Visual positioning mechanism of manipulator

Abstract

The utility model discloses a visual positioning mechanism of a mechanical arm, which comprises a main body assembly, a visual positioning mechanism and a visual positioning mechanism, and is characterized in that the main body assembly comprises a first movable joint; the mounting assembly comprises an electric push rod, a connecting plate, a first mounting groove, a fixing frame and a second mounting groove; the electric push rod is fixed to one side of the outer surface of the first movable joint, the connecting plate is fixedly connected to the output end of the electric push rod, the first mounting groove is formed in the upper end of one side of the outer surface of the connecting plate, the fixing frame is connected to one side of the outer surface of the connecting plate, and the second mounting groove is formed in the middle of one side of the outer surface of the fixing frame. The visual positioning device has the advantages that the fixing frame and the visual positioning head can be rapidly installed, adjustment and alignment work needing to be carried out in the installation process is greatly reduced, even non-professionals can rapidly understand and execute the installation process through the method, and therefore operation complexity is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator visual positioning, in particular to a manipulator visual positioning mechanism. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of a human arm and is used to grab, move objects or operate tools according to a fixed program. The disadvantages of the inconvenient installation of the manipulator's visual positioning mechanism are mainly reflected in the high technical complexity, strict requirements on environmental conditions, and difficulty in maintenance and adjustment. The manipulator's visual positioning mechanism is an indispensable part of modern industrial automation. It captures images through high-precision cameras and combines powerful image processing algorithms to achieve accurate positioning and recognition of target objects. This technology greatly improves production efficiency and operational accuracy, while also reducing labor costs and error rates.

[0003] Since the robotic arm performs repetitive operations instead of human hands, the installation of the visual positioning system requires precise hand-eye calibration to ensure accurate mapping between the camera coordinate system and the robotic arm coordinate system. However, installation and disassembly are more troublesome, and in a water environment, the lens and visual sensor are more easily contaminated, requiring frequent cleaning and maintenance. Utility Model Content

[0004] The purpose of the utility model is to provide a visual positioning mechanism for a robot arm to solve the problem raised in the above-mentioned background technology that, since the robot arm replaces the human hand to perform repetitive operations, the installation of the visual positioning system requires precise hand-eye calibration to ensure accurate mapping between the camera coordinate system and the robot arm coordinate system, but the installation and disassembly are more troublesome, and in a water environment, the lens and visual sensor are more easily contaminated, requiring frequent cleaning and maintenance.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is a visual positioning mechanism for a manipulator, comprising:

[0007] A main body component, the main body component comprising a first movable joint;

[0008] An installation component, the installation component comprising an electric push rod, a connecting plate, a first installation slot, a fixing frame, and a second installation slot;

[0009] The electric push rod is fixed on one side of the outer surface of the first movable joint, the connecting plate is fixedly connected to the output end of the electric push rod, the first mounting groove is opened at the upper end of one side of the outer surface of the connecting plate, the fixing frame is connected to one side of the outer surface of the connecting plate, and the second mounting groove is opened in the middle part of one side of the outer surface of the fixing frame.

[0010] Furthermore, the main body assembly also includes a second movable joint, a rotating joint, and a mounting plate;

[0011] The second movable joint is rotatably connected to one side of the outer surface of the first movable joint. The swivel joint is rotatably mounted on the lower surface of the first movable joint. The mounting plate is mounted on the lower surface of the swivel joint.

[0012] Furthermore, a visual positioning head is fixedly connected to one side of the outer surface of the fixing frame, a fixing rod passes through the first installation groove, a clamping column passes through one end of the outer surface of the fixing rod, and a handle is fixed to the other side of the outer surface of the fixing rod.

[0013] Furthermore, the first mounting groove corresponds to the second mounting groove in a positive direction, and one end of the fixing rod is immersed in the fixing frame.

[0014] Further, it also includes a drying component;

[0015] The drying assembly includes a protective frame, a motor, a cleaning brush, a side connecting plate, a square groove, and an extrusion plate;

[0016] The protective frame is fixed on one side of the outer surface of the connecting plate, the motor is fixed inside the protective frame, the cleaning brush is connected to the output end of the motor, the side connecting plate is fixed on one side of the outer surface of the connecting plate, the square groove is opened on one side of the outer surface of the side connecting plate, and the extrusion plate is installed inside the square groove.

[0017] Furthermore, the cleaning brush performs a rotational motion and passes through the square groove, and the extrusion plate is made of PVC.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] 1. The utility model, through the provision of an electric push rod, a connecting plate, a first mounting groove, a fixed frame, a second mounting groove, a visual positioning head, a fixing rod, a clamping column, and a handle, when installing the visual positioning head, the staff only needs to contact the visual positioning head with the connecting plate, and make the first mounting groove and the second mounting groove correspond to each other in a positive direction. Then, the staff inserts the fixing rod into the first mounting groove. At this time, the clamping column is placed vertically. After the clamping column extends into the fixed frame, the staff rotates the handle to drive the fixing rod to rotate 90 degrees, so that the clamping column is placed horizontally. The clamping column is clamped with the second mounting groove, the fixed frame is quickly installed, and the visual positioning head is quickly installed, which greatly reduces the adjustment and alignment work required during the installation process. This method allows even non-professionals to quickly understand and execute the installation process, thereby reducing the complexity of the operation.

[0020] 2. Based on beneficial effect 1, through the provision of a protective frame, motor, cleaning brush, side connecting plate, square groove, and extrusion plate, when the robot arm is picking up a product, the visual positioning head will inevitably come into contact with water. At this time, the staff only needs to start the motor through the external control module, and the motor will drive the cleaning brush to rotate counterclockwise. When the cleaning brush contacts the visual positioning head, the water stains on the visual positioning head will be wiped dry. However, there will be water on the cleaning brush after wiping it for a long time. After the cleaning brush rotates counterclockwise, it will move to the square groove on the outer surface of the side connecting plate, and the cleaning brush will contact the extrusion plate. The extrusion plate will squeeze the water from the cleaning brush during rotation, making it easier to wipe it dry next time. Through the automatic cleaning mechanism, these water stains can be removed in time to ensure the stable operation and high efficiency of the visual system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are 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 creative work.

[0022] Figure 1 This is a schematic diagram of the main components of the utility model;

[0023] Figure 2 This is a schematic diagram of the installation components of the utility model;

[0024] Figure 3 It is a structural exploded view of the installation assembly of the utility model;

[0025] Figure 4 This is a structural diagram of the drying component of the utility model.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 11. First movable joint; 12. Second movable joint; 13. Rotating joint; 14. Mounting plate;

[0028] 21. Electric push rod; 22. Connecting plate; 23. First mounting slot; 24. Fixing frame; 25. Second mounting slot; 26. Visual positioning head; 27. Fixing rod; 28. Clamping column; 29. ​​Handle;

[0029] 31. Protective frame; 32. Motor; 33. Cleaning brush; 34. Side connecting plate; 35. Square groove; 36. Extrusion plate. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0032] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the implementation of the present invention, for the sake of convenience, the cross-sectional diagram showing the device structure will not be partially enlarged according to the general scale, and the schematic diagram is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0033] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] See also Figure 1-Figure 3 As shown, this embodiment is a visual positioning mechanism of a manipulator, comprising:

[0035] A main body component, the main body component includes a first movable section 11;

[0036] The main body assembly also includes a second movable joint 12, a rotating joint 13, and a mounting plate 14;

[0037] The second movable joint 12 is rotatably connected to one side of the outer surface of the first movable joint 11, the rotating joint 13 is rotatably mounted on the lower surface of the first movable joint 11, and the mounting plate 14 is mounted on the lower surface of the rotating joint 13;

[0038] An installation assembly, the installation assembly includes an electric push rod 21, a connecting plate 22, a first installation slot 23, a fixing frame 24, and a second installation slot 25;

[0039] The electric push rod 21 is fixed to one side of the outer surface of the first movable joint 11, the connecting plate 22 is fixedly connected to the output end of the electric push rod 21, the first mounting groove 23 is provided at the upper end of one side of the outer surface of the connecting plate 22, the fixing frame 24 is connected to one side of the outer surface of the connecting plate 22, and the second mounting groove 25 is provided in the middle part of one side of the outer surface of the fixing frame 24;

[0040] The electric push rod 21 is the power source of the entire installation assembly, pushing the connecting plate 22 to move to a suitable position. The position adjustment of the connecting plate 22 directly affects the position of the visual positioning head 26, and further affects the detection accuracy;

[0041] The first mounting slot 23 facilitates quick assembly and adjustment of the components, and the second mounting slot 25 is used to further mount the visual positioning head 26;

[0042] A visual positioning head 26 is fixedly connected to one side of the outer surface of the fixing frame 24, a fixing rod 27 is passed through the first installation slot 23, a clamping column 28 is passed through one end of the outer surface of the fixing rod 27, and a handle 29 is fixed to the other side of the outer surface of the fixing rod 27;

[0043] A clamping column 28 is passed through one end of the outer surface of the fixing rod 27, and a handle 29 is fixed to the other end. The fixing rod 27 is connected to the first installation slot 23 through the clamping column 28, and can be used to adjust and lock the position of the visual positioning head 26, thereby enhancing the stability and safety of the installation assembly. The clamping column 28 provides a quick connection and release mechanism between the fixing rod 27 and the installation slot, while the handle 29 is convenient for user operation, making the entire installation or adjustment process more humane and convenient;

[0044] Working principle:

[0045] When installing the visual positioning head 26;

[0046] First, the staff only needs to contact the visual positioning head 26 with the connecting plate 22, and make the first installation groove 23 and the second installation groove 25 correspond to each other in a positive direction;

[0047] Next, the staff inserts the fixing rod 27 into the first installation slot 23. At this time, the clamping column 28 is placed vertically. When the clamping column 28 extends into the interior of the fixing frame 24;

[0048] The staff rotates the handle 29 to drive the fixing rod 27 to rotate 90 degrees, so that the clamping column 28 is placed horizontally, and the clamping column 28 is locked with the second installation groove 25, and the fixing frame 24 is quickly installed, and the visual positioning head 26 is quickly installed;

[0049] This step greatly reduces the adjustment and alignment work required during the installation process. This approach allows even non-professionals to quickly understand and perform the installation process, thereby reducing the complexity of the operation.

[0050] See also Figure 4 As shown, this embodiment is based on the above embodiment 1 and also includes:

[0051] Dry the components;

[0052] The drying assembly includes a protective frame 31, a motor 32, a cleaning brush 33, a side connecting plate 34, a square groove 35, and a squeezing plate 36;

[0053] The protection frame 31 is fixed on one side of the outer surface of the connecting plate 22, the motor 32 is fixed inside the protection frame 31, the cleaning brush 33 is connected to the output end of the motor 32, the side connecting plate 34 is fixed on one side of the outer surface of the connecting plate 22, the square groove 35 is opened on one side of the outer surface of the side connecting plate 34, and the extrusion plate 36 is installed inside the square groove 35;

[0054] The main function of the protection frame 31 is to provide physical protection for the motor 32. Fixing the motor 32 inside the protection frame 31 can prevent moisture and pollutants from directly contacting the motor 32, thereby reducing possible failures of the motor 32 due to exposure to harsh environments.

[0055] The square groove 35 allows the cleaning brush 33 to smoothly enter and contact the squeezing plate 36 after completing the cleaning task, and removes the residual moisture on the cleaning brush 33 by physical squeezing, thereby ensuring that the cleaning brush 33 is dry and clean when it is used next time;

[0056] Working principle:

[0057] When the robot arm is picking up the product, the visual positioning head 26 will inevitably come into contact with water;

[0058] First, the staff only needs to start the motor 32 through the external control module, and the motor 32 will drive the cleaning brush 33 to rotate counterclockwise;

[0059] Next, the cleaning brush 33 contacts the visual positioning head 26 to wipe off the water stains on the visual positioning head 26;

[0060] However, if the cleaning brush 33 is wiped for a long time, there will be water on the cleaning brush 33. After the cleaning brush 33 rotates counterclockwise, it will move into the square groove 35 on the outer surface of the side connecting plate 34, and the cleaning brush 33 will contact the squeezing plate 36. The squeezing plate 36 squeezes the water off the cleaning brush 33 during the rotation, so that it is convenient for wiping next time.

[0061] This step can remove these water stains in time through the automatic cleaning mechanism to ensure the stable operation and efficiency of the visual system.

[0062] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A visual positioning mechanism for a manipulator, characterized in that: include: A main body component, the main body component comprising a first movable joint (11); An installation assembly, the installation assembly comprising an electric push rod (21), a connecting plate (22), a first installation slot (23), a fixing frame (24), and a second installation slot (25); The electric push rod (21) is fixed to one side of the outer surface of the first movable joint (11); the connecting plate (22) is fixedly connected to the output end of the electric push rod (21); the first mounting groove (23) is provided at the upper end of one side of the outer surface of the connecting plate (22); the fixing frame (24) is connected to one side of the outer surface of the connecting plate (22); and the second mounting groove (25) is provided at the middle part of one side of the outer surface of the fixing frame (24).

2. A visual positioning mechanism for a manipulator according to claim 1, characterized in that: The main body assembly also includes a second movable joint (12), a rotating joint (13), and a mounting plate (14); The second movable joint (12) is rotatably connected to one side of the outer surface of the first movable joint (11); the rotating joint (13) is rotatably mounted on the lower surface of the first movable joint (11); and the mounting plate (14) is mounted on the lower surface of the rotating joint (13).

3. The visual positioning mechanism of a manipulator according to claim 1, characterized in that: A visual positioning head (26) is fixedly connected to one side of the outer surface of the fixing frame (24), a fixing rod (27) passes through the interior of the first installation groove (23), a clamping column (28) passes through one end of the outer surface of the fixing rod (27), and a handle (29) is fixed to the other side of the outer surface of the fixing rod (27).

4. A visual positioning mechanism for a manipulator according to claim 3, characterized in that: The first installation groove (23) corresponds to the second installation groove (25) in a positive direction, and one end of the fixing rod (27) is immersed in the interior of the fixing frame (24).

5. The visual positioning mechanism of a manipulator according to claim 4, characterized in that: Also included is a wipe-dry component; The drying assembly comprises a protective frame (31), a motor (32), a cleaning brush (33), a side connecting plate (34), a square groove (35), and a pressing plate (36); The protection frame (31) is fixed on one side of the outer surface of the connecting plate (22), the motor (32) is fixed inside the protection frame (31), the cleaning brush (33) is connected to the output end of the motor (32), the side connecting plate (34) is fixed on one side of the outer surface of the connecting plate (22), the square groove (35) is opened on one side of the outer surface of the side connecting plate (34), and the extrusion plate (36) is installed inside the square groove (35).

6. A visual positioning mechanism for a manipulator according to claim 5, characterized in that: The cleaning brush (33) performs a rotational motion and passes through the square groove (35). The material of the extrusion plate (36) is PVC.

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