Erecting device, visual equipment and industrial robot machining equipment

Abstract

The utility model provides an erecting device, visual equipment and industrial robot machining equipment, and relates to the field of industrial robot application. The erecting device is used for erecting a visual system of the industrial robot, a first mounting frame of the erecting device can be arranged on the two sides of a workpiece table in the width direction in a crossing mode, and walking mechanisms are arranged at the two ends of the workpiece table in the width direction; a second mounting frame is used for mounting a visual system and is adjustably arranged on a first mounting frame in the width direction of a workpiece table, the setting height is higher than the total height of the workpiece table and a to-be-machined workpiece on the workpiece table, and an operation height is reserved. By using the erecting device, the visual system can be quickly and flexibly moved to a required working range, the requirements of low working height, ultra-large visual field and high precision can be met, the hardware and corresponding maintenance cost is relatively low, the requirement on the space size of an application scene is relatively low, the interference of an industrial robot, the visual system and the erecting device can be avoided, and the working efficiency is improved. And the visual system is in direct close-range contact with a severe processing environment.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot applications, and more specifically, to a mounting device, a vision device, and an industrial robot processing device. Background Art

[0002] In many application scenarios, industrial robots need to use a vision system to achieve intelligent operations. In the prior art, the mounting methods of the vision system are mainly divided into two types: Eye-in-hand and Eye-to-hand. The Eye-in-hand mounting method means installing the vision system on the industrial robot, which is usually applicable to operation scenarios with a small field of view; the Eye-to-hand mounting method means independently mounting the vision system on an external bracket, and expanding the field of view by increasing the mounting height of the vision system.

[0003] For ultra-large field of view operation scenarios, the solutions mainly include increasing the mounting height of the vision system or installing multiple vision sensors. Currently, there is no suitable vision system on the market that can meet the usage requirements of a low working height and an ultra-large field of view. For such usage requirements, it is usually solved by dividing the working area of the industrial robot and installing the vision system in each area respectively. However, this solution has high hardware and maintenance costs, and requires sufficient space for mounting the vision system, and there are problems of industrial robot interference and limited application scenario space. Summary of the Utility Model

[0004] The first object of the utility model is to provide a mounting device to solve the technical problem that the vision system in the prior art cannot meet the usage requirements of a low working height and an ultra-large field of view.

[0005] The mounting device provided by the utility model is used for mounting the vision system of an industrial robot. The mounting device includes a first mounting frame and a second mounting frame. The first mounting frame can straddle both sides of the workpiece table in the width direction, and walking mechanisms are arranged at both ends of the first mounting frame along the width direction of the workpiece table. The walking mechanisms are used to drive the mounting device to move along the length direction of the workpiece table. The second mounting frame is used for mounting the vision system. The second mounting frame is arranged on the first mounting frame in a position-adjustable manner along the width direction of the workpiece table. The installation height of the second mounting frame is higher than the total height of the workpiece table and the workpiece to be processed thereon, and an operation height is reserved.

[0006] Furthermore, the first mounting frame includes a first cross beam extending along the width direction of the workpiece table, first columns vertically arranged at both ends of the first cross beam, and a bottom beam extending along the length direction of the workpiece table. The bottom beam is arranged corresponding to the first columns one by one. The walking mechanisms are symmetrically arranged on the two bottom beams.

[0007] Furthermore, first diagonal braces are provided between both ends of the first crossbeam and the corresponding first vertical columns; and / or, second diagonal braces are provided between the first vertical columns and the corresponding bottom beams.

[0008] Furthermore, the traveling mechanism includes a plurality of rollers, and at least two rollers are provided on each bottom beam along the length direction of the workpiece table.

[0009] Furthermore, along the length direction of the workpiece table, at least two guide wheels are further provided on each bottom beam. The guide wheels can rotate along the vertical axis, and the guide wheels are correspondingly arranged with the guide strips on both sides in the width direction of the workpiece table; when the erection device moves along the length direction of the workpiece table, the guide wheels roll along the guide strips.

[0010] Furthermore, the second mounting bracket includes a support frame and a saddle fixedly provided at the bottom of the support frame. The support frame is used for mounting the vision system; the saddle is slidably connected to the first mounting bracket.

[0011] Furthermore, the support frame includes a second vertical column, a second crossbeam extending along the length direction of the workpiece table and perpendicularly fixed to the second vertical column, and a third crossbeam extending along the width direction of the workpiece table and perpendicularly fixed to the second crossbeam. The vision acquisition device of the vision system is arranged on the third crossbeam.

[0012] Furthermore, a third diagonal brace is provided between the saddle and the second vertical column of the support frame; and / or, a fourth diagonal brace is provided between the second vertical column and the second crossbeam.

[0013] Furthermore, the first mounting bracket is provided with a first locking member for locking the first mounting bracket after the first mounting bracket moves in place along the length direction of the workpiece table; and / or, the second mounting bracket is provided with a second locking member for locking the second mounting bracket to the first mounting bracket after the second mounting bracket moves in place.

[0014] Furthermore, the first mounting bracket is provided with a first handrail for an operator to push and pull the erection device along the length direction of the workpiece table; and / or, the second mounting bracket is provided with a second handrail for an operator to push and pull the second mounting bracket along the width direction of the workpiece table.

[0015] The erection device provided by the present utility model can achieve the following beneficial effects:

[0016] The erection device provided by the present utility model is provided with two mounting brackets. The first mounting bracket can span across the workpiece table in the width direction of the workpiece table, and the first mounting bracket is provided with a traveling mechanism, which can drive the entire erection device to move in the length direction of the workpiece table. Thus, the erection device can move the vision system to the target working area along the length direction of the workpiece table. The second mounting bracket is arranged on the first mounting bracket in a position-adjustable manner along the width direction of the workpiece table. Thus, after moving the erection device to the target working area along the length direction of the workpiece table, the second mounting bracket can be moved along the width direction of the workpiece table, and further move the vision system on the second mounting bracket to the target position in the target working area. After calibrating the industrial robot using the vision system and assisting the industrial robot to complete the planning of the operation trajectory, etc., the erection device is withdrawn from the target working area, and then the industrial robot can be started to perform the operation in the corresponding working area.

[0017] As can be seen from the above, when using the erection device provided by the present utility model to erect the vision system of the industrial robot, it is not necessary to set up the vision system in each divided working area. Moreover, since it is a vision acquisition task within a relatively small field of view, the requirements for the hardware of the vision system are relatively low. Thus, when using the erection device provided by the present utility model, the hardware and the corresponding maintenance costs are relatively low. Moreover, if the vision system hardware of the same standard is adopted, when using the erection device of the present utility model, since there is no need to increase the erection height, the vision acquisition accuracy will be relatively high, thus being able to meet the requirements of high-precision vision acquisition and high-precision processing.

[0018] In addition, since there is no need to increase the erection height of the vision system, and the vision system can be withdrawn from the corresponding working area after completing the vision calculation task, it will not occupy the operation space of the industrial robot. Therefore, the erection device provided by the present utility model has relatively low requirements for the size of the application scenario space, can avoid the problem of interference between the industrial robot, the vision system and the erection device, and for a harsh processing scenario, can also avoid the direct close contact between the vision system and the processing environment, thereby being able to reduce the damage probability of the vision system and extend the service life of the vision system.

[0019] In summary, when using the erection device provided by the present utility model, the vision system can be quickly and flexibly moved to the required working range according to the actual application requirements, improving the flexibility of use of the vision system and the adaptability to various processing scenarios of super-large workpieces, and being able to meet the application requirements of low working height, super-large field of view and high precision.

[0020] The second object of the present utility model is to provide a vision device to solve the technical problem that the vision system in the prior art cannot meet the high-precision use requirements of low working height and super-large field of view.

[0021] The vision device provided by the present utility model includes a vision system and the above-mentioned erection device, and the vision system is arranged on the second mounting bracket. This vision device has all the advantages of the above-mentioned erection device, so it will not be elaborated here.

[0022] The third object of the present utility model is to provide an industrial robot processing device to solve the technical problem in the prior art that the vision system cannot meet the use requirements of low working height and ultra-large field of view.

[0023] The industrial robot processing device provided by the present utility model includes a workpiece table and the above-mentioned vision device. The workpiece table is provided with a fixture device for clamping the workpiece to be processed; along the width direction of the workpiece table, the erection device of the vision device straddles the workpiece table. This industrial robot processing device has all the advantages of the above-mentioned erection device, so it will not be elaborated here either. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0025] Figure 1 It is a schematic structural diagram of the industrial robot processing device provided by the embodiment of the present utility model;

[0026] Figure 2 It is a schematic structural diagram of the vision device provided by the embodiment of the present utility model;

[0027] Figure 3 It is a partial structural diagram of the vision device provided by the embodiment of the present utility model;

[0028] Figure 4 It is a partial structural diagram of the workpiece table of the industrial robot processing device provided by the embodiment of the present utility model.

[0029] Description of the Reference Numerals:

[0030] 100 - Erection device; 101 - First mounting bracket; 110 - First cross beam; 111 - Slide rail; 112 - First limiting member; 119 - First diagonal brace; 120 - First column; 129 - Second diagonal brace; 130 - Bottom beam; 131 - Roller; 132 - Guide wheel; 133 - First locking member; 134 - Drag chain; 140 - First handrail;

[0031] 102 - Second mounting bracket; 160 - Saddle; 161 - Slide block; 162 - Second locking member; 169 - Third diagonal brace; 170 - Second column; 171 - Second handrail; 179 - Fourth diagonal brace; 180 - Second crossbeam; 190 - Third crossbeam;

[0032] 200 - Vision system; 210 - Camera; 220 - Control cabinet;

[0033] 300 - Workpiece table; 310 - Base; 320 - Support plate; 330 - Side stop; 340 - Mounting seat; 350 - Clamp; 360 - Guide bar; 370 - Second limiting member. Detailed implementation manners

[0034] To make the above - mentioned objects, features and advantages of the present utility model more obvious and understandable, the following will give a detailed description of the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0035] This embodiment provides an industrial robot processing device. As Figure 1 shown, this processing device includes a workpiece table 300 and a vision device. Among them, the vision device includes the vision system 200 of the industrial robot and a mounting device 100 for mounting the vision system 200 of the industrial robot. Figure 1 In the figure, the arrow "ab" represents the length direction of the workpiece table 300, and the arrow "cd" represents the width direction of the workpiece table 300. The following will introduce the mounting device 100, the vision system 200 and the workpiece table 300 in detail one by one.

[0036] As Figure 2 shown, in this embodiment, the mounting device 100 includes a first mounting bracket 101 and a second mounting bracket 102. The first mounting bracket 101 can straddle both sides of the workpiece table 300 along the width direction, and walking mechanisms are arranged at both ends of the first mounting bracket 101 along the width direction of the workpiece table 300. The walking mechanisms are used to drive the mounting device 100 to move along the length direction of the workpiece table 300; the second mounting bracket 102 is used to mount the vision system 200. The second mounting bracket 102 is arranged on the first mounting bracket 101 in a position - adjustable manner along the width direction of the workpiece table 300. The installation height of the second mounting bracket 102 is higher than the total height of the workpiece table 300 and the workpiece to be processed thereon, and sufficient working height is reserved.

[0037] The erection device 100 provided in this embodiment is provided with two mounting frames. The first mounting frame 101 can span across the workpiece table 300 in the width direction of the workpiece table 300, and the first mounting frame 101 is provided with a traveling mechanism. The traveling mechanism can drive the entire erection device 100 to move in the length direction of the workpiece table 300. Thus, the erection device 100 can move the vision system 200 to the target working area along the length direction of the workpiece table 300. The second mounting frame 102 is arranged on the first mounting frame 101 in a position-adjustable manner along the width direction of the workpiece table 300. Thus, after moving the erection device 100 to the target working area along the length direction of the workpiece table 300, the second mounting frame 102 can be moved along the width direction of the workpiece table 300, and further move the vision system 200 on the second mounting frame 102 to the target position in the target working area. After calibrating the industrial robot using the vision system 200 and assisting the industrial robot to complete the operation trajectory planning, etc., the erection device 100 is withdrawn from the target working area, and then the industrial robot can be started to perform the operation in the corresponding working area.

[0038] As can be seen from the above, when using the erection device 100 provided in this embodiment to erect the vision system 200 of the industrial robot, it is not necessary to set the vision system 200 in each divided working area. Moreover, since it is a vision acquisition task within a relatively small visual field range, the requirements for the hardware of the vision system 200 are relatively low. Thus, when using the erection device 100 provided in this embodiment, the hardware and the corresponding maintenance costs are relatively low. And, if the hardware of the vision system 200 with the same standard is adopted, when using the erection device 100 of this embodiment, since there is no need to increase the erection height, the vision acquisition accuracy will be relatively high, and thus it can meet the requirements of high-precision vision acquisition and high-precision processing.

[0039] In addition, since there is no need to increase the erection height of the vision system 200, and the vision system 200 can be withdrawn from the corresponding working area after completing the vision acquisition task, it will not occupy the operation space of the industrial robot. Therefore, the erection device 100 provided in this embodiment has relatively low requirements for the size of the application scenario space, can avoid the problem of interference between the industrial robot, the vision system 200 and the erection device 100, and for a harsh processing scenario, it can also avoid the vision system 200 directly contacting the processing environment at a close distance, thereby reducing the damage probability of the vision system 200 and prolonging the service life of the vision system 200.

[0040] In summary, when using the erection device 100 provided in this embodiment, the vision system 200 can be quickly and flexibly moved to the required working range according to the actual application requirements, improving the use flexibility of the vision system 200 and the adaptability to various large workpiece processing scenarios, and can meet the requirements of low working height, large visual field and high precision.

[0041] Specifically, in this embodiment, as Figure 2 shown, the first mounting bracket 101 includes a first cross beam 110 extending along the width direction of the workbench 300, first columns 120 vertically arranged at both ends of the first cross beam 110, and a bottom beam 130 extending along the length direction of the workbench 300. The distance between the two first columns 120 is greater than the width of the workbench 300; the bottom beams 130 are arranged in one-to-one correspondence with the first columns 120; the traveling mechanisms are symmetrically arranged on the two bottom beams 130. With such an arrangement, the first mounting bracket 101 only includes one first cross beam 110, two first columns 120, and two bottom beams 130, with a relatively simple structure and a relatively light weight, so it is easy to manufacture and move.

[0042] Specifically, in this embodiment, as Figure 2 shown, first diagonal braces 119 are arranged between both ends of the first cross beam 110 and the corresponding first columns 120, and second diagonal braces 129 are arranged between the first columns 120 and the corresponding bottom beams 130. Among them, the first diagonal braces 119 can strengthen the connection between both ends of the first cross beam 110 and the corresponding first columns 120, thereby improving the load-bearing capacity of the first cross beam 110; while the second diagonal braces 129 can strengthen the connection between the first columns 120 and the corresponding bottom beams 130, thereby improving the load-bearing capacity of the first columns 120, and further improving the load-bearing capacity of the first cross beam 110.

[0043] Specifically, in this embodiment, continue as Figure 2 shown, the traveling mechanism includes four rollers 131. Along the length direction of the workbench 300, each bottom beam 130 is provided with two rollers 131. More specifically, the middle of the bottom beam 130 is fixedly connected to the corresponding first column 120, and one roller 131 is respectively arranged at both ends of each bottom beam 130. With such an arrangement, the weights borne by the two rollers 131 are relatively balanced, so the bottom beam 130 and the structures thereon can be better supported. Of course, in other embodiments of the present application, the number of rollers 131 is not limited to four. For example, it can also be six, eight, etc. Multiple rollers 131 are symmetrically arranged on the first mounting bracket 101. Further preferably, the rollers 131 on each bottom beam 130 are symmetrically arranged with respect to the first column 120. It should also be noted that in other embodiments of the present application, the traveling mechanism is not limited to traveling through the rollers 131, but other forms can also be adopted. For example: the traveling mechanism can also be a stepping mechanism, a sliding mechanism, etc. Through the traveling mechanism, there is no need to set tracks on the workbench 300 or the ground, etc. Therefore, the erection device 100 provided in this embodiment has relatively strong applicability and a wider scope of application.

[0044] Specifically, in this embodiment, continue as Figure 2As shown in the figure, along the length direction of the workpiece table 300, each bottom beam 130 is further provided with two guide wheels 132. The guide wheels 132 can rotate along the vertical axis, and the guide wheels 132 are correspondingly arranged with the guide strips 360 on both sides in the width direction of the workpiece table 300. When the erection device 100 moves along the length direction of the workpiece table 300, the guide wheels 132 roll along the guide strips 360. In this setting form, the erection device 100 contacts the workpiece table 300 through the guide wheels 132. The guide wheels 132 can not only guide the erection device 100 to move along the length direction of the workpiece table 300, but also reduce the friction between the erection device 100 and the workpiece table 300 by rotating. Of course, in other embodiments of the present application, the number of guide wheels 132 on each bottom beam 130 is not limited to two, but can also be six, eight, etc. A plurality of guide wheels 132 are symmetrically arranged on the first mounting frame 101. Further preferably, the guide wheels 132 on each bottom beam 130 are symmetrically arranged relative to the first upright column 120.

[0045] Specifically, in this embodiment, continue as Figure 2 As shown in the figure, the first mounting frame 101 is provided with a first locking member 133, and the first locking member 133 is used to lock the first mounting frame 101 after the first mounting frame 101 moves in place along the length direction of the workpiece table 300. More specifically, the number of the first locking members 133 is four. The four first locking members 133 are grouped in pairs, and the two groups of first locking members 133 are respectively arranged on the two bottom beams 130. Moreover, each first locking member 133 is arranged between the end of the bottom beam 130 and the adjacent second diagonal brace 129. With such a setting, the four first locking members 133 can lock four positions of the first mounting frame 101 respectively, so that the erection device 100 can be stably fixed at the target position. During the actual operation process, after the first mounting frame 101 is moved in place, one first locking member 133 can be locked nearby first, and then the other three first locking members 133 can be locked. Of course, it should be noted here that in other embodiments of the present application, the number of the first locking members 133 is not limited to four. For example, it can also be three, five, six, etc. Preferably, a plurality of first locking members 133 are respectively arranged on the two bottom beams 130.

[0046] In this embodiment, the first locking member 133 is a floor anchor. However, in other embodiments of the present application, the first locking member 133 is not limited to this form, but can also be other forms, as long as the erection device 100 can be fixed at the target position.

[0047] Specifically, in this embodiment, as Figure 2 shown, the first mounting frame 101 is provided with a first handrail 140 for an operator to push and pull the erection device 100 along the length direction of the workpiece table 300.

[0048] Specifically, in this embodiment, asFigure 2 As shown, the bottom beam 130 is further provided with a drag chain 134.

[0049] Specifically, in this embodiment, as Figure 2 and Figure 3 shown, the second mounting bracket 102 includes a support frame and a saddle 160 fixedly provided at the bottom of the support frame. The support frame is used to mount the vision system 200; the saddle 160 is slidably connected to the first mounting bracket 101. By adopting the sliding connection method, the contact area between the second mounting bracket 102 and the first mounting bracket 101 is relatively large, so the stability of the second mounting bracket 102 and the vision system 200 thereon is better.

[0050] More specifically, in this embodiment, the first cross beam 110 is provided with a slide rail 111, and the saddle 160 is provided with a slider 161, and the slider 161 slides along the slide rail 111. Of course, the first cross beam 110 can also be provided with a chute, and the slider on the saddle 160 slides in the chute.

[0051] It should also be noted here that in other embodiments of the present application, the second mounting bracket 102 can also be arranged on the first mounting bracket 101 in a position-adjustable manner by other means. For example: rolling wheels can also be installed at the bottom of the second mounting bracket 102, so that it can be arranged on the first mounting bracket 101 in a rollable manner along the width direction of the workpiece table 300.

[0052] Specifically, in this embodiment, the first cross beam 110 is further provided with a first limiting member 112 for limiting the moving range of the second mounting bracket 102 along the first cross beam 110.

[0053] Specifically, in this embodiment, as Figure 2 shown, the support frame includes a second column 170, a second cross beam 180 extending along the length direction of the workpiece table 300 and vertically fixed to the second column 170, and a third cross beam 190 extending along the width direction of the workpiece table 300 and vertically fixed to the second cross beam 180. The vision acquisition device of the vision system 200 is arranged on the third cross beam 190. With such an arrangement, the second column 170 plays a main supporting role, and the second cross beam 180 and the third cross beam 190 construct the installation position of the vision acquisition device through two cross beams, with a simple structure and light weight. Here, when the load-bearing allows, the support frame can also be a lifting structure to meet the up and down adjustment requirements of the vision system, especially its vision acquisition device, to achieve the best vision.

[0054] Specifically, in this embodiment, continue as Figure 2As shown in the figure, a third diagonal brace 169 is provided between the saddle 160 and the second column 170 of the support frame, and a fourth diagonal brace 179 is provided between the second crossbeam 180 and the second column 170. With such an arrangement, the third diagonal brace 169 can strengthen the connection between the saddle 160 and the second column 170, thereby improving the load-bearing capacity of the second column 170; the fourth diagonal brace 179 can strengthen the connection between the second crossbeam 180 and the second column 170, thereby improving the load-bearing capacity of the second crossbeam 180.

[0055] Specifically, in this embodiment, as Figure 3 shown, the second mounting bracket 102 is provided with a second locking member 162, and the second locking member 162 is used to lock the second mounting bracket 102 to the first mounting bracket 101 after the second mounting bracket 102 moves into place. More specifically, the number of the second locking members 162 is two, and the two second locking members 162 are both provided on the saddle 160 and symmetrically arranged on both sides of the second column 170. With such an arrangement, the two second locking members 162 can lock two positions of the second mounting bracket 102 respectively, so that the second mounting bracket 102 can be stably fixed at the target position of the first mounting bracket 101. During the actual operation process, after the second mounting bracket 102 is moved into place, one of the second locking members 162 can be locked first in the vicinity, and then the other second locking member 162 can be locked. Of course, it should be noted here that in other embodiments of the present application, the number of the second locking members 162 is not limited to two, and can be one or three, etc. For example, when there are three, the three second locking members 162 can be respectively arranged on both sides of the saddle 160 along the length direction of the workpiece table 300.

[0056] In this embodiment, the second locking member 162 is a clamp. However, in other embodiments of the present application, the first locking member 133 is not limited to this form, but can also be in other forms, as long as the second mounting bracket 102 can be fixed at the target position.

[0057] Specifically, in this embodiment, as Figure 2 shown, the second mounting bracket 102 is provided with a second handrail 171 for an operator to push and pull the second mounting bracket 102 along the width direction of the workpiece table 300. Preferably, the second handrail 171 and the second locking member 162 are located on the same side of the second mounting bracket 102, so as to facilitate the staff to push, pull and lock the second mounting bracket 102 on the same side.

[0058] Regarding the vision device provided in this embodiment, as Figure 2As shown, its vision system 200 includes a vision acquisition device, a control cabinet 220, and a display (not shown in the figure). Among them, the vision acquisition device can be a camera 210, a webcam, or other forms of vision sensors, etc. In this embodiment, the vision acquisition device includes two cameras 210, which are respectively arranged at both ends of the third cross beam 190; the control cabinet 220 is fixedly arranged on the second column 170 and can move with the second mounting bracket 102. The control cabinet 220 is equipped with supporting algorithm software, which can assist the industrial robot to achieve intelligent upgrading and complete spatial positioning and processing trajectory planning work; as for the display, it is fixedly arranged on the second column 170 through an adjustable bracket. Preferably, the bracket can be a universal bracket, so that the orientation of the display can be flexibly adjusted according to the position of the second mounting bracket 102, which is beneficial for personnel operation.

[0059] Regarding the processing equipment provided in this embodiment, as Figure 1 and Figure 4 shown, its workpiece table 300 is provided with a fixture device for clamping the workpiece to be processed; the workpiece table 300 may include a plurality of bases 310, and the plurality of bases 310 are spliced along the length direction of the workpiece table 300 and fixedly connected by connecting rods; a guide bar 360 is arranged outside the connecting rods, and two second limit members 370 are arranged on the bases 310 or the guide bar 360, respectively located at both ends of the guide bar 360, for restricting the moving range of the erection device 100 along the length direction of the workbench 300; a plurality of support plates 320 may be arranged on the spliced bases, and the plurality of support plates 320 are also spliced together, and side stops 330 may be arranged at both ends along the length direction of the workbench 300, and mounting seats 340 are arranged on the support plates 320 for mounting clamping pliers 350, and the clamping pliers 350 are used for clamping the workpiece to be processed. That is, in this embodiment, the workpiece table 300 can be an extra-large workpiece table, and the erection device 100 of the vision system 200 can be applicable to this extra-large workpiece table and can meet the use requirements of low working height and extra-large field of view.

[0060] Next, taking the welding scenario of a large workpiece industrial robot as an example, the usage process of the processing equipment provided in this embodiment is introduced:

[0061] (1) Loading: Fix the workpiece to be welded on the fixture system according to the processing requirements, that is, fix the workpiece to be welded with positioning devices such as clamping pliers 350;

[0062] (2) Divide the working area according to the industrial robot and determine the processing sequence of the working area;

[0063] (3) The operator holds the first armrest 140 and pushes the erection device 100 and the vision system 200 thereon to the target working area, and tightens the floor bolts;

[0064] (4) The operator climbs onto the support plate 320, releases the clamp, holds the second handrail 171, moves the vision system 200 to the target position, and locks the clamp.

[0065] (5) If the second mounting bracket 102 is equipped with a lifting mechanism, the lifting mechanism can be controlled to finely adjust the field of view of the camera 210 to achieve the best effect.

[0066] (6) Perform hand-eye calibration on the vision system 200 and the corresponding industrial robot.

[0067] (7) The vision system 200 assists in completing the welding trajectory planning of the industrial robot.

[0068] (8) The operator unscrews the floor bolts and pushes the vision system 200 away from the target working area.

[0069] (9) Start the industrial robot and execute the welding task.

[0070] Of course, the processing equipment provided in this embodiment is not limited to being applied in the welding production scenario, and is also applicable to visual assistance for numerical control machine tools, etc.

[0071] Finally, it should also be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0072] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mounting device, characterized in that: A visual system (200) for setting up an industrial robot, the setting device (100) comprising a first mounting frame (101) and a second mounting frame (102), the first mounting frame (101) being capable of being set up on both sides of a workpiece platform (300) along the width direction, and the first mounting frame (101) being provided with walking mechanisms at both ends of the workpiece platform (300) along the width direction, the walking mechanisms being used to drive the setting device (100) to move along the length direction of the workpiece platform (300); The second mounting frame (102) is used to mount the visual system (200); the second mounting frame (102) is adjustably arranged on the first mounting frame (101) along the width direction of the workpiece table (300); the setting height of the second mounting frame (102) is higher than the total height of the workpiece table (300) and the workpiece to be processed thereon, and a working height is reserved.

2. The mounting device according to claim 1, characterized in that: The first mounting frame (101) comprises a first crossbeam (110) extending along the width direction of the workpiece platform (300), first columns (120) vertically arranged at both ends of the first crossbeam (110), and a bottom beam (130) extending along the length direction of the workpiece platform (300), wherein the bottom beam (130) and the first columns (120) are arranged in a one-to-one correspondence; and the walking mechanism is symmetrically arranged on the two bottom beams (130).

3. The mounting device according to claim 2, characterized in that: The walking mechanism comprises a plurality of rollers (131), and along the length direction of the workpiece platform (300), each bottom beam (130) is provided with at least two rollers (131).

4. The mounting device according to claim 3, characterized in that: Along the length direction of the workpiece platform (300), each of the bottom beams (130) is also provided with at least two guide wheels (132), and the guide wheels (132) are capable of rotating along a vertical axis. The guide wheels (132) are provided correspondingly to the guide strips (360) on both sides of the width direction of the workpiece platform (300); when the mounting device (100) moves along the length direction of the workpiece platform (300), the guide wheels (132) roll along the guide strips (360).

5. The mounting device according to any one of claims 2 to 4, characterized in that: The second mounting frame (102) comprises a support frame and a saddle (160) fixedly arranged at the bottom of the support frame, wherein the support frame is used to install the visual system (200); the saddle (160) is slidably connected to the first mounting frame (101).

6. The mounting device according to claim 5, characterized in that: The support frame includes a second column (170), a second beam (180) extending along the length direction of the workpiece platform (300) and vertically fixed to the second column (170), and a third beam (190) extending along the width direction of the workpiece platform (300) and vertically fixed to the second beam (180), and the visual acquisition device of the visual system (200) is arranged on the third beam (190).

7. The mounting device according to claim 1, characterized in that: The first mounting frame (101) is provided with a first locking member (133), and the first locking member (133) is used to lock the first mounting frame (101) after the first mounting frame (101) moves to a position along the length direction of the workpiece platform (300); And / or, the second mounting frame (102) is provided with a second locking member (162), and the second locking member (162) is used to lock the second mounting frame (102) to the first mounting frame (101) after the second mounting frame (102) is moved into position.

8. The mounting device according to claim 1, characterized in that: The first mounting frame (101) is provided with a first handrail (140) for an operator to push or pull the mounting device (100) along the length direction of the workpiece platform (300); And / or, the second mounting frame (102) is provided with a second handrail (171) for an operator to push or pull the second mounting frame (102) along the width direction of the workpiece platform (300).

9. A visual device, characterized in that: It comprises a visual system (200) and the mounting device (100) according to any one of claims 1 to 8, wherein the visual system (200) is arranged on the second mounting frame (102).

10. An industrial robot processing equipment, characterized in that: It comprises a workpiece table (300) and the visual device according to claim 9, wherein the workpiece table (300) is provided with a clamping device for clamping the workpiece to be processed; along the width direction of the workpiece table (300), the mounting device (100) of the visual device is straddled on the workpiece table (300).

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