Visual positioning device of three-dimensional storage robot

Abstract

The utility model discloses a three-dimensional storage robot visual positioning device, and belongs to the field of robots, the three-dimensional storage robot visual positioning device comprises a mounting seat, two symmetrically distributed supporting plates are fixedly mounted on each of two sides of the mounting seat, through holes are formed in the surfaces of the supporting plates, a supporting box is fixedly mounted at the top end of the mounting seat, and a supporting block is slidably mounted in the supporting box; the top end of the supporting block penetrates through the supporting box, a mounting plate is arranged at the top end of the supporting block, a bottom plate is arranged at the top end of the mounting plate, a connecting rod is fixedly mounted at the top end of the bottom plate, and a visual positioning device body is fixedly mounted at the top end of the connecting rod; and two ultrasonic positioners which are symmetrically distributed are arranged on one side of the visual positioning device body. Through the arrangement of the rotating assembly, the effect of driving the visual positioning device body to rotate is achieved, the shooting and scanning range of the equipment is further improved, through the arrangement of the ultrasonic positioner, the effect of auxiliary positioning is achieved, and the equipment positioning accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and more specifically, to a visual positioning device for a three-dimensional storage robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as operations or movement through programming and automatic control. With the development of technology, warehouse robots are used to transport objects in the process of warehousing and logistics transportation, reducing the workload of staff. Warehouse robots scan and locate objects through visual positioning devices to facilitate subsequent identification operations.

[0003] The patent with application number 202121683635.8 discloses a visual positioning device for an industrial robot, which belongs to the technical field of industrial robots, and includes a visual positioning device body, a button is installed on one side of the visual positioning device body, a data interface is installed on one side of the visual positioning device body and at a position corresponding to the button, and a protective device is arranged on the outer side of the bottom of the visual positioning device body; the protective device includes a protective frame, a first knob, a movable plate, a screw rod, a fixed plate and a connecting column, two connecting columns are installed below the visual positioning device body, and a fixed plate is installed below the two connecting columns. The application sets up a protective device so that the device can provide certain protection to the data interface and buttons through the protective frame when necessary, thereby reducing the possibility of the data interface and buttons being affected by external collisions, ensuring the normal operation, and thus improving the practicality of the device.

[0004] With respect to the above-mentioned related technologies, the protective device is set to achieve the effect of protective equipment. The height of the visual positioning device body can be adjusted through the adjustment device, but the angle cannot be adjusted, which reduces the flexibility of the use of the visual positioning device body, resulting in a limited range of data collected by the visual positioning device body, thereby reducing the use effect of the equipment. Utility Model Content

[0005] In order to solve the above problems, the present application provides a three-dimensional storage robot visual positioning device, which adopts the following technical solutions:

[0006] A visual positioning device for a three-dimensional storage robot comprises a mounting seat, two symmetrically distributed support plates are fixedly mounted on both sides of the mounting seat, through holes are opened on the surfaces of the support plates, a support box is fixedly mounted on the top of the mounting seat, a support block is slidably mounted in the support box, the top of the support block passes through the support box, a mounting plate is arranged on the top of the support block, a bottom plate is arranged on the top of the mounting plate, a connecting rod is fixedly mounted on the top of the bottom plate, a visual positioning device body is fixedly mounted on the top of the connecting rod, two symmetrically distributed ultrasonic locators are arranged on one side of the visual positioning device body, and two symmetrically distributed fill lights are fixedly mounted on the side of the visual positioning device body close to the ultrasonic locators;

[0007] An insert block is fixedly installed at the bottom end of the base plate, a slot matching the insert block is opened at the top of the mounting plate, movable slots are opened on the inner walls on both sides of the slot, and a positioning assembly is arranged in the movable slot, a rotating assembly is arranged between the mounting plate and the support block, and a driving assembly is arranged on the side wall of the support block.

[0008] By adopting the above technical scheme, when the equipment is used, the staff places the plug installed under the visual positioning device body into the slot opened at the top of the mounting plate. The positioning component is set in the slot to play the role of positioning and fixing the plug, and then plays the role of positioning and fixing the visual positioning device body. When maintenance is required, it is convenient for the staff to subsequently disassemble the visual positioning device body without disassembling the equipment as a whole. After the visual positioning device body is installed, the equipment is installed on the robot through the support plate and the existing fixing parts. When the robot is running, the object can be detected by the visual positioning device body, and the side wall of the visual positioning device body is set by the ultrasonic locator and the fill light. The ultrasonic locator can play the role of auxiliary positioning detection, and the fill light can play the role of fill light for the robot, so that the equipment can still accurately locate and detect in a dim environment in the subsequent operation. The equipment can drive the visual positioning device body to rotate through the rotating component, which is conducive to increasing the detection range by ten times, and the driving component drives the support block to move synchronously with the visual positioning device body to achieve the effect of adjusting the position of the visual positioning device body, which is conducive to improving the detection and shooting angle of the equipment.

[0009] Furthermore, the positioning assembly includes a positioning rod slidably installed in the movable groove, and springs are fixedly installed between the opposite sides of the two positioning rods and the inner wall of the opposite side of the movable groove in the same group, and the side wall of the insert block is provided with a positioning groove matching the positioning rod on the same side.

[0010] By adopting the above technical solution, when the staff moves the plug installed under the visual positioning device body toward the inner wall of the slot, the plug pushes the positioning rod to slide into the same group of movable slots, and the positioning rod pushes the same group of springs to contract. When the plug is completely engaged with the slot, the positioning rod moves into the slot under the elastic force of the same group of springs, and the end of the positioning rod engages with the positioning slot opened on the side wall of the plug, which can play the role of positioning and fixing the plug, and then play the role of fixing the visual positioning device body.

[0011] Furthermore, two symmetrically distributed limit blocks are fixedly mounted on the side walls at opposite ends of the two positioning rods, and the inner wall of the movable groove is provided with a limit groove matching the limit blocks in the same group.

[0012] By adopting the above technical solution, when the positioning rod slides in the movable groove, the positioning rod slides in the same group of limiting grooves with the limiting block. The cooperation between the limiting block and the limiting groove helps to prevent the positioning rod from detaching from the same group of movable grooves and helps to maintain the sliding stability of the positioning rod.

[0013] Furthermore, two symmetrically distributed bolts are provided at the top of the base plate, the two bolts penetrate the base plate, and screw grooves matching the bolts are opened at the top of the mounting plate.

[0014] By adopting the above technical solution, when the positioning of the visual positioning device body is completed, the base plate and the mounting plate can be further fixed by passing the bolts through the base plate and screwing the bolts into the screw grooves opened at the top of the mounting plate, which is beneficial to improve the installation stability of the visual positioning device body.

[0015] Furthermore, the rotating assembly includes a support column fixedly mounted on the bottom end of the mounting plate, a mounting groove is opened in the support block, and a second reduction motor is fixedly mounted on the inner wall of the bottom end of the mounting groove, the output shaft of the second reduction motor is fixedly sleeved with a driving gear, the bottom end of the support column passes through the mounting groove and is rotatably connected to the inner wall of the bottom end of the mounting groove, the lower section side wall of the support column is fixedly sleeved with a driven gear, and the driven gear is meshed with the driving gear.

[0016] By adopting the above technical solution, the second reduction motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, the driven gear drives the support column to rotate, the support column drives the mounting plate to rotate, and the mounting plate rotates synchronously with the visual positioning device body, which can play a role in adjusting the angle of the visual positioning device body, which is beneficial to improve the shooting positioning range of the equipment.

[0017] Furthermore, a stabilizing ring is fixedly mounted on the bottom end of the mounting plate, and an annular groove matching the stabilizing ring is formed on the top end of the supporting block.

[0018] By adopting the above technical solution, when the mounting plate rotates, the mounting plate slides in the annular groove of the device opened at the top of the support block with the stabilizing ring. The cooperation between the stabilizing ring and the annular groove is helpful to maintain the stability of the rotation of the mounting plate, and further helps to maintain the stability of the rotation of the visual positioning device body.

[0019] Furthermore, the driving assembly includes a screw rod rotatably installed in a support box, the support block is sleeved on the side wall of the screw rod, a mounting box is fixedly installed on one side of the support box, a first reduction motor is fixedly installed in the mounting box, one end of the screw rod close to the first reduction motor passes through the mounting box, and one end of the screw rod passing through the mounting box is fixedly connected to the output shaft of the first reduction motor, sliders are fixedly installed on both sides of the support block, and a sliding groove matching the slider on the same side is opened on the inner wall of the support box.

[0020] By adopting the above technical solution, the screw is driven to rotate by the first reduction motor, and the support block is sleeved on the side wall of the screw. Therefore, when the screw rotates, the support block can be driven to move in the support box, and the support block moves synchronously with the visual positioning device body, which can play a role in adjusting the position of the visual positioning device body, which is beneficial to improve the shooting positioning range of the equipment.

[0021] In summary, this application includes the following beneficial technical effects:

[0022] (1) In the present application, the setting of the rotating component plays a role in driving the body of the visual positioning device to rotate, which is beneficial to improving the shooting scanning range of the equipment, and the setting of the ultrasonic locator plays a role in auxiliary positioning, which is beneficial to improving the accuracy of equipment positioning.

[0023] (2) In the present application, by setting up the driving assembly, the first reduction motor drives the screw to rotate, and then the support block moves the visual positioning device body, thereby achieving the effect of adjusting the position of the visual positioning device, facilitating multi-range positioning of the equipment, and improving the use effect of the equipment.

[0024] (3) In the present application, the positioning assembly and the bolts cooperate to position and fix the visual positioning device body, and facilitate the subsequent disassembly of the visual positioning device body by the staff without disassembling the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a visual positioning device for a three-dimensional storage robot;

[0026] Figure 2 A cross-sectional view of the present application;

[0027] Figure 3 For this application Figure 2 A is an enlarged view of the middle image.

[0028] Description of the numbers in the figure:

[0029] 1. Mounting seat; 2. Support plate; 3. Support box; 4. Visual positioning device body; 5. Fill light; 6. Ultrasonic locator; 7. Connecting rod; 8. Bottom plate; 9. Mounting plate; 10. Support block; 11. Mounting box; 12. Screw; 13. First reduction motor; 14. Insert block; 15. Slot; 16. Positioning rod; 17. Spring; 18. Movable slot; 19. Mounting slot; 20. Support column; 21. Driven gear; 22. Driving gear; 23. Second reduction motor. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0031] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" 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 application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "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 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 this application can be understood according to specific circumstances.

[0033] The following is combined with Figure 1-3 This application is described in further detail.

[0034] See also Figure 1-3A visual positioning device for a three-dimensional storage robot includes a mounting seat 1, two symmetrically distributed support plates 2 are fixedly installed on both sides of the mounting seat 1, through holes are opened on the surfaces of the support plates 2, a support box 3 is fixedly installed on the top of the mounting seat 1, and a support block 10 is slidably installed in the support box 3, the top of the support block 10 passes through the support box 3, and a mounting plate 9 is provided on the top of the support block 10, a bottom plate 8 is provided on the top of the mounting plate 9, and a connecting rod 7 is fixedly installed on the top of the bottom plate 8, a visual positioning device body 4 is fixedly installed on the top of the connecting rod 7, and two symmetrically distributed ultrasonic locators are provided on one side of the visual positioning device body 4 6. Two symmetrically distributed fill lights 5 are fixedly installed on one side of the visual positioning device body 4 close to the ultrasonic locator 6. An insert block 14 is fixedly installed at the bottom end of the bottom plate 8. A slot 15 matching the insert block 14 is provided at the top of the mounting plate 9. Active grooves 18 are provided on the inner walls on both sides of the slot 15, and a positioning assembly is provided in the active groove 18. The positioning assembly includes a positioning rod 16 slidably installed in the active groove 18. A spring 17 is fixedly installed between the inner walls on the opposite side of the two positioning rods 16 and the opposite side of the active groove 18 of the same group. A positioning groove matching the positioning rod 16 on the same side is provided on the side wall of the insert block 14.

[0035] When the device is used, the staff places the plug block 14 installed below the visual positioning device body 4 into the slot 15 opened at the top of the mounting plate 9, and the plug block 14 pushes the positioning rod 16 to slide into the same group of movable slots 18, and the positioning rod 16 pushes the same group of springs 17 to contract. When the plug block 14 is completely engaged with the slot 15, the positioning rod 16 moves into the slot 15 under the elastic force of the same group of springs 17, and the end of the positioning rod 16 is engaged with the positioning slot opened on the side wall of the plug block 14, which can play the role of positioning and fixing the plug block 14, and then play the role of fixing the visual positioning device body 4.

[0036] Two symmetrically distributed limit blocks are fixedly installed on the side walls at the opposite ends of the two positioning rods 16. The inner wall of the movable groove 18 is provided with a limit groove matching the limit blocks of the same group. When the positioning rod 16 slides in the movable groove 18, the positioning rod 16 slides in the limit groove of the same group with the limit blocks. The cooperation between the limit blocks and the limit grooves helps to prevent the positioning rod 16 from detaching from the movable groove 18 of the same group and helps to maintain the sliding stability of the positioning rod 16.

[0037] Two symmetrically distributed bolts are provided at the top of the base plate 8, and the two bolts penetrate the base plate 8. A screw groove matching the bolts is opened at the top of the mounting plate 9. After the positioning of the visual positioning device body 4 is completed, the bolts are passed through the base plate 8, and the bolts are screwed into the screw groove opened at the top of the mounting plate 9, which can further fix the base plate 8 and the mounting plate 9, which is beneficial to improve the installation stability of the visual positioning device body 4.

[0038] When the visual positioning device body 4 is installed, the device is installed on the robot through the support plate 2 and the existing fixings. When the robot is running, the object can be detected through the visual positioning device body 4, and the side wall of the visual positioning device body 4 is provided with an ultrasonic locator 6 and a fill light 5. The ultrasonic locator 6 can play a role in auxiliary positioning detection, and the fill light 5 can play a role in filling light for the robot, so that the equipment can still accurately locate and detect in a dim environment in the subsequent operation.

[0039] A rotating assembly is provided between the mounting plate 9 and the support block 10, and the rotating assembly includes a support column 20 fixedly mounted on the bottom end of the mounting plate 9, a mounting groove 19 is opened in the support block 10, and a second reduction motor 23 is fixedly mounted on the inner wall of the bottom end of the mounting groove 19, and a driving gear 22 is fixedly provided on the output shaft of the second reduction motor 23, the bottom end of the support column 20 passes through the mounting groove 19 and is rotatably connected to the inner wall of the bottom end of the mounting groove 19, and a driven gear 21 is fixedly provided on the side wall of the lower section of the support column 20, and the driven gear 21 is meshed with the driving gear 22.

[0040] When the robot is running, the second reduction motor 23 can be used to drive the driving gear 22 to rotate, the driving gear 22 drives the driven gear 21 to rotate, the driven gear 21 drives the support column 20 to rotate, the support column 20 drives the mounting plate 9 to rotate, and the mounting plate 9 rotates synchronously with the visual positioning device body 4, which can play a role in adjusting the angle of the visual positioning device body 4, which is beneficial to improving the shooting and positioning range of the equipment. A stabilizing ring is fixedly installed on the bottom end of the mounting plate 9, and an annular groove matching the stabilizing ring is opened on the top of the support block 10. When the mounting plate 9 rotates, the mounting plate 9 slides in the annular groove of the device opened on the top of the support block 10 with the stabilizing ring. The cooperation of the stabilizing ring and the annular groove is beneficial to maintaining the stability of the rotation of the mounting plate 9, and then to maintaining the stability of the rotation of the visual positioning device body 4.

[0041] A driving assembly is provided on the side wall of the support block 10, and the driving assembly includes a screw 12 rotatably installed in the support box 3. The support block 10 is sleeved on the side wall of the screw 12. A mounting box 11 is fixedly installed on one side of the support box 3. A first reduction motor 13 is fixedly installed in the mounting box 11. The end of the screw 12 close to the first reduction motor 13 passes through the mounting box 11, and the end of the screw 12 passing through the mounting box 11 is fixedly connected to the output shaft of the first reduction motor 13. Slide blocks are fixedly installed on both sides of the support block 10. A slide groove matching the slide block on the same side is opened on the inner wall of the support box 3. The first reduction motor 13 drives the screw 12 to rotate, and the support block 10 is sleeved on the side wall of the screw 12. Therefore, when the screw 12 rotates, the support block 10 can be driven to move in the support box 3. The support block 10 moves synchronously with the visual positioning device body 4, which can adjust the position of the visual positioning device body 4, which is beneficial to improving the shooting positioning range of the equipment. When the support block 10 is located in the support box 3 and moves, the support block 10 slides in the same side slide groove with the slider. The cooperation of the slider and the slide groove is beneficial to maintain the stability of the movement of the support block 10.

[0042] The implementation principle of the embodiment of the present application is as follows: when the device is in use, the staff places the plug block 14 installed below the visual positioning device body 4 into the slot 15 opened at the top of the mounting plate 9. The slot 15 plays a role in positioning and fixing the plug block 14 through the setting of the positioning component, and then plays a role in positioning and fixing the visual positioning device body 4. When maintenance is required, it is convenient for the staff to subsequently disassemble the visual positioning device body 4 without disassembling the device as a whole. After the visual positioning device body 4 is installed, the device is installed on the robot through the support plate 2 and the existing fixing parts. When the robot is running, the object can be detected by the visual positioning device body 4, and the side wall of the visual positioning device body 4 is provided with an ultrasonic locator 6 and a fill light 5. The ultrasonic locator 6 can play a role in auxiliary positioning detection, and the fill light 5 can play a role in filling light for the robot, so that the device can still accurately locate and detect in a dim environment in the subsequent operation. The device can drive the visual positioning device body 4 to rotate through the rotating component, which is conducive to increasing the detection range by ten times, and the driving component drives the support block 10 to move synchronously with the visual positioning device body 4, so as to achieve the effect of adjusting the position of the visual positioning device body 4, which is conducive to improving the detection and shooting angle of the device.

[0043] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A three-dimensional storage robot visual positioning device, comprising a mounting seat (1), characterized in that: Two symmetrically distributed support plates (2) are fixedly mounted on both sides of the mounting seat (1), and through holes are provided on the surfaces of the support plates (2). A support box (3) is fixedly mounted on the top of the mounting seat (1), and a support block (10) is slidably mounted in the support box (3). The top of the support block (10) passes through the support box (3), and a mounting plate (9) is provided on the top of the support block (10). A bottom plate (8) is provided on the top of the mounting plate (9), and a connecting rod (7) is fixedly mounted on the top of the bottom plate (8). A visual positioning device body (4) is fixedly mounted on the top of the connecting rod (7), and two symmetrically distributed ultrasonic locators (6) are provided on one side of the visual positioning device body (4), and two symmetrically distributed fill lights (5) are fixedly mounted on the side of the visual positioning device body (4) close to the ultrasonic locators (6); An insert block (14) is fixedly mounted at the bottom end of the base plate (8); a slot (15) matching the insert block (14) is provided at the top end of the mounting plate (9); movable grooves (18) are provided on the inner walls on both sides of the slot (15); and a positioning assembly is provided in the movable groove (18); a rotating assembly is provided between the mounting plate (9) and the support block (10); and a driving assembly is provided on the side wall of the support block (10).

2. A three-dimensional storage robot visual positioning device according to claim 1, characterized in that: The positioning assembly comprises a positioning rod (16) slidably mounted in a movable groove (18), a spring (17) is fixedly mounted between the opposite sides of the two positioning rods (16) and the inner wall of the same group of movable grooves (18), and a positioning groove matching the positioning rod (16) on the same side is formed on the side wall of the insert block (14).

3. A three-dimensional storage robot visual positioning device according to claim 2, characterized in that: Two symmetrically distributed limiting blocks are fixedly mounted on the side walls at opposite ends of the two positioning rods (16), and the inner wall of the movable groove (18) is provided with limiting grooves matching the limiting blocks in the same group.

4. The visual positioning device for a three-dimensional storage robot according to claim 1, characterized in that: The top of the base plate (8) is provided with two symmetrically distributed bolts, the two bolts penetrate the base plate (8), and the top of the mounting plate (9) is provided with screw grooves matching the bolts.

5. The visual positioning device for a three-dimensional storage robot according to claim 1, characterized in that: The rotating assembly comprises a support column (20) fixedly mounted on the bottom end of the mounting plate (9); a mounting groove (19) is provided in the support block (10); a second reduction motor (23) is fixedly mounted on the inner wall of the bottom end of the mounting groove (19); a driving gear (22) is fixedly sleeved on the output shaft of the second reduction motor (23); the bottom end of the support column (20) passes through the mounting groove (19) and is rotatably connected to the inner wall of the bottom end of the mounting groove (19); a driven gear (21) is fixedly sleeved on the side wall of the lower section of the support column (20); and the driven gear (21) is meshed with the driving gear (22).

6. The visual positioning device for a three-dimensional storage robot according to claim 1, characterized in that: A stabilizing ring is fixedly mounted on the bottom end of the mounting plate (9), and an annular groove matching the stabilizing ring is formed on the top end of the support block (10).

7. The visual positioning device for a three-dimensional storage robot according to claim 1, characterized in that: The driving assembly comprises a screw rod (12) rotatably mounted in a support box (3); the support block (10) is sleeved on a side wall of the screw rod (12); a mounting box (11) is fixedly mounted on one side of the support box (3); a first reduction motor (13) is fixedly mounted in the mounting box (11); an end of the screw rod (12) close to the first reduction motor (13) passes through the mounting box (11); and an end of the screw rod (12) passing through the mounting box (11) is fixedly connected to an output shaft of the first reduction motor (13); sliders are fixedly mounted on both sides of the support block (10); and a slide groove matching the slider on the same side is provided on the inner wall of the support box (3).

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