Visual calibrator mounting structure at tail end of stacking robot

Abstract

The utility model discloses a visual calibrator mounting structure at the tail end of a stacking robot, which relates to the technical field of stacking robots, and comprises a visual calibrator body and an assembly plate, one side of the visual calibrator body is fixedly connected with a mounting piece, one side of the assembly plate is provided with a locking mechanism, and the locking mechanism is fixedly connected with the visual calibrator body. According to the utility model, the stability of the base structure is ensured through the cooperation among the mounting rod, the movable ring and the movable shell, then the mounting stability is further enhanced by compressing the second spring and pushing the insertion rod to be in butt joint with the insertion hole in the downward pressing process of the shell, and through the limiting action of the insertion block, the installation is more stable. In addition, due to the coordination effect of the multiple second springs, necessary springback and buffering are provided for the whole installation process, it is guaranteed that firm connection can still be kept when equipment is subjected to external force or vibration, the high efficiency and reliability of installation of the visual calibrator are guaranteed, and installation can be more convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of stacking robots, in particular to an installation structure of a vision calibrator at the end of a stacking robot. Background Art

[0002] A stacking robot is a robot used for automatic stacking, handling and storing materials. It usually stacks the finished products at the end stage of the production line onto pallets or other storage positions according to predetermined rules. A vision calibrator is a tool used to improve the accuracy of a vision system. It helps to calibrate and adjust the vision system through a series of standardized patterns and processes to ensure the accuracy of its measurement and recognition functions. In the installation structure connecting the vision calibrator to the end of the stacking robot, a stable supporting role is very important, which can prevent the calibration plate from moving or vibrating during the calibration process.

[0003] However, in the prior art, when installing the vision calibrator, it is necessary to ensure its extremely precise spatial positioning. Therefore, multiple tools are usually required for auxiliary installation, which not only increases the operation difficulty, but also causes errors or mistakes during the installation process, thus affecting the accurate positioning of the equipment. Using too many tools will also increase the operation complexity, resulting in details being overlooked or operation mistakes occurring, thereby affecting the positioning accuracy of the vision calibrator and even damaging the equipment. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the problem in the prior art that multiple tools are required for auxiliary installation, which not only increases the operation difficulty, but also causes errors or mistakes during the installation process, thus affecting the accurate positioning of the equipment, and to propose an installation structure of a vision calibrator at the end of a stacking robot.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: an installation structure of a vision calibrator at the end of a stacking robot, including a vision calibrator body and an assembly plate. One side of the vision calibrator body is fixedly connected with a mounting part, one side of the assembly plate is provided with a locking mechanism, and one side of the locking mechanism is provided with a positioning mechanism;

[0006] The positioning mechanism includes a movable ring and a mounting plate. The outer surface of the bottom of the movable ring is fixedly connected with a housing. The inner edge of the top of the mounting plate is fixedly connected with a support frame. A plugging rod is slidably connected inside the support frame. One end of the plugging rod is fixedly connected with a sphere. A second spring is arranged between the sphere and the support frame. The second spring is sleeved on the outer surface of the plugging rod. Limiting rods can be fixedly connected to both the bottom of the movable ring and the top of the mounting plate. A first spring is sleeved between the two limiting rods. The sphere abuts against the inner wall of the housing. A plurality of plugging slots are formed in the top of the movable ring. A plugging block is fixedly connected to the bottom of the housing.

[0007] Preferably, the locking mechanism includes a bottom plate and a fixing ring. The center of the top of the bottom plate is fixedly connected with a support plate. The top of the fixing ring is fixedly connected with the bottom of the mounting plate, and the bottom of the fixing ring is fixedly connected with the support plate.

[0008] Preferably, a plurality of locking blocks are slidably connected inside the support plate. One end of the top of the locking block is fixedly connected with a movable block. The top end of the bottom plate is rotatably connected with a rotating ring, and an arc-shaped groove is formed inside the rotating ring.

[0009] Preferably, a movable groove is formed at the bottom of the fixing ring. The movable block is slidably connected with the movable groove. A third spring is arranged inside the movable groove. One end of the third spring abuts against the movable block.

[0010] Preferably, a second guiding hole is formed at the outer edge of the rotating ring. The bottom end of the inserting block is inserted into the second guiding hole. A first guiding hole is arranged on one side of the second guiding hole. A fixing rod is slidably connected inside the first guiding hole. The bottom of the fixing rod is fixedly connected with the top of the bottom plate.

[0011] Preferably, a mounting rod is fixedly connected to the middle of one end of the mounting part. A limiting strip is fixedly connected to the outer edge of the mounting rod. The outer surface of the mounting rod is movably sleeved with a movable shell. A positioning groove is formed at the bottom end of the mounting rod, and a inserting hole is formed in the middle of the mounting rod.

[0012] Preferably, one end of the inserting rod is inserted into the middle of the inserting hole. One end of the locking block is inserted into the bottom end of the positioning groove. A notch is formed inside the movable shell. The notch is engaged with the limiting strip. A positioning block is fixedly connected to the inner wall of the movable shell. The positioning block is inserted into the inserting groove.

[0013] Compared with the prior art, the advantages and positive effects of the present utility model are as follows:

[0014] 1. In the present utility model, the cooperation among the mounting rod, the movable ring and the movable shell ensures the stability of the basic structure. Then, during the downward pressing of the outer shell, the second spring is compressed and the inserting rod is pushed to be docked with the inserting hole, further enhancing the stability of the installation. Through the limiting action of the inserting block, loosening or dislocation during the installation process is prevented. In addition, the coordinated action of a plurality of second springs provides the necessary resilience and buffering for the entire installation process, ensuring that the device can still maintain a firm connection when subjected to external forces or vibrations, ensuring the high efficiency and reliability of the installation of the vision calibrator, and making the installation more portable.

[0015] 2. In the present utility model, during the installation process, by rotating the movable shell and the insertion block at the bottom of the outer shell, the rotating ring is driven to rotate. The arc-shaped groove is used to squeeze the locking block, enabling it to slide inside the support plate and dock and fix with the positioning groove, thereby achieving firm fixation of the installation rod. During the locking process, the third spring provides a resilience force to ensure the controlled movement of the movable block and avoid excessive sliding or damage. Due to the reaction force of the first spring on the insertion block, the rotating ring is subject to a certain resistance when rotating, preventing it from rotating randomly, enhancing the stability and controllability of rotation. The guiding design of the overall structure enhances the accuracy and smoothness of installation, ensuring the firmness and durability of the device under high-frequency vibration or complex operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. 6 is an overall three-dimensional structural schematic diagram of an installation structure of a vision calibrator at the end of a stacking robot proposed by the present utility model;

[0017] Figure 2 FIG. 10 is a partial three-dimensional structural schematic diagram of an installation structure of a vision calibrator at the end of a stacking robot proposed by the present utility model;

[0018] Figure 3 FIG. 14 is a three-dimensional structural schematic diagram of a positioning mechanism in an installation structure of a vision calibrator at the end of a stacking robot proposed by the present utility model;

[0019] Figure 4 FIG. 18 is a three-dimensional structural schematic diagram of a locking mechanism in an installation structure of a vision calibrator at the end of a stacking robot proposed by the present utility model;

[0020] Figure 5 FIG. 22 is a partial three-dimensional structural schematic diagram of a locking mechanism in an installation structure of a vision calibrator at the end of a stacking robot proposed by the present utility model;

[0021] Figure 6 FIG. 26 is a three-dimensional structural schematic diagram of a mounting member in an installation structure of a vision calibrator at the end of a stacking robot proposed by the present utility model.

[0022] Legend: 1. Visual calibrator body; 2. Assembly board; 3. Positioning mechanism; 31. Movable ring; 311. Insertion slot; 32. Outer shell; 33. Insertion block; 34. Mounting plate; 35. Support frame; 36. First spring; 37. Limiting rod; 38. Insertion rod; 381. Sphere; 382. Second spring; 4. Mounting part; 41. Movable shell; 42. Mounting rod; 43. Positioning block; 44. Limiting strip; 45. Positioning groove; 46. Insertion hole; 47. Notch; 5. Locking mechanism; 51. Base plate; 52. Rotating ring; 521. First guiding hole; 522. Second guiding hole; 53. Support plate; 531. Fixed rod; 54. Locking block; 55. Fixed ring; 551. Movable groove; 56. Movable block; 57. Third spring; 58. Arc groove. Detailed implementation

[0023] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0024] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed in the following specification.

[0025] Embodiment 1: As Figure 1 - Figure 3 shown, the present invention provides a mounting structure for a visual calibrator at the end of a stacking robot, including a visual calibrator body 1 and an assembly board 2. An installation part 4 is fixedly connected to one side of the visual calibrator body 1, a locking mechanism 5 is installed on one side of the assembly board 2, and a positioning mechanism 3 is installed on one side of the locking mechanism 5;

[0026] The positioning mechanism 3 includes a movable ring 31 and a mounting plate 34. The outer surface of the bottom of the movable ring 31 is fixedly connected with an outer shell 32. The inner edge of the top of the mounting plate 34 is fixedly connected with a support frame 35. An insertion rod 38 is slidably connected inside the support frame 35. One end of the insertion rod 38 is fixedly connected with a sphere 381. A second spring 382 is arranged between the sphere 381 and the support frame 35. The second spring 382 is sleeved on the outer surface of the insertion rod 38. Limiting rods 37 can be fixedly connected to both the bottom of the movable ring 31 and the top of the mounting plate 34. A first spring 36 is sleeved between the two limiting rods 37. The sphere 381 abuts against the inner wall of the outer shell 32. A plurality of insertion slots 311 are opened at the top of the movable ring 31. The bottom of the outer shell 32 is fixedly connected with an insertion block 33.

[0027] Specifically describe the specific settings and functions of this embodiment below. During the installation of the vision calibrator, first insert the installation rod 42 into the inner cavity of the movable ring 31, so that the installation rod 42 is firmly fitted with the movable ring 31. At the same time, insert the movable shell 41 into the insertion slot 311, so that a reliable connection is formed between the movable shell 41 and the movable ring 31. The purpose of this step is to ensure that the movable ring 31 and the movable shell 41 can form an integral structure for coordinated movement in subsequent operations.

[0028] When the bottom end of the installation rod 42 contacts the bottom plate 51, the movable shell 41 will be manually or automatically pushed. During this process, the inner positioning block 43 of the movable shell 41 is inserted into the insertion slot 311 to ensure its accurate positioning and fixation. Then, when the movable shell 41 can slide freely relative to the installation rod 42, the sliding of the movable shell 41 will further squeeze the movable ring 31, causing the movable ring 31 to start moving downward.

[0029] During the downward movement of the movable ring 31, the outer shell 32 moves accordingly and starts to apply a force to the sphere 381. This force gradually compresses the second spring 382 and at the same time pushes the insertion rod 38 outward. When the outer shell 32 continues to press down and applies forces to the four spheres 381 simultaneously, these four insertion rods 38 will gradually align with the insertion holes 46 and complete the insertion. Through this operation, not only can the installation of the vision calibrator be completed quickly, but also the stability during the installation process can be ensured, avoiding loosening or misalignment.

[0030] When the outer shell 32 moves downward, it will further squeeze the first spring 36, compressing it and providing reserve energy for subsequent rebound. At the same time, the downward movement of the outer shell 32 will cause the insertion block 33 to pass through the second guiding hole 522 to ensure the smooth passage of the insertion block 33. After the insertion block 33 passes through the guiding hole, the movable shell 41 needs to be rotated to limit the bottom end of the insertion block 33 by using the rotating ring 52. This limiting action can prevent the outer shell 32 from moving again, thus maintaining the stable insertion state between the insertion rod 38 and the insertion hole 46.

[0031] It not only improves the installation efficiency, but also ensures the stability and firmness in the installation of high-precision equipment through the coordination of multiple springs and limiting structures. Each step in this process supports the rapid and stable installation of the vision calibrator, effectively avoiding loosening or misalignment caused by equipment vibration or external forces and ensuring the reliable operation of the equipment.

[0032] Embodiment 2: As Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 6As shown, the locking mechanism 5 includes a bottom plate 51 and a fixing ring 55. A support plate 53 is fixedly connected to the center of the top of the bottom plate 51. The top of the fixing ring 55 is fixedly connected to the bottom of the mounting plate 34, and the bottom of the fixing ring 55 is fixedly connected to the support plate 53. A plurality of locking blocks 54 are slidably connected to the inside of the support plate 53. One end of the locking block 54 is fixedly connected to a movable block 56 at the top. A rotating ring 52 is rotatably connected to the top end of the bottom plate 51. An arc-shaped groove 58 is formed inside the rotating ring 52. A movable groove 551 is formed at the bottom of the fixing ring 55. The movable block 56 is slidably connected to the movable groove 551. A third spring 57 is arranged inside the movable groove 551. One end of the third spring 57 abuts against the movable block 56. A second guiding hole 522 is formed on the outer edge of the rotating ring 52. The bottom end of the inserting block 33 is inserted into the second guiding hole 522. A first guiding hole 521 is arranged on one side of the second guiding hole 522. A fixing rod 531 is slidably connected to the inside of the first guiding hole 521. The bottom of the fixing rod 531 is fixedly connected to the top of the bottom plate 51. One end of the middle part of the mounting member 4 is fixedly connected to a mounting rod 42. A limiting strip 44 is fixedly connected to the outer edge of the mounting rod 42. The outer surface of the mounting rod 42 is movably sleeved with a movable shell 41. A positioning groove 45 is formed at the bottom end of the mounting rod 42. An inserting hole 46 is formed in the middle of the mounting rod 42. One end of the inserting rod 38 is inserted into the middle of the inserting hole 46. One end of the locking block 54 is inserted into the bottom end of the positioning groove 45. A notch 47 is formed inside the movable shell 41. The notch 47 is engaged with the limiting strip 44. A positioning block 43 is fixedly connected to the inner wall of the movable shell 41. The positioning block 43 is inserted into the inserting groove 311.

[0033] The effect achieved by the entire embodiment is that during the installation process, when the bottom end of the mounting rod 42 is inserted into the inside of the support plate 53, then by rotating the movable shell 41, the inserting block 33 at the bottom end of the outer shell 32 will drive the rotating ring 52 to rotate together. At this time, the rotation of the rotating ring 52 generates a squeezing force on the locking block 54 through the arc-shaped groove 58, causing the locking block 54 to start sliding inside the support plate 53. The sliding process of the locking block 54 drives the movable block 56 to move synchronously in the movable groove 551, ensuring the coordinated operation of each component.

[0034] As the locking block 54 gradually slides, it will gradually be inserted into and docked with the positioning groove 45. This process effectively fixes the mounting rod 42, increasing the firmness and stability of the entire structure. Through this step-by-step locking and inserting process, not only is the firm installation of the vision calibrator ensured, but also the possibility of the equipment loosening or shifting after installation is reduced, especially in the case of high-frequency vibration or complex operating environments.

[0035] While the locking block 54 slides, the movable block 56 also moves inside the movable slot 551 and simultaneously compresses the third spring 57. The presence of the third spring 57 provides additional resilience, ensuring the controlled movement of the movable block 56 during the locking process and preventing excessive sliding or displacement due to excessive external force. In addition, the buffering effect of the third spring 57 plays a role in regulating the force during the entire insertion and locking process, avoiding damage or errors caused by uneven operating force. The frictional force generated when the movable block 56 moves in the movable slot 551 provides damping for the movement of the third spring 57, preventing the third spring 57 from continuously stretching or shaking.

[0036] However, during the rotation of the movable housing 41, the presence of the first spring 36 will exert an additional reaction force on the insertion block 33, causing the bottom end of the insertion block 33 to abut against the rotating ring 52. The force generated by this contact will cause a certain resistance when the rotating ring 52 rotates, and the frictional force between the rotating ring 52 and the insertion block 33 also increases accordingly. This frictional force plays a restrictive role and can effectively prevent the rotating ring 52 from rotating randomly without control, ensuring the stability and controllability of the rotation.

[0037] In addition, during the rotation of the rotating ring 52, relative sliding will occur between the first guide hole 521 and the fixed rod 531. This relative sliding further enhances the smoothness of the rotation process, ensuring that the rotation does not deviate from the track or become stuck. Through the design of this guiding structure, not only the accuracy during rotation is improved, but also the external force applied can be effectively dispersed, reducing the wear on components and thus extending the service life of the device.

[0038] Usage method and working principle of this device: During installation, first insert the installation rod 42 into the movable ring 31, and insert the movable housing 41 into the insertion slot 311 to smoothly combine the movable ring 31 and the movable housing 41. When the bottom end of the installation rod 42 abuts against the bottom plate 51, push the movable housing 41 so that the positioning block 43 inside it is docked with the insertion slot 311 to ensure firm installation. Then, when the movable housing 41 can slide along the installation rod 42, the movable housing 41 will squeeze the movable ring 31, causing it to start moving downward. During this process, the outer housing 32 will exert a force on the sphere 381, gradually compressing the second spring 382. At this time, the second spring 382 is compressed, which is convenient for pushing the sphere 381 to move in the reverse direction during subsequent disassembly, thereby driving the movement of the insertion rod 38. As the outer housing 32 moves, the four spheres 381 are synchronously stressed, and the insertion rod 38 gradually docks with the insertion hole 46 to complete the installation. This design can not only achieve rapid installation but also ensure the stability during installation. At the same time, the movement of the outer housing 32 will compress the first spring 36, causing the first spring 36 to store energy and provide elastic support for subsequent operations.

[0039] When the outer shell 32 moves downward, the plugging block 33 will pass through the second guiding hole 522, and then the movable shell 41 is rotated so that the bottom end of the plugging block 33 is limited by the rotating ring 52, thereby preventing the outer shell 32 from continuing to move and maintaining the stable connection state between the plugging rod 38 and the plugging hole 46.

[0040] During disassembly, the positioning block 43 is rotated in the reverse direction to release the extrusion on the movable shell 41. The first spring 36 will use its elastic force to push the movable ring 31 upward and quickly push the outer shell 32 back to its original position, facilitating the start of disassembly and separation, thereby gradually reducing the compressive force of the outer shell 32 on the sphere 381. Under the elastic action of the second spring 382, the sphere 381 drives the plugging rod 38 to gradually withdraw from the plugging hole 46, realizing the quick disassembly of the visual calibrator body 1.

[0041] After the bottom end of the mounting rod 42 is inserted into the inner side of the support plate 53, the movable shell 41 is rotated, and the outer shell 32 drives the rotating ring 52 to rotate together through the plugging block 33 at the bottom end. During this process, the rotation of the rotating ring 52 generates an extrusion force on the locking block 54 through the arc-shaped groove 58, causing the locking block 54 to slide on the inner side of the support plate 53 and driving the movable block 56 to move in the movable groove 551 at the same time. Finally, the locking block 54 is gradually inserted into the positioning groove 45 to further fix the mounting rod 42 and enhance the firmness of the installation. During the plugging process, while the movable block 56 slides in the movable groove 551, it also squeezes the third spring 57 to provide a buffering force for the plugging.

[0042] However, during the rotation process, due to the presence of the first spring 36, the bottom end of the plugging block 33 will abut against the rotating ring 52, causing the rotating ring 52 to be subjected to the acting force of the plugging block 33, increasing the friction force between the two, thereby preventing the rotating ring 52 from rotating randomly. In addition, when the rotating ring 52 rotates, the relative sliding between the first guiding hole 521 and the fixed rod 531 also helps to ensure the smoothness and stability of the rotation process.

[0043] The above are only the preferred embodiments of the present invention, and are not limitations to the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An installation structure of a vision calibrator at the end of a stacking robot, comprising a vision calibrator body (1) and an assembly plate (2). One side of the vision calibrator body (1) is fixedly connected with a mounting member (4), and it is characterized in that: A locking mechanism (5) is installed on one side of the assembly board (2), and a positioning mechanism (3) is installed on one side of the locking mechanism (5). The positioning mechanism (3) includes a movable ring (31) and a mounting plate (34). The outer surface of the bottom of the movable ring (31) is fixedly connected with a housing (32). The inner edge of the top of the mounting plate (34) is fixedly connected with a support frame (35). A plugging rod (38) is slidably connected inside the support frame (35). One end of the plugging rod (38) is fixedly connected with a sphere (381). A second spring (382) is arranged between the sphere (381) and the support frame (35). The second spring (382) is sleeved on the outer surface of the plugging rod (38). Limiting rods (37) can be fixedly connected to both the bottom of the movable ring (31) and the top of the mounting plate (34). A first spring (36) is sleeved between the two limiting rods (37). The sphere (381) abuts against the inner wall of the housing (32). A plurality of plugging slots (311) are opened at the top of the movable ring (31). A plugging block (33) is fixedly connected to the bottom of the housing (32).

2. The installation structure of the vision calibrator at the end of a stacking robot according to claim 1, characterized in that: The locking mechanism (5) includes a bottom plate (51) and a fixed ring (55). The center of the top of the bottom plate (51) is fixedly connected with a support plate (53). The top of the fixed ring (55) is fixedly connected with the bottom of the mounting plate (34), and the bottom of the fixed ring (55) is fixedly connected with the support plate (53).

3. The mounting structure of the vision calibrator at the end of a stacking robot according to claim 2, characterized in that: A plurality of locking blocks (54) are slidably connected inside the support plate (53). One end of the top of the locking block (54) is fixedly connected with a movable block (56). A rotating ring (52) is rotatably connected to the top end of the bottom plate (51). An arc-shaped groove (58) is opened inside the rotating ring (52).

4. The mounting structure of the vision calibrator at the end of a stacking robot according to claim 3, characterized in that: A movable groove (551) is opened at the bottom of the fixed ring (55). The movable block (56) is slidably connected with the movable groove (551). A third spring (57) is arranged inside the movable groove (551). One end of the third spring (57) abuts against the movable block (56).

5. The mounting structure of the vision calibrator at the end of a stacking robot according to claim 4, characterized in that: A second guiding hole (522) is opened at the outer edge of the rotating ring (52). The bottom end of the plugging block (33) is plugged into the second guiding hole (522). A first guiding hole (521) is arranged on one side of the second guiding hole (522). A fixing rod (531) is slidably connected inside the first guiding hole (521). The bottom of the fixing rod (531) is fixedly connected with the top of the bottom plate (51).

6. The mounting structure of the vision calibrator at the end of a stacking robot according to claim 1, characterized in that: One end of the middle part of the mounting part (4) is fixedly connected with a mounting rod (42). A limiting strip (44) is fixedly connected to the outer edge of the mounting rod (42). A movable shell (41) is movably sleeved on the outer surface of the mounting rod (42). A positioning groove (45) is opened at the bottom end of the mounting rod (42), and a plugging hole (46) is opened in the middle of the mounting rod (42).

7. The mounting structure of the vision calibrator at the end of a stacking robot according to claim 6, characterized in that: The middle part of the insertion hole (46) is inserted into one end of the insertion rod (38), the bottom end of the positioning groove (45) is inserted into one end of the locking block (54), a notch (47) is formed inside the movable shell (41), the notch (47) is engaged with the limiting strip (44), a positioning block (43) is fixedly connected to the inner wall of the movable shell (41), and the positioning block (43) is inserted into the insertion slot (311).

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