Manipulator dispensing path guiding and deviation rectifying equipment based on 3D vision

Abstract

The utility model discloses manipulator dispensing path guiding and deviation rectifying equipment based on 3D vision, and particularly relates to the field of automatic machining, the manipulator dispensing path guiding and deviation rectifying equipment comprises a working table, X-axis electromagnetic sliding rails are embedded in the two sides of the top of the working table, electromagnetic sliding blocks are installed in the X-axis electromagnetic sliding rails, supporting columns are installed on the tops of the electromagnetic sliding blocks, and the supporting columns are connected with the X-axis electromagnetic sliding rails. And a Y-axis linear guide rail is mounted at the top between the supporting columns. According to the utility model, the mounting rack, the shell, the 3D visual camera and the third servo motor are arranged, the third servo motor works to drive the shell to rotate in the mounting rack, and the 3D visual camera can move along with the shell to carry out 3D scanning imaging on a position needing glue injection, so that local adjustment (correction) of a glue dispensing path is realized, and the glue dispensing efficiency is improved. Therefore, accurate positioning and deviation correction are achieved, namely the device can achieve accurate positioning and glue dispensing operation on the side face of the product, and the practicability is higher.

Description

Technical Field

[0001] The utility model relates to the field of automated processing, and more specifically, to a 3D vision-based robot dispensing path guiding and correcting device. Background Art

[0002] At present, in the manufacturing industry, more and more manual gluing and spraying operations are replaced by robots. For some gluing processes with irregular trajectories and changes in product position and posture, 3D vision systems are generally used to assist in positioning and correction.

[0003] After searching, the existing patent (publication number: CN 214021687 U) discloses a dispensing machine based on a 3D contour scanner, including a three-axis manipulator, a dispensing valve, a controller, and a 3D contour scanner for scanning the 3D contour of the product. The 3D contour scanner is electrically connected to the controller, and the 3D contour scanner sends the 3D contour information of the scanned product to the controller. The controller corrects the dispensing path according to the 3D contour information of the product; the controller controls the three-axis manipulator to drive the dispensing valve to move along the corrected dispensing path. The dispensing machine of this utility model uses a 3D contour scanner to perform a three-dimensional scan of the product. This 3D contour scanner can accurately scan the 3D contour of the product, and then realize local adjustment (correction) of the dispensing path by cooperating with the software in the controller. This makes the dispensing path of the dispensing machine more accurate and can greatly reduce defective dispensing products.

[0004] However, for some products, the part that needs to be glued may be on a side wall of the product. The above cited patent document uses a 3D profile scanner for profile scanning, which can only scan the outer contour of the product. If glue needs to be dispensed on the side groove of the product, the 3D profile scanner cannot achieve accurate positioning;

[0005] Therefore, in order to solve the above problems, a 3D vision-based robot dispensing path guidance and correction device is proposed. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, an embodiment of the utility model provides a robot dispensing path guiding and correcting device based on 3D vision to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the utility model provides the following technical solutions: A manipulator dispensing path guiding and rectifying device based on 3D vision, including a workbench. On both sides of the top of the workbench, X-axis electromagnetic slide rails are embedded, and electromagnetic sliders are installed in the X-axis electromagnetic slide rails. Pillars are installed on the tops of the electromagnetic sliders, and a Y-axis linear guide rail is installed on the top between the pillars. A movable sleeve is sleeved on the Y-axis linear guide rail, and a 3D contour scanner is installed at the bottom of the movable sleeve. One end of the movable sleeve is installed with a Z-axis linear guide rail, and a second lead screw sleeve is arranged in the Z-axis linear guide rail;

[0008] The end of the second lead screw sleeve away from the movable sleeve is installed with a vertical plate, and an installation frame is fixed at the end of the vertical plate away from the movable sleeve. A housing is arranged in the installation frame. A 3D vision camera is installed at the end of the housing away from the movable sleeve, and a glue injection pipe passes through the housing. A control valve is arranged at the top of the glue injection pipe, and a dispensing head is installed at the bottom of the glue injection pipe.

[0009] Preferably, storage drawers are arranged at both ends inside the workbench, and a protective cover is installed at one end of the top of the workbench. Lifting doors are arranged at both ends of the protective cover. A control terminal is installed on one side of the protective cover, and an operation panel is installed on the protective cover below the control terminal.

[0010] Preferably, a first servo motor is installed on one side inside the Y-axis linear guide rail, and a first lead screw is installed at the output end of the first servo motor through a rotating shaft. A first lead screw sleeve adapted to it is sleeved on the first lead screw, and the top of the first lead screw sleeve is connected to the movable sleeve by bolts. The inner wall of the movable sleeve is attached to the outer wall of the Y-axis linear guide rail.

[0011] Preferably, fixing plates are arranged at the tops of both sides of the Z-axis linear guide rail, and the fixing plates are detachably connected to the movable sleeve by bolts. A second servo motor is installed at the middle position at the top of the Z-axis linear guide rail, and a second lead screw is vertically installed inside the Z-axis linear guide rail. The output end of the second servo motor is connected to the second lead screw through a rotating shaft. A second lead screw sleeve adapted to it is sleeved on the outside of the second lead screw, and the shape of the second lead screw sleeve matches the shape inside the Z-axis linear guide rail.

[0012] Preferably, slots are vertically arranged on both sides of the Z-axis linear guide rail, and connecting plates are arranged at the tops of both sides of the vertical plate. The connecting plates pass through the slots and are connected to the second lead screw sleeve.

[0013] Preferably, the installation frame is designed in a "U" shape, and a third servo motor is fixed on one side of the installation frame. The installation frame and the housing are rotatably connected, and the output end of the third servo motor is connected to the side wall of the housing through a rotating shaft.

[0014] Preferably, the glue injection tube is threadedly connected to the glue dispensing head, and a heating ring is provided on the bottom end of the outer side of the glue injection tube.

[0015] Technical effects and advantages of the utility model:

[0016] 1. Compared with the prior art, the 3D vision-based robot dispensing path-guided correction device is provided with a mounting frame, a shell, a 3D vision camera and a third servo motor. When the third servo motor is working, it can drive the shell to rotate in the mounting frame. The 3D vision camera can move with the shell to perform 3D scanning and imaging of the position where glue injection is required, and realize local adjustment (correction) of the dispensing path, thereby realizing precise positioning and correction. That is, the device can realize precise positioning and dispensing operations on the side of the product, and is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model.

[0018] Figure 2 This is a schematic diagram of the shell structure of the utility model.

[0019] Figure 3 This is a schematic diagram of the Z-axis linear guide structure of the utility model.

[0020] Figure 4 It is a schematic diagram of the structure of the movable sleeve of the utility model.

[0021] The accompanying drawings are marked as follows: 1. workbench; 2. electromagnetic slider; 3. X-axis electromagnetic slide; 4. Y-axis linear guide; 5. first servo motor; 6. first screw rod; 7. lifting door; 8. protective cover; 9. control terminal; 10. operating table; 11. pillar; 12. storage drawer; 13. movable cover; 14. first screw rod sleeve; 15. 3D contour scanner; 16. Z-axis linear guide; 1601, slot; 17. fixed plate; 18. second servo motor; 19. second screw rod; 20. second screw rod sleeve; 21. connecting plate; 22. vertical plate; 23. mounting frame; 24. shell; 25. glue injection tube; 26. glue dispensing head; 27. heating ring; 28. control valve; 29. ​​3D visual camera; 30. third servo motor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0023] Embodiment 1

[0024] As attached Figure 1 and Figure 2 A 3D vision-based robot dispensing path guiding and correcting device is shown, comprising a workbench 1, X-axis electromagnetic slide rails 3 are embedded on both sides of the top of the workbench 1, and electromagnetic sliders 2 are installed in the X-axis electromagnetic slide rails 3, pillars 11 are installed on the top of the electromagnetic sliders 2, and Y-axis linear guide rails 4 are installed on the top between the pillars 11, a movable sleeve 13 is sleeved on the Y-axis linear guide rail 4, and a 3D contour scanner 15 is installed at the bottom of the movable sleeve 13, a Z-axis linear guide rail 16 is installed at one end of the movable sleeve 13, and a second screw sleeve 20 is arranged in the Z-axis linear guide rail 16;

[0025] A vertical plate 22 is installed at the end of the second screw sleeve 20 away from the movable sleeve 13, and a mounting frame 23 is fixed to the end of the vertical plate 22 away from the movable sleeve 13, a shell 24 is arranged in the mounting frame 23, a 3D vision camera 29 is installed at the end of the shell 24 away from the movable sleeve 13, and a glue injection tube 25 passes through the shell 24, a control valve 28 is arranged on the top of the glue injection tube 25, and a glue head 26 is installed at the bottom of the glue injection tube 25.

[0026] Among them: the 3D contour scanner 15 can move left and right with the movable sleeve 13, and can also move forward and backward driven by the X-axis electromagnetic slide rail 3, so as to scan the product on the workbench 1. The output end of the 3D contour scanner 15 is connected to the control terminal 9, and the 3D contour information of the scanned product is sent to the control terminal 9. The control terminal 9 corrects the pre-stored dispensing path according to the 3D contour information of the product.

[0027] Embodiment 2

[0028] Based on the first embodiment, the solution in the first embodiment is further detailed in combination with the following specific working methods. Figures 1 to 4 As shown, see the following description for details:

[0029] As a preferred embodiment, storage drawers 12 are provided at both ends of the interior of the workbench 1, and a protective cover 8 is installed at one end of the top of the workbench 1, and lifting doors 7 are provided at both ends of the protective cover 8, a control terminal 9 is installed on one side of the protective cover 8, and an operating table 10 is installed on the protective cover 8 below the control terminal 9; further, when the device is not in use, the Y-axis linear guide 4 can be moved to the inside of the protective cover 8, and the protective cover 8 and the lifting door 7 can form an enclosed space, which is convenient for protecting the main part of the device to avoid dust or damage due to collision.

[0030] As a preferred embodiment, a first servo motor 5 is installed on one side inside the Y-axis linear guide 4, and a first lead screw 6 is installed at the output end of the first servo motor 5 through a rotating shaft. A first lead screw sleeve 14 is sleeved on the first lead screw 6, and the top of the first lead screw sleeve 14 is connected to the movable sleeve 13 by bolts. The inner wall of the movable sleeve 13 is in contact with the outer wall of the Y-axis linear guide 4; further, when the first servo motor 5 works, it can drive the first lead screw 6 to rotate, so that the first lead screw sleeve 14 moves left and right in the Y-axis linear guide 4, driving the movable sleeve 13 to move left and right, realizing scanning at different points and dispensing operations at different positions.

[0031] As a preferred embodiment, fixing plates 17 are provided at the tops of both sides of the Z-axis linear guide 16, and the fixing plates 17 are detachably connected to the movable sleeve 13 by bolts. A second servo motor 18 is installed at the middle position at the top of the Z-axis linear guide 16, and a second lead screw 19 is vertically installed inside the Z-axis linear guide 16. The output end of the second servo motor 18 is connected to the second lead screw 19 through a rotating shaft. A second lead screw sleeve 20 is sleeved on the outside of the second lead screw 19, and the shape of the second lead screw sleeve 20 matches the inner shape of the Z-axis linear guide 16; further, when the second servo motor 18 works, it can drive the second lead screw 19 to rotate, so that the second lead screw sleeve 20 moves up and down in the Z-axis linear guide 16, driving the dispensing head 26 to move up and down, realizing precise dispensing.

[0032] As a preferred embodiment, slots 1601 are vertically provided on both sides of the Z-axis linear guide 16, and connecting plates 21 are provided at the tops of both sides of the vertical plate 22. The connecting plates 21 penetrate through the slots 1601 and are connected to the second lead screw sleeve 20; further, the two sides of the vertical plate 22 are connected to the second lead screw sleeve 20 through the connecting plates 21, that is, it can be sleeved on the Z-axis linear guide 16. This design makes the second lead screw sleeve 20 more stable when moving, not prone to shaking or falling off, and the dispensing accuracy is higher.

[0033] As a preferred embodiment, the mounting bracket 23 is designed in a "U" shape, and a third servo motor 30 is fixed on one side of the mounting bracket 23. The mounting bracket 23 is rotatably connected to the housing 24, and the output end of the third servo motor 30 is connected to the side wall of the housing 24 through a rotating shaft; further, the "U" shape design can provide space for the rotation of the housing 24. When the third servo motor 30 works, it can drive the housing 24 to rotate in the mounting bracket 23, thereby driving the 3D vision camera 29 and the dispensing head 26 to rotate, and enabling the device to realize precise positioning and dispensing operations on the side of the product. The 3D vision camera 29 can perform 3D scanning and imaging on the position where glue needs to be injected, realizing local adjustment (correction) of the dispensing path, so as to achieve precise positioning and deviation correction, and the practicability is stronger.

[0034] As a preferred embodiment, the glue injection tube 25 and the glue dispensing head 26 are threadedly connected, and a heating ring 27 is provided on the bottom end of the outer side of the glue injection tube 25; further, the threaded connection design makes it easy to remove the glue dispensing head 26 for cleaning or replacement, and it is convenient to select a suitable glue dispensing head 26 according to actual usage requirements. The heating ring 27 is designed to heat the glue at the bottom of the glue injection tube 25 to prevent the glue from solidifying and clogging the glue dispensing head 26, and the design is more reasonable.

[0035] The working process of the utility model is as follows:

[0036] When in use, the 3D profile scanner 15 is arranged at the bottom of the movable sleeve 13, and can move with the movable sleeve 13 to scan the product on the workbench 1. The output end of the 3D profile scanner 15 is connected to the control terminal 9. When in use, the 3D profile scanner 15 first sends the 3D profile information of the scanned product to the control terminal 9, and the control terminal 9 corrects the pre-stored dispensing path according to the 3D profile information of the product; then the X-axis electromagnetic slide 3, the Y-axis linear guide 4 and the Z-axis linear guide 16 work to drive the dispensing head 26 to move along the corrected dispensing path. When it is necessary to dispense glue on the side of the product, first the mounting frame 23 is moved to the side of the product to be dispensed, and then the third servo motor 30 works to drive the shell 24 to rotate in the mounting frame 23, thereby driving the 3D visual camera 29 and the dispensing head 26 to rotate, and enabling the device to realize precise positioning and dispensing operations on the side of the product. The 3D visual camera 29 can perform 3D scanning imaging on the position where glue needs to be injected, so as to realize local adjustment (correction) of the dispensing path.

[0037] Finally: The above are only preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A 3D vision-based robot dispensing path guiding and correcting device, comprising a workbench (1), characterized in that: X-axis electromagnetic slide rails (3) are embedded on both sides of the top of the workbench (1), and electromagnetic sliders (2) are installed in the X-axis electromagnetic slide rails (3), pillars (11) are installed on the top of the electromagnetic sliders (2), and a Y-axis linear guide rail (4) is installed on the top between the pillars (11), a movable sleeve (13) is sleeved on the Y-axis linear guide rail (4), and a 3D contour scanner (15) is installed at the bottom of the movable sleeve (13), a Z-axis linear guide rail (16) is installed at one end of the movable sleeve (13), and a second screw sleeve (20) is arranged in the Z-axis linear guide rail (16); A vertical plate (22) is installed at one end of the second screw sleeve (20) away from the movable sleeve (13), and a mounting frame (23) is fixed at one end of the vertical plate (22) away from the movable sleeve (13), a shell (24) is arranged inside the mounting frame (23), a 3D visual camera (29) is installed at one end of the shell (24) away from the movable sleeve (13), and a glue injection tube (25) passes through the shell (24), a control valve (28) is arranged at the top of the glue injection tube (25), and a glue dispensing head (26) is installed at the bottom of the glue injection tube (25).

2. According to the 3D vision-based robot dispensing path guidance and correction device according to claim 1, it is characterized by: Storage drawers (12) are provided at both ends of the workbench (1), and a protective cover (8) is installed at one end of the top of the workbench (1), and lifting doors (7) are provided at both ends of the protective cover (8), a control terminal (9) is installed on one side of the protective cover (8), and an operating table (10) is installed on the protective cover (8) below the control terminal (9).

3. According to the 3D vision-based robot dispensing path guidance and correction device according to claim 2, it is characterized by: A first servo motor (5) is installed on one side of the interior of the Y-axis linear guide (4), and a first screw rod (6) is installed on the output end of the first servo motor (5) via a rotating shaft, a first screw rod sleeve (14) matching with the first screw rod (6) is sleeved on the first screw rod (6), and the top of the first screw rod sleeve (14) is connected to a movable sleeve (13) via a bolt, and the inner wall of the movable sleeve (13) is in contact with the outer wall of the Y-axis linear guide (4).

4. According to the 3D vision-based robot dispensing path guidance and correction device according to claim 1, it is characterized by: A fixing plate (17) is provided at the top of both sides of the Z-axis linear guide (16), and the fixing plate (17) is detachably connected to the movable sleeve (13) by bolts. A second servo motor (18) is installed at the middle position of the top of the Z-axis linear guide (16), and a second screw rod (19) is vertically installed inside the Z-axis linear guide (16). The output end of the second servo motor (18) is connected to the second screw rod (19) through a rotating shaft. The outer side of the second screw rod (19) is provided with a second screw rod sleeve (20) adapted thereto, and the shape of the second screw rod sleeve (20) matches the internal shape of the Z-axis linear guide (16).

5. According to the 3D vision-based robot dispensing path guidance and correction device of claim 1, it is characterized by: Both sides of the Z-axis linear guide rail (16) are vertically provided with slots (1601), and the tops of both sides of the vertical plate (22) are provided with connecting plates (21), and the connecting plates (21) pass through the slots (1601) and are connected to the second screw sleeve (20).

6. The 3D vision-based robot dispensing path guiding and correcting device according to claim 1 is characterized by: The mounting bracket (23) is designed in a "U" shape, and a third servo motor (30) is fixed on one side of the mounting bracket (23). The mounting bracket (23) is rotatably connected to the housing (24), and the output end of the third servo motor (30) is connected to the side wall of the housing (24) through a rotating shaft.

7. The 3D vision-based robot dispensing path guiding and correcting device according to claim 1 is characterized by: The glue injection tube (25) is threadedly connected to the dispensing head (26), and a heating ring (27) is sleeved on the outer bottom end of the glue injection tube (25).

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