Quick locking structure for adding camera to manipulator without basic visual sensing function

Abstract

The utility model relates to the field of application of visual sensors, in particular to a quick locking structure for a mechanical arm without a visual sensing basic function and additionally provided with a camera. The enclosing additional system (2) is a locking structure which can be hooped behind a robot workpiece mounting disc (3) of the robot (1); the plane where the installation disc (22) is located is perpendicular to the arc-shaped face formed by the installation disc (22) and the inner ring (21). A camera can be fixed on the mounting hole (23); the extension slat (24) can pass through the through hole (25); an upper ring arc (28) is connected above the U-shaped structure penetrating through the hole (25); the extension batten (24) is firstly pulled out of the through hole (25); and then the surrounding additional system (2) is sleeved at the end part of the robot, then the extension battens (24) are inserted into the through holes (25), the extension battens (24) are inserted into the upper part and the lower part of the inner ring (21), and bolts are tightened, so that the surrounding additional system (2) can be fixed at the end part of the robot without a related visual sensor.

Description

Technical Field

[0001] The utility model relates to the application field of visual sensors, in particular to a quick locking structure of a manipulator without the basic function of visual sensing and equipped with a camera. Background Art

[0002] Su Cimin and Li Chunxing published "High-precision tracking system of robot welds based on laser vision sensor", which is only one of the technologies combining automated robots and vision sensing technology. In fact, not all robots have the function of vision sensing.

[0003] Various algorithms and image processing have been widely used in industrial fields, such as welding robots.

[0004] In order for visual sensing technology and image processing technology to be widely used on existing robots without visual sensing, a technology and structure that can be added later without changing the robot structure is needed.

[0005] On July 9, 2024, with "visual sensing and robot and ring and installation and bolt" as the abstract keywords, and checking the option to allow synonym expansion, a search was conducted in the Chinese patent disclosure database, and CN210279674U was found. A rotary glue coating device with anti-edge leakage and continuous glue coating can be found, which cannot be quickly equipped with a camera for collecting end images for visual sensing and intelligent decision-making. CN208788592U discloses a six-axis robot with binocular positioning function, which provides a complex fixed block structure for fixing the binocular camera.

[0006] Most robots do not have a built-in location for a camera to capture images for later visualization sensors.

[0007] On July 9, 2024, an abstract search for "visual sensing and robot and ring and installation and bolt" was conducted on China National Knowledge Infrastructure, and no relevant literature was found.

[0008] July 9, 2024, with the theme of “Visual sensing with Robot with ring with install with bolt” was searched on the website of the United States Patent and Trademark Office, but no relevant literature was found; the search URL is https: / / ppubs.uspto.gov / pubwebapp / .

[0009] On July 9, 2024, a search was conducted on the Korean Patent Office for “Visual sensing and robot and ring and install and bolt”, and no relevant literature was found; the search URL was engpat.kipris.or.kr.

[0010] On July 9, 2024, a search was conducted on WIPO's https: / / patentscope2.wipo.int / for "Visual sensing and robot and ring and install and bolt", and no relevant documents were found.

[0011] On July 9, 2024, a search was conducted on the Japan Patent Office website https: / / www.j-platpat.inpit.go.jp / for "Visual sensing and robot and ring and install and bolt", but no relevant literature was found.

[0012] Therefore, the defect of these technologies is that they cannot quickly fix the end of the multi-axis robot without a visual sensor or camera installation position. Utility Model Content

[0013] Purpose of the utility model: to provide a better quick locking structure for a robot arm without the basic function of visual sensing and equipped with a camera. For specific purposes, see the multiple substantial technical effects in the specific implementation part.

[0014] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0015] A quick locking structure of a robot without the basic function of visual sensing and equipped with a camera is characterized by:

[0016] The quick locking structure includes an enclosure attachment system 2, which is a locking structure that can be clamped behind the robot workpiece mounting plate 3 of the robot 1;

[0017] The enclosure attachment system 2 is made of metal;

[0018] The cross section of the main structure of the enclosure attachment system 2 is L-shaped, and the main structure includes a mounting plate 22 and an inner ring 21. The plane where the mounting plate 22 is located is perpendicular to the arc-shaped surface formed by the inner ring 21. A plurality of mounting holes 23 are arranged on the mounting plate 22, and the cameras can be fixed on the mounting holes 23.

[0019] The main structure of the enclosure attachment system 2 is a circle with a gap in the middle; the gap includes an extension strip 24 extending from one side of the gap in the main structure, and a through hole 25 is arranged on the other side of the gap in the main structure, and the extension strip 24 can pass through the through hole 25;

[0020] An upper arc 28 is connected above the U-shaped structure passing through the hole 25;

[0021] The inner wall of the upper circle arc 28 is threaded, and when the bolt is turned, the bolt body can press the inner circle 21 and the extension strip 24 downward to adjust the diameter of the enclosure attachment system 2;

[0022] A further technical solution of the utility model is that the bolt is a butterfly bolt 27.

[0023] A further technical solution of the present invention is that the inner ring 21 can be sleeved on the circular part behind the robot workpiece mounting plate 3.

[0024] A further technical solution of the present invention is that the main structure of the enclosure attachment system 2 is made of stainless steel.

[0025] A further technical solution of the utility model is that the robot is a multi-arm robot.

[0026] A further technical solution of the present invention is that the insertion degree of the extension slats 24 can adjust the diameter of the enclosure attachment system 2 .

[0027] A further technical solution of the present invention is that the mounting hole 23 is a threaded hole.

[0028] The utility model adopting the above technical solution has the following beneficial effects compared with the prior art: compared with the defect of the prior art that "it is impossible to quickly fix the end of the multi-axis robot without the visual sensor or camera installation position without the visual sensor or camera."

[0029] When this patent is used, first pull out the extension slat 24 from the through hole 25; then put it on the end of the robot without affecting its working part, then insert the extension slat 24 into the through hole 25, either above or below the inner ring 21, tighten the bolts, and then fix the enclosure attachment system 2 to the end of the robot without related visual sensors, and then fix the camera at any position of the multiple mounting holes 23 as required, so as to collect the head image of the processing part, such as the image of the welding head. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to further illustrate the utility model, the following is further described in conjunction with the accompanying drawings:

[0031] Figure 1 A structural diagram of the enclosure attachment system of the utility model;

[0032] Figure 2 It is a partial structural diagram of the utility model;

[0033] Figure 3 A partial structural diagram of the utility model installed on the robot;

[0034] Figure 4 It is a schematic diagram of the installation position of the utility model;

[0035] Among them: 1. robot; 2. enclosure additional system; 3. robot workpiece mounting plate; 21. inner ring; 22. mounting plate; 23. mounting hole; 24. extension strip; 25. through hole; 26. bolt body; 27. butterfly bolt; 28. upper circle arc. DETAILED DESCRIPTION

[0036] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] This patent provides a variety of parallel solutions. The different expressions are improved solutions or parallel solutions based on the basic solution. Each solution has its own unique characteristics. In addition, the technical features involved in the different embodiments of the utility model described below can be combined with each other as long as they do not conflict with each other. The fixing method not described in the text can be any fixing method such as thread fixing, bolt fixing or glue bonding.

[0039] Embodiment 1: In combination with all the accompanying drawings; A quick locking structure of a manipulator without the basic function of visual sensing and equipped with a camera, characterized in that:

[0040] The quick locking structure includes an enclosure attachment system 2, which is a locking structure that can be clamped behind the robot workpiece mounting plate 3 of the robot 1;

[0041] The enclosure attachment system 2 is made of metal;

[0042] The cross section of the main structure of the enclosure attachment system 2 is L-shaped, and the main structure includes a mounting plate 22 and an inner ring 21. The plane where the mounting plate 22 is located is perpendicular to the arc-shaped surface formed by the inner ring 21. A plurality of mounting holes 23 are arranged on the mounting plate 22, and the cameras can be fixed on the mounting holes 23.

[0043] The main structure of the enclosure attachment system 2 is a circle with a gap in the middle; the gap includes an extension strip 24 extending from one side of the gap in the main structure, and a through hole 25 is arranged on the other side of the gap in the main structure, and the extension strip 24 can pass through the through hole 25;

[0044] An upper arc 28 is connected above the U-shaped structure passing through the hole 25;

[0045] The inner wall of the upper arc 28 is threaded, and when the bolt is turned, the bolt body can press the inner ring 21 and the extension strip 24 downward, thereby adjusting the diameter of the enclosure attachment system 2.

[0046] The substantial technical effect and implementation process of the technical solution herein, i.e., the basic function, are as follows: Compared with the defect of the prior art that "it is impossible to quickly fix the end of a multi-axis robot without a visual sensor or camera installation position.

[0047] When this patent is used, first pull out the extension slat 24 from the through hole 25; then put it on the end of the robot without affecting its working part, then insert the extension slat 24 into the through hole 25, either above or below the inner ring 21, tighten the bolts, and then fix the enclosure attachment system 2 to the end of the robot without related visual sensors, and then fix the camera at any position of the multiple mounting holes 23 as required, so as to collect the head image of the processing part, such as the image of the welding head.

[0048] Embodiment 2: As a further improved solution or parallel solution or optional independent solution, the bolt is a butterfly bolt 27. The substantial technical effect and implementation process of the technical solution here, i.e., the basic function, are as follows: the butterfly bolt 27 is easy to turn.

[0049] Embodiment 3: As a further improved solution or parallel solution or optional independent solution, the inner ring 21 can be sleeved on the circular part behind the robot workpiece mounting plate 3. The substantial technical effect and implementation process of the technical solution here, i.e. the basic function, are as follows: Similar installation positions are within the protection scope of this patent.

[0050] Embodiment 4: As a further improved solution or parallel solution or optional independent solution, the main structure of the enclosure attachment system 2 is stainless steel. The substantial technical effect and its realization process, i.e., the basic function of the technical solution here are as follows: similar materials and materials with moderate deformation are all within the protection scope of this patent.

[0051] Embodiment 5: As a further improved solution or parallel solution or optional independent solution, the robot is a multi-arm robot. The substantial technical effect and implementation process of the technical solution here, i.e., the basic function, are as follows: For example, it can be a six-cantilever robot.

[0052] Embodiment 6: As a further improved solution or parallel solution or optional independent solution, the extension strip 24 can be inserted to adjust the diameter of the enclosure attachment system 2. The substantial technical effect and implementation process of the technical solution here, i.e., the basic function, are as follows: Therefore, it can be installed regardless of any installation conditions.

[0053] Embodiment 7: As a further improved solution or parallel solution or optional independent solution, the mounting hole 23 is a threaded hole. The substantial technical effect and implementation process of the technical solution here, namely the basic function, are as follows: conveniently fixing the camera or visual sensor.

[0054] Innovatively, each of the above effects exists independently, and a set of structures can be used to combine the above results.

[0055] It should be noted that the multiple modules of this patent are the integration of modules of the prior art and do not involve new modules. Even if some modules use programs, the programs are undoubtedly known programs.

[0056] It should be noted that the multiple solutions provided by this patent include the basic solution itself, which are independent of each other and do not restrict each other, but they can also be combined with each other without conflict to achieve multiple effects together.

[0057] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the protection required.

Claims

1. A quick locking structure of a robot without the basic function of visual sensing and equipped with a camera, which is characterized by: The quick locking structure comprises an enclosure attachment system (2), and the enclosure attachment system (2) is a locking structure that can be clamped behind a robot workpiece mounting plate (3) of the robot (1); The enclosure attachment system (2) is made of metal; The cross section of the main structure of the enclosure attachment system (2) is L-shaped, and the main structure comprises a mounting plate (22) and an inner ring (21), wherein the plane where the mounting plate (22) is located is perpendicular to the arc-shaped surface formed by the mounting plate and the inner ring (21); a plurality of mounting holes (23) are arranged on the mounting plate (22), and cameras can be fixed on the mounting holes (23); The main structure of the enclosure attachment system (2) is in the shape of a circle with a gap in the middle; the gap includes an extension strip (24) extending from one side of the gap in the main structure, and a through hole (25) is arranged on the other side of the gap in the main structure, and the extension strip (24) can pass through the through hole (25); An upper arc (28) is connected above the U-shaped structure passing through the hole (25); The inner wall of the upper arc (28) is threaded, and when the bolt is turned, the bolt body can press the inner ring (21) and the extension strip (24) downward, thereby adjusting the diameter of the enclosure attachment system (2).

2. The quick locking structure of a robot without the basic function of visual sensing and equipped with a camera as claimed in claim 1, characterized in that: The bolt is a butterfly bolt (27).

3. The quick locking structure of a robot without the basic function of visual sensing and equipped with a camera as claimed in claim 1, characterized in that: The inner ring (21) can be sleeved on the circular portion behind the robot workpiece mounting plate (3).

4. The quick locking structure of a robot without the basic function of visual sensing and equipped with a camera as claimed in claim 1, characterized in that: The main structure of the enclosure attachment system (2) is made of stainless steel.

5. The quick locking structure of a robot without the basic function of visual sensing and equipped with a camera as claimed in claim 1, characterized in that: The robot is a multi-arm robot.

6. The quick locking structure of a robot without the basic function of visual sensing and equipped with a camera as claimed in claim 1, characterized in that: The extent to which the extension strip (24) is inserted can adjust the diameter of the enclosure attachment system (2).

7. The quick locking structure of a robot without the basic function of visual sensing and equipped with a camera as claimed in claim 1, characterized in that: The mounting holes (23) are threaded holes.

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