside the heat conductive block 401, and the heat conductive copper tube 402 is symmetrically distributed inside the heat conductive block 401, and copper fins 403 are fixedly mounted on the outside of the heat conductive copper tube 402, and the copper fins 403 are parallelly distributed up and down to the outside of the heat conductive copper tube 402, and a partition plate 404 is fixedly mounted inside the control box 302 behind the heat conductive copper tube 402, and a ventilation slot 405 is opened inside the partition plate 404, and a rotating motor 406 is fixedly mounted inside the ventilation slot 405, and a fan blade 407 is fixedly mounted on the transmission end of the rotating motor 406.

[0027] In this embodiment, Figure 4 As shown, a ventilation component 5 is provided on the back of the control box 302, and the ventilation component 5 includes a heat dissipation slot 501, and the heat dissipation slot 501 is opened on the back of the control box 302. A strip grille 502 is fixedly installed inside the heat dissipation slot 501, and the strip grille 502 is distributed vertically and parallel to the inside of the heat dissipation slot 501. An air inlet slot 503 is opened at the bottom of the control box 302, and a support column 6 is fixedly installed at the bottom of the control box 302, and an anti-slip pad 7 is fixedly installed at the bottom of the support column 6.

[0028] The use method and advantages of the utility model: When the industrial robot tracking track device is used, the working process is as follows:

[0029] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, during use, the infrared camera 305 will sense the bright light emitted by the mark target 301. When the mark target 301 is sensed to move, the precision rotating table 303 will drive the support frame 304 and the infrared camera 305 to adjust the angle, so that the infrared camera 305 can synchronously sense the mark target 301, thereby realizing the tracking of the robot trajectory. The heat generated by the long-term operation of the control host 306 will first be conducted by the heat conduction block 401 to the inside of the heat-conducting copper tube 402, first allowing the heat-conducting copper tube 402 to dissipate the heat, and then the rotating motor 406 drives the fan blades 407 at its transmission end to rotate, thereby accelerating the circulation of air around the heat-conducting copper tube 402, thereby cooling the heat-conducting copper tube 402.

[0030] The above shows and describes the basic principle, main features and advantages of the utility model. Technical staff in this industry should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An industrial robot tracking device, comprising a conveyor belt (1), characterized in that: An industrial robot body (2) is fixedly mounted on one side of the conveyor belt (1), and a tracking component (3) is arranged at the bottom of the industrial robot body (2); The tracking component (3) comprises a mark target (301), the mark target (301) is fixedly mounted on the bottom of the industrial robot body (2), a control box (302) is arranged on the other side of the conveyor belt (1), a precision rotating table (303) is fixedly mounted on the top of the control box (302), a support frame (304) is fixedly mounted on the top of the precision rotating table (303), an infrared camera (305) is fixedly mounted on the top of the support frame (304), a control host (306) is fixedly mounted inside the control box (302), a control panel (307) is fixedly mounted on the top of the control box (302) in front of the precision rotating table (303), and a display screen (308) is fixedly mounted on the right end of the control panel (307); The infrared cameras (305) are symmetrically distributed on the top of the support frame (304), and the infrared cameras (305) are compatible with the marking target (301).

2. The industrial robot tracking trajectory device according to claim 1, characterized in that: A heat dissipation component (4) is arranged inside the control box (302), and the heat dissipation component (4) comprises a heat conduction block (401). The heat conduction block (401) is fixedly mounted on the back of the control host (306), and a heat conduction copper tube (402) is fixedly mounted inside the heat conduction block (401).

3. The industrial robot tracking trajectory device according to claim 2, characterized in that: The heat-conducting copper tube (402) is symmetrically distributed inside the heat-conducting block (401), and copper fins (403) are fixedly installed on the outside of the heat-conducting copper tube (402). The copper fins (403) are distributed vertically and parallelly on the outside of the heat-conducting copper tube (402), and a partition plate (404) is fixedly installed inside the control box (302) behind the heat-conducting copper tube (402).

4. The industrial robot tracking trajectory device according to claim 3, characterized in that: A ventilation slot (405) is provided inside the partition plate (404), a rotating motor (406) is fixedly installed inside the ventilation slot (405), and a fan blade (407) is fixedly installed at the transmission end of the rotating motor (406).

5. The industrial robot tracking trajectory device according to claim 1, characterized in that: A ventilation assembly (5) is arranged on the back of the control box (302), and the ventilation assembly (5) comprises a heat dissipation slot (501). The heat dissipation slot (501) is arranged on the back of the control box (302), and a bar grille (502) is fixedly installed inside the heat dissipation slot (501). The bar grille (502) is distributed vertically and parallelly inside the heat dissipation slot (501), and an air inlet slot (503) is arranged at the bottom of the control box (302).

6. The industrial robot tracking trajectory device according to claim 5, characterized in that: A support column (6) is fixedly mounted on the bottom of the control box (302), and an anti-slip pad (7) is fixedly mounted on the bottom of the support column (6).

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