Four-angle robot vision cloud platform for gouging back gouging

Abstract

The utility model discloses a four-angle robot vision cloud platform for gouging back gouging, which comprises a base, a moving plate capable of vertically moving is arranged above the base, a driving component connected with the moving plate is arranged on the base, a hinge rod group is further arranged on the base, the bottom of the hinge rod group is hinged with the base, and the bottom of the hinge rod group is hinged with the base. A first motor is vertically arranged on the workbench, a first support is arranged at the output end of the first motor, a second motor is horizontally arranged on the first support, a second support is horizontally arranged at the output end of the second motor, and a third motor is horizontally arranged on the second support; a camera body is arranged at the output end of the third motor; according to the design of the four-degree-of-freedom visual cloud platform, by means of the multi-degree-of-freedom adjusting capacity of the four-degree-of-freedom visual cloud platform, the shooting and monitoring requirements of gouging back gouging can be met

Description

Technical Field

[0001] The utility model relates to the field of visual cloud platforms, in particular to a four-angle robot visual cloud platform for air planing and root cleaning. Background Art

[0002] Air gouging is a technique for cleaning the root of a weld. Carbon arc gouging is a commonly used air gouging technique. It uses a carbon rod as an electrode, melts the metal through the high temperature generated by the carbon arc, and then blows away the molten metal through compressed air to gouge out a groove. Carbon arc gouging has the advantages of high efficiency, suitable for working in all positions, easy to observe and find defects, and can work in narrow positions.

[0003] However, carbon arc gouging also has some disadvantages, such as generating loud noise, smoke and dust during operation, which will affect the environment and the health of workers. Therefore, the use of gouging root cleaning robots for automatic gouging root cleaning and combining with a visual cloud platform to monitor the process quality of root cleaning is a modern industrial solution that can effectively reduce the impact of noise, smoke and dust generated during operation on the environment and the health of workers.

[0004] In the traditional PTZ field, most intelligent PTZs have two degrees of freedom, namely horizontal rotation and pitch rotation. The two degrees of freedom can only meet simple shooting requirements, and cannot meet complex shooting requirements. In shooting or monitoring, in order to facilitate display or human eye viewing and image processing, it is often expected that the picture is relatively positive. However, when the two-degree-of-freedom PTZ rotates to a certain position, the image and picture seen or collected will appear tilted or inverted, which is not conducive to monitoring and image processing. Utility Model Content

[0005] In order to solve the above problem, the utility model provides a four-angle robot vision cloud platform for air planer root cleaning to solve the problem.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A four-angle robot vision cloud platform for air planer root cleaning comprises: a base, a moving plate capable of vertical movement is arranged above the base, a driving assembly connected to the moving plate is arranged on the base, an articulated rod group is also arranged on the base, the bottom of the articulated rod group is hinged to the base, the middle part is connected to the moving plate, and the top is hinged with a workbench, a first motor is vertically arranged on the workbench, a first bracket is arranged at the output end of the first motor, a second motor is horizontally arranged on the first bracket, a second bracket is horizontally arranged at the output end of the second motor, a third motor is horizontally arranged on the second bracket, and a camera body is arranged at the output end of the third motor.

[0008] It is further configured that: the first bracket and the second bracket are both configured to be L-shaped.

[0009] It is further configured that: output ends of the first motor, the second motor and the third motor are all provided with harmonic reducers.

[0010] It is further configured as follows: the output end of the third motor is connected to the camera bracket via a harmonic reducer, and the camera body is connected to the camera bracket via bolts.

[0011] It is further configured as follows: the camera bracket includes a semicircular plate connected to the harmonic reducer and a rectangular plate vertically connected to the semicircular plate, support rods are respectively arranged at the top and bottom ends of the outer side of the rectangular plate, and the multiple support rods are matched with the shape of the camera body.

[0012] It is further configured as follows: the base and the sport board are both configured as triangles, the edges and corners of the sport board are configured as filing planes, the filing planes are parallel to the edge lines of the base, and the three filing planes of the sport board are all configured with hinged rod groups.

[0013] It is further configured as follows: the driving assembly includes a driving motor connected to the base, the output end of the driving motor is connected to a vertically arranged first bevel gear, the first bevel gear is arranged below the base, a second bevel gear meshing with the first bevel gear is rotatably connected to the lower surface of the base, the second bevel gear is threadedly connected to a vertically arranged lead screw, the top of the lead screw passes through the base and is connected to the moving plate.

[0014] It is further configured as follows: a circular plate is fixed on the top of the screw rod, a fastening bolt is arranged on the lower surface of the circular plate, and the fastening bolt passes through the circular plate and the moving plate from bottom to top.

[0015] The further configuration is as follows: the articulated rod group includes two first articulated rods arranged in an X shape, the middle intersection positions of the two first articulated rods are hinged by a hinge pin, the inner side surface of the articulated pin is connected to the inside of the filing plane extending into the moving plate, and a top articulated rod is hinged at the top of the two first articulated rods, one end of the two top articulated rods is hinged to the first articulated rods, and the other end is hinged to the workbench; the bottoms of the two first articulated rods are hinged with a bottom articulated rod, one end of the two bottom articulated rods is hinged to the first articulated rods, and the other end is hinged to the base.

[0016] It is further configured that: the two top hinged rods and the two bottom hinged rods are symmetrically arranged.

[0017] Compared with the prior art, the beneficial technical effects of the utility model are:

[0018] 1. The control system allows remote control of the first motor, the second motor, the third motor and the drive motor to realize remote operation of the visual cloud platform, thereby avoiding direct exposure of workers to the noise, smoke and dust generated during the air planing and root cleaning process, ensuring the safety and health of the operators.

[0019] 2. The visual cloud platform has the ability of horizontal and vertical rotation with three degrees of freedom, as well as height adjustment with the fourth degree of freedom. It can monitor the process of air planing and root cleaning in all directions. The camera itself can capture real-time images of the process, providing a basis for subsequent quality inspection and data analysis.

[0020] 3. Structures such as the articulated rod group provide a stable support structure to ensure the stability and reliability of the visual cloud platform during the air planing and root cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 It is a schematic diagram of the overall structure of the utility model from another angle;

[0024] Figure 3 This is a schematic diagram of the overall structure of the utility model from a third angle;

[0025] Figure 4 Schematic diagram of the connection relationship of the screw rod;

[0026] Figure 5 is a schematic diagram of the structure of the first bracket and the second bracket;

[0027] Figure 6 It is a structural diagram of the base, the motion board and the workbench;

[0028] Figure 7 A schematic diagram of the structure of a camera bracket.

[0029] 1. Base; 2. Pillar; 3. Moving plate; 4. Driving assembly; 5. File plane; 6. Articulated rod group; 7. Workbench; 8. First motor; 9. First bracket; 10. Second motor; 11. Second bracket; 12. Third motor; 13. Camera bracket; 14. Camera body; 15. Semicircular plate; 16. Rectangular plate; 17. Support rod; 18. Connecting plate; 19. Protective shell; 20. First bevel gear; 21. Second bevel gear; 22. Screw; 23. Circular plate; 24. Fastening bolt; 25. First articulated rod; 26. Articulated pin; 27. Top articulated rod; 28. Bottom articulated rod; 29. ​​Semicircular block group; 30. Semicircular block. DETAILED DESCRIPTION

[0030] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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.

[0033] Example

[0034] Reference Figure 1-Figure 7 It is a four-angle robot vision cloud platform for air planing and root cleaning. The vision cloud platform can place workers outside the working scene of air planing and root cleaning, avoid the noise, smoke and dust generated during the air planing and root cleaning process that threaten the safety and health of workers, and improve the safety of operations.

[0035] Specifically, the visual cloud platform includes a base 1 arranged in a triangular shape, pillars 2 are arranged at positions near the triangles on the lower surface of the base 1, a moving board 3 capable of vertical movement is arranged above the base 1, and a driving component 4 connected to the moving board 3 is arranged on the base 1;

[0036] In this embodiment, the motion board 3 is set to be a triangle, and the side corners of the motion board 3 are all set to be file planes 5, and the file planes 5 are parallel to the edge lines of the base 1, and the three file planes 5 of the motion board 3 are all connected to the hinge rod group 6, specifically, the bottom of the hinge rod group 6 is hinged to the base 1, and the top of the hinge rod group 6 is hinged to the workbench 7;

[0037] Furthermore, a first motor 8 is provided on the upper surface of the workbench 7, the output end of the first motor 8 is vertically arranged upward and is connected to a first bracket 9 through a reducer (not shown in the figure), the first bracket 9 is arranged in an L shape, and a second motor 10 is fixedly installed on the inner side of the top of the first bracket 9, the output shaft of the second motor 10 is arranged horizontally inward, and is connected to a horizontally arranged second bracket 11 through a reducer, and the second bracket 11 is arranged in an L shape; a third motor 12 is fixed to the inner side of the second bracket 11 parallel to the output shaft of the second motor 10, the third motor 12 is connected to a camera bracket 13 through a reducer, and a camera body 14 is provided on the outer side of the camera bracket 13, the camera body 14 is connected to the camera bracket 13 through bolts, and the camera body 14 is used to capture images for recording images and data in the process of air planing root cleaning, so as to monitor the quality of the root cleaning process;

[0038] Furthermore, the camera bracket 13 includes a semicircular plate 15 connected to the output end of the reducer and a rectangular plate 16 vertically connected to the semicircular plate 15, and two support rods 17 are respectively arranged at the top and bottom ends of the outer side of the rectangular plate 16. The four support rods 17 are matched with the shape of the camera body 14, and the support rods 17 can be customized according to the model of the camera body 14.

[0039] In this embodiment, the reducer is a harmonic reducer; the first motor 8, the second motor 10 and the third motor 12 are stepper motors or servo motors.

[0040] The visual cloud platform can automatically monitor the air gouging root cleaning process. Through the combination of the first motor 8, the second motor 10 and the third motor 12, and the combination of the drive assembly 4, the moving plate 3 and the articulated rod group 6, the root cleaning process can be observed from multiple angles and at various height levels to detect the weld quality during the air gouging process.

[0041] Further, the driving assembly 4 includes a driving motor. Specifically, a connecting plate 18 is provided on the side of the base 1, and a protective shell 19 is provided on the lower surface of the connecting plate 18. The driving motor is arranged in the protective shell 19, and the output end of the driving motor passes through the protective shell 19 and is connected to a vertically arranged first bevel gear 20. The first bevel gear 20 is arranged below the base 1, and a second bevel gear 21 meshing with the first bevel gear 20 is rotatably connected on the lower surface of the base 1. A threaded hole penetrating the second bevel gear 21 is provided at the center position of the upper surface of the second bevel gear 21, and a screw rod 22 is threadedly connected in the threaded hole. The top of the screw rod 22 passes through the base 1 and is connected to the moving plate 3. Specifically, a circular plate 23 is fixed on the top of the screw rod 22, and a fastening bolt 24 is provided on the lower surface of the circular plate 23. The fastening bolt 24 passes through the circular plate 23 and the moving plate 3 from bottom to top, thereby completing the fixation of the two.

[0042] Furthermore, the utility model also includes a control system coupled to the first motor 8, the second motor 10, the third motor 12 and the drive motor, and the control system is used to remotely control the opening and closing of the four motors;

[0043] In this embodiment, the hinge rod group 6 includes two first hinge rods 25 arranged in an X-shape, and the middle intersection position of the two first hinge rods 25 is hinged by a hinge pin 26. The inner side surface of the hinge pin 26 is connected to the inside of the filing plane 5 extending into the moving plate 3, and a top hinge rod 27 is hinged at the top of the two first hinge rods 25. Specifically, the two top hinge rods 27 are symmetrically arranged, one end of which is hinged to the two first hinge rods 25 respectively, and the other end is hinged to the workbench 7.

[0044] The bottoms of the two first hinged rods 25 are hinged with bottom hinged rods 28. Specifically, one end of the two bottom hinged rods 28 is hinged to the two first hinged rods 25 respectively, and the other end is hinged to the base 1.

[0045] Furthermore, a semicircular block group 29 for hinge is respectively arranged on the upper surface of the base 1 and the lower surface of the workbench 7. The semicircular block group 29 includes two parallel semicircular blocks 30. The space formed by the semicircular blocks 30 is used for inserting and hinged the hinge rod.

[0046] Furthermore, the material of each component in the utility model is stainless steel.

[0047] Working principle and beneficial effects:

[0048] The utility model can realize horizontal and vertical rotation with three degrees of freedom through the drive of the first motor 8, the second motor 10 and the third motor 12, so as to meet the shooting requirements in various occasions. It is coupled with the control system to adjust the angle and detect the root cleaning quality in real time.

[0049] In addition, the utility model also satisfies the height adjustment of the fourth degree of freedom, which allows the device to be moved or adjusted in the vertical direction to further adapt to different shooting requirements. The specific action process is: the output end of the driving motor drives the first bevel gear 20 to rotate, and the second bevel gear 21 meshing therewith rotates accordingly, and the screw rod 22 threadedly connected to the second bevel gear 21 moves vertically accordingly, thereby driving the moving plate 3 to move, and the moving plate 3 drives the hinge pin 26 to move, and the middle position of the two first hinge rods 25 hinged by the hinge pin 26 moves vertically accordingly:

[0050] When the hinge pin 26 moves vertically upward, the two first hinge rods 25 are stretched, and the top hinge rod 27 and the bottom hinge rod 28 hinged thereto gradually tend to be vertical, so that the top hinge rod 27 drives the workbench 7 to move upward, thereby raising the height of the camera body 14;

[0051] When the hinge pin 26 moves vertically downward, the two first hinge rods 25 are compressed, and the top hinge rod 27 and the bottom hinge rod 28 hinged thereto gradually become horizontal, so that the top hinge rod 27 drives the workbench 7 to move downward, thereby lowering the height of the camera body 14.

[0052] The design of this four-degree-of-freedom visual cloud platform can adapt to the shooting and monitoring needs of air planer root cleaning through its multi-degree-of-freedom adjustment capabilities.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A four-angle robot vision cloud platform for air planing and root cleaning, characterized in that: include: A base (1) is provided above the base (1) with a moving plate (3) capable of vertical movement, a driving assembly (4) connected to the moving plate (3) is provided on the base (1), and a hinged rod group (6) is also provided on the base (1), the bottom of the hinged rod group (6) is hinged to the base (1), the middle part is connected to the moving plate (3), and the top part is hinged to a workbench (7), a first motor (8) is vertically provided on the workbench (7), a first bracket (9) is provided at the output end of the first motor (8), a second motor (10) is horizontally provided on the first bracket (9), a second bracket (11) is horizontally provided at the output end of the second motor (10), a third motor (12) is horizontally provided on the second bracket (11), and a camera body (14) is provided at the output end of the third motor (12).

2. A four-angle robot vision cloud platform for air planing and root cleaning according to claim 1, characterized in that: The first bracket (9) and the second bracket (11) are both arranged in an L shape.

3. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 1 is characterized in that: The output ends of the first motor (8), the second motor (10) and the third motor (12) are all provided with harmonic reducers.

4. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 3 is characterized in that: The output end of the third motor (12) is connected to a camera bracket (13) via a harmonic reducer, and the camera body (14) is connected to the camera bracket (13) via bolts.

5. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 4 is characterized in that: The camera bracket (13) comprises a semicircular plate (15) connected to the harmonic reducer and a rectangular plate (16) vertically connected to the semicircular plate (15), and support rods (17) are respectively arranged at the top and bottom ends of the outer side surface of the rectangular plate (16), and the plurality of support rods (17) match the shape of the camera body (14).

6. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 1 is characterized in that: The base (1) and the moving board (3) are both arranged in the shape of a triangle, the corners of the moving board (3) are arranged as filing planes (5), the filing planes (5) are parallel to the edge lines of the base (1), and the three filing planes (5) of the moving board (3) are all arranged with hinged rod groups (6).

7. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 1 is characterized in that: The driving assembly (4) comprises a driving motor connected to the base (1); the output end of the driving motor is connected to a vertically arranged first bevel gear (20); the first bevel gear (20) is arranged below the base (1); a second bevel gear (21) meshing with the first bevel gear (20) is rotatably connected to the lower surface of the base (1); the second bevel gear (21) is threadedly connected to a vertically arranged screw rod (22); the top of the screw rod (22) passes through the base (1) and is connected to the moving plate (3).

8. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 7 is characterized in that: A circular plate (23) is fixed on the top of the screw rod (22), and a fastening bolt (24) is arranged on the lower surface of the circular plate (23). The fastening bolt (24) penetrates the circular plate (23) and the moving plate (3) from bottom to top.

9. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 8, characterized in that: The articulated rod group (6) comprises two first articulated rods (25) arranged crosswise in an X shape, the middle cross positions of the two first articulated rods (25) are articulated via an articulated pin (26), the inner side surface of the articulated pin (26) is connected to the inside of the filing plane (5) extending into the moving plate (3), and a top articulated rod (27) is articulated at the top of the two first articulated rods (25), one end of the two top articulated rods (27) is articulated to the first articulated rod (25), and the other end is articulated to the workbench (7); the bottom of the two first articulated rods (25) is articulated to a bottom articulated rod (28), one end of the two bottom articulated rods (28) is articulated to the first articulated rod (25), and the other end is articulated to the base (1).

10. The four-angle robot vision cloud platform for air planing and root cleaning according to claim 9, characterized in that: The two top hinged rods (27) and the two bottom hinged rods (28) are symmetrically arranged.

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