Industrial robot vision calibration device

Abstract

The utility model discloses an industrial robot vision calibration device which comprises a base, the left portion and the right portion of the lower end of the base are each fixedly provided with a set of supporting bases, the two sets of supporting bases are distributed in a bilateral symmetry mode, each set comprises two supporting bases, the left portion of the upper end of the base is fixedly provided with a sliding strip, and the upper end of the sliding strip is provided with a mounting frame. And a motor is fixedly mounted at the upper end of the mounting frame. According to the visual calibration device for the industrial robot, the fixed seat and the sliding strip are arranged, when the device needs to move, the sliding block is firstly connected to the sliding strip in a sliding mode, the mounting frame is fixed to the sliding block, the push rod and the connecting frame are driven through the hydraulic cylinder, and the device is convenient to move under pushing of the connecting frame; and by arranging the motor and the connecting column, when the direction of the equipment needs to be adjusted, the motor drives the rotating column and the main wheel to rotate, and the main wheel drives the auxiliary wheel and the connecting column, so that the direction of the equipment is convenient to adjust.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot vision calibration equipment, in particular to an industrial robot vision calibration device. Background Art

[0002] The industrial robot visual calibration device is a measuring instrument used in the field of mechanical engineering. The calibration method includes the following steps: first, placing the robot to be calibrated under the camera so that the origin of the robot body coordinate system is irradiated by the laser; second, processing the image captured by the camera through the image module to obtain the position of the laser optical center emitted by the laser emitter; third, using the position of the laser optical center as the coordinate origin of the calibration calculation to obtain the position transformation matrix T between the laser optical center origin and the origin of the robot body coordinate system; fourth, operating the robot's mechanical arm, and at the same time, using the camera to shoot the movement process of the mechanical arm, and then processing the image captured by the camera to obtain the position of the farthest end point of the pallet; fifth, calculating the deviation between the actual and design values ​​at each moment; sixth, transforming these deviations into the robot body coordinate system through the transformation matrix T, and recording the transformed deviation data in the robot motion control module.

[0003] The prior art (patent number: CN217620703U) discloses an industrial robot visual calibration device, including a table body and a work platform, wherein the work platform is arranged at the upper end of the table body, the upper end of the work platform is provided with a base at the left position, the upper end of the base is provided with a protective shell, the upper end of the protective shell is provided with a rotating shaft, the upper end of the rotating shaft is provided with an angle adjustment device, a mechanical arm is sleeved at the internal position of the angle adjustment device, a machine head is arranged at the right end of the mechanical arm, a camera is arranged at the middle position of the lower end of the machine head, and connecting devices are arranged at the four corners of the lower end of the machine head. Device, the connecting device is provided with a connecting column, a spring clip and a stainless steel bolt, the stainless steel bolt is provided at the upper end of the connecting column, the spring clip is provided at the lower end of the connecting column, a calibration device is provided at the lower end of the connecting device, the calibration device is provided with a fixing column, a fixing frame, a supporting column, a semicircular groove and a calibration center, the upper end of the fixing frame is provided with fixing columns at the four corners, the upper end of the fixing column is provided with a semicircular groove, the lower end of the fixing frame is provided with support columns at the four corners, the calibration center is provided at the inner side of the fixed frame, and the upper end of the working platform is provided with a display at the right side. The beneficial effect of the utility model is that the parts not involved in the device are the same as the prior art or can be implemented by using the prior art. The utility model is equipped with a calibration device and a connecting device. The calibration device is provided with a fixed column, a fixed frame, a support column, a semicircular groove and a calibration center. The connecting device is provided with a connecting column, a spring buckle and a stainless steel bolt. The connecting column is connected to the machine body through the stainless steel bolt. When the staff needs to calibrate, the machine head is moved so that the spring buckle is inserted into the inner position of the semicircular groove at the upper end of the fixed column, and the four connecting columns and the four fixed columns are respectively connected together to successfully install. A calibration center is provided at the inner side of the fixed frame. When the calibration device and the connecting device are sleeved together, the camera is aligned with the calibration center. The staff can observe the position of the calibration center in the camera through the picture transmitted by the camera to confirm whether the camera needs to be calibrated. This makes the operation much more convenient and quick.

[0004] The existing industrial robot vision calibration device has the following disadvantages. Since the existing equipment is not easy to move, the equipment has certain limitations. Therefore, we propose a new industrial robot vision calibration device. Utility Model Content

[0005] The main purpose of the utility model is to provide a visual calibration device for an industrial robot, which can effectively solve the problem of easy movement of the device.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A visual calibration device for an industrial robot comprises a base, wherein a group of support seats are fixedly mounted on the left and right parts of the lower end of the base, the two groups of support seats are symmetrically distributed on the left and right sides and each group is provided with two, a slide bar is fixedly mounted on the left part of the upper end of the base, a mounting frame is arranged on the upper end of the slide bar, a motor is fixedly mounted on the upper end of the mounting frame, a connecting column is movably mounted on the front part of the upper end of the mounting frame, and a fixing seat is fixedly mounted on the rear part of the upper end of the base.

[0008] Preferably, a hydraulic cylinder is fixedly connected inside the fixing seat, a push rod is movably connected to the left end of the hydraulic cylinder, a connecting frame is fixedly connected to the left end of the push rod, a sliding block is slidably connected to the outer surface of the slide bar, and baffles are fixedly connected to the left and right ends of the slide bar.

[0009] Preferably, the slide bar is configured as a trapezoidal block structure, and the connecting frame and the slide block are fixedly connected together.

[0010] Preferably, the output end of the motor is fixedly connected to a rotating column, the upper end of the rotating column is fixedly connected to a main wheel, and the upper end of the connecting column is fixedly connected to an auxiliary wheel.

[0011] Preferably, the lower end of the connecting column is movably connected to a movable column, a plurality of limiting holes are opened on the left side of the outer cylindrical surface of the movable column, the lower end of the movable column is fixedly connected to a connecting plate, and a limiting pin is movably inserted and connected to the left side of the outer cylindrical surface of the connecting column.

[0012] Preferably, the main wheel and the auxiliary wheel are meshed and connected together, the limiting pin passes through the connecting column and is movably inserted and connected in the limiting hole, and the plurality of limiting holes are distributed at equal distances.

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

[0014] 1. In the utility model, by setting a fixed seat and a slide bar, the device is easy to move. When the device needs to be moved, the slide bar is first slidably connected to the slide bar, and the mounting frame is fixed to the slide bar. The push rod and the connecting frame are driven by the hydraulic cylinder, and the device is easy to move under the push of the connecting frame;

[0015] 2. In the utility model, by setting a motor and a connecting column, the use direction of the device is easy to adjust. When in use, when the direction of the device needs to be adjusted, the motor drives the rotating column and the main wheel to rotate, and the main wheel drives the auxiliary wheel and the connecting column, so that the direction of the device is easy to adjust. When the upper and lower positions of the device need to be adjusted, the limit pin is taken out of the limit hole, and it can be achieved by stretching the length of the movable column and the connecting column. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of an industrial robot vision calibration device of the utility model;

[0017] Figure 2 This is a schematic diagram of the overall structure of a fixing seat of an industrial robot visual calibration device of the utility model;

[0018] Figure 3 This is a schematic diagram of the overall structure of a motor of an industrial robot vision calibration device of the utility model;

[0019] Figure 4 The utility model is a schematic diagram of the overall structure of a connecting column of an industrial robot visual calibration device.

[0020] In the figure: 1. base; 2. support seat; 3. fixed seat; 4. slide bar; 5. mounting frame; 6. motor; 7. connecting column; 31. hydraulic cylinder; 32. push rod; 33. connecting frame; 41. baffle; 42. slider; 61. rotating column; 62. main wheel; 63. auxiliary wheel; 71. movable column; 72. limiting hole; 73. connecting plate; 74. limiting pin. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0022] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 an indirect connection 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.

[0024] like Figure 1-4As shown, an industrial robot visual calibration device includes a base 1, a group of support seats 2 are fixedly installed on the left and right lower ends of the base 1, the two groups of support seats 2 are symmetrically distributed and each group is provided with two, a slide bar 4 is fixedly installed on the left upper end of the base 1, a mounting frame 5 is provided on the upper end of the slide bar 4, a motor 6 is fixedly installed on the upper end of the mounting frame 5, a connecting column 7 is movably installed on the front upper end of the mounting frame 5, and a fixing seat 3 is fixedly installed on the rear upper end of the base 1.

[0025] A hydraulic cylinder 31 is fixedly connected inside the fixed seat 3, a push rod 32 is movably connected to the left end of the hydraulic cylinder 31, a connecting frame 33 is fixedly connected to the left end of the push rod 32, a slider 42 is slidably connected to the outer surface of the slide bar 4, and a baffle 41 is fixedly connected to the left and right ends of the slide bar 4; the slide bar 4 is set as a trapezoidal block structure, and the connecting frame 33 and the slider 42 are fixedly connected together; by setting the fixed seat 3 and the slide bar 4, the device is easy to move. During use, when the device needs to be moved, the slider 42 is first slidably connected to the slide bar 4, and fixed to the slider 42 by the mounting frame 5, the push rod 32 and the connecting frame 33 are driven by the hydraulic cylinder 31, and the device is easy to move under the push of the connecting frame 33.

[0026] The output end of the motor 6 is fixedly connected to a rotating column 61, the upper end of the rotating column 61 is fixedly connected to a main wheel 62, and the upper end of the connecting column 7 is fixedly connected to an auxiliary wheel 63; the lower end of the connecting column 7 is movably connected to a movable column 71, and a plurality of limiting holes 72 are provided on the left side of the outer cylindrical surface of the movable column 71, and a connecting plate 73 is fixedly connected to the lower end of the movable column 71, and a limiting pin 74 is movably inserted and connected to the left side of the outer cylindrical surface of the connecting column 7; the main wheel 62 and the auxiliary wheel 63 are meshed and connected together, and the limiting pin 74 passes through the connecting column 7 and is movably inserted and connected to the limiting hole In 72, multiple limit holes 72 are distributed at equal distances; by setting the motor 6 and the connecting column 7, the use direction of the device is easy to adjust. During use, when the direction of the device needs to be adjusted, the motor 6 drives the rotating column 61 and the main wheel 62 to rotate, and the main wheel 62 drives the auxiliary wheel 63 and the connecting column 7, so that the direction of the device is easy to adjust. When the upper and lower positions of the device need to be adjusted, the limit pin 74 is taken out from the limit hole 72, and it can be achieved by stretching the length of the movable column 71 and the connecting column 7.

[0027] It should be noted that the utility model is a visual calibration device for an industrial robot. By setting a fixed seat 3 and a slide bar 4, the device is easy to move. During use, when the device needs to be moved, the slider 42 is first slidably connected to the slide bar 4, and the mounting frame 5 is fixed to the slider 42. The push rod 32 and the connecting frame 33 are driven by the hydraulic cylinder 31, and the device is easy to move under the push of the connecting frame 33; by setting a motor 6 and a connecting column 7, the use direction of the device is easy to adjust. During use, when the direction of the device needs to be adjusted, the rotating column 61 and the main wheel 62 are driven to rotate by the motor 6, and the auxiliary wheel 63 and the connecting column 7 are driven by the main wheel 62, so that the direction of the device is easy to adjust. When the upper and lower positions of the device need to be adjusted, the limit pin 74 is taken out of the limit hole 72, and it can be achieved by stretching the length of the movable column 71 and the connecting column 7.

[0028] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. 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, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An industrial robot visual calibration device, comprising a base (1), characterized in that: A group of support seats (2) are fixedly installed on the left and right parts of the lower end of the base (1), the two groups of support seats (2) are symmetrically distributed on the left and right sides, and each group is provided with two. A slide bar (4) is fixedly installed on the left part of the upper end of the base (1), a mounting frame (5) is provided on the upper end of the slide bar (4), a motor (6) is fixedly installed on the upper end of the mounting frame (5), a connecting column (7) is movably installed on the front part of the upper end of the mounting frame (5), and a fixing seat (3) is fixedly installed on the rear part of the upper end of the base (1).

2. The industrial robot visual calibration device according to claim 1, characterized in that: A hydraulic cylinder (31) is fixedly connected inside the fixed seat (3), a push rod (32) is movably connected to the left end of the hydraulic cylinder (31), a connecting frame (33) is fixedly connected to the left end of the push rod (32), a sliding block (42) is slidably connected to the outer surface of the sliding bar (4), and a baffle (41) is fixedly connected to the left and right ends of the sliding bar (4).

3. The industrial robot visual calibration device according to claim 2, characterized in that: The slide bar (4) is configured as a trapezoidal block structure, and the connecting frame (33) and the slide block (42) are fixedly connected together.

4. The industrial robot visual calibration device according to claim 3, characterized in that: The output end of the motor (6) is fixedly connected to a rotating column (61), the upper end of the rotating column (61) is fixedly connected to a main wheel (62), and the upper end of the connecting column (7) is fixedly connected to an auxiliary wheel (63).

5. The industrial robot visual calibration device according to claim 4, characterized in that: The lower end of the connecting column (7) is movably connected to a movable column (71), a plurality of limiting holes (72) are provided on the left side of the outer cylindrical surface of the movable column (71), a connecting plate (73) is fixedly connected to the lower end of the movable column (71), and a limiting pin (74) is movably inserted and connected to the left side of the outer cylindrical surface of the connecting column (7).

6. The industrial robot visual calibration device according to claim 5, characterized in that: The main wheel (62) and the auxiliary wheel (63) are meshed and connected together, the limiting pin (74) passes through the connecting column (7) and is movably inserted and connected in the limiting hole (72), and the plurality of limiting holes (72) are distributed at equal distances.

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