Manipulator visual guidance positioning device

Abstract

The utility model discloses a visual guidance positioning device for a manipulator, and relates to the technical field of robots. The mechanical arm comprises a mechanical arm body and a visual sensor arranged on one side of the upper portion of the mechanical arm body. The adjusting structure comprises a mounting frame, a sleeve fixedly arranged on one side of the lower end of the mounting frame, and a sleeve seat sleeving the outer side of the lower end of the mounting frame; provided is an anti-collision structure. Comprising a protective plate sleeving the outer side of a sleeve, a mounting cylinder fixedly arranged on the inner wall of the protective plate, a sealing ring mounted on the inner wall of the mounting cylinder in an embedded mode, a plug rod fixedly arranged on the outer wall of the sleeve and slidably inserted into the sealing ring, and a piston located at one end of the plug rod and slidably mounted in the mounting cylinder. The first one-way valve and the second one-way valve are located in the piston and are opposite in flowing direction, and the two ends of the outer side of the installation cylinder are sleeved with the springs respectively connected with the protection plate and the inner wall of the sleeve. Through the arrangement of the anti-collision structure, the problems that the visual sensor is not provided with an effective protection structure when being collided and is easy to damage, and the production of the manipulator is influenced are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a vision-guided positioning device for a manipulator. Background Art

[0002] In the field of robotics, vision-guided systems utilize technologies such as cameras, sensors, and image processing algorithms to enable robots to autonomously locate, navigate, and manipulate target objects through visual information. Cameras or visual sensors capture images or videos of the surrounding environment and convert them into digital signals. Algorithms are used to perform image analysis, edge detection, object recognition, etc. to identify the target position, shape, and features.

[0003] A Chinese patent discloses an industrial robot vision sensor measurement device (authorization publication number CN115847492B). This patented technology includes a measuring base, a base vision sensor, a mounting bracket, a control base, a camera, a robotic arm, a horizontal vision sensor, and a vertical vision sensor. The present invention utilizes multiple data sensors: a base vision sensor mounted on the measuring base; a horizontal vision sensor mounted on the horizontal measuring end of the robotic arm; and a vertical vision sensor mounted on the vertical measuring end of the robotic arm. The base vision sensor, camera, robotic arm, horizontal vision sensor, and vertical vision sensor are all communicatively connected to a measurement control module within the control base. Multiple sets of horizontal vision sensors are used to measure the horizontal distance of the target to be measured, while vertical vision sensors are used to measure the target to be measured. By aggregating multiple data, target measurement can be completed in various industrial environments, improving measurement accuracy and automation.

[0004] This patented technology achieves high-precision measurement through multiple sets of horizontal vision sensors during use. However, there are still some shortcomings during use. During cargo transportation and workers' production, there are cases where objects collide with equipment. If the impact hits the vision sensor, it is easy to be damaged because the vision sensor has no effective protective structure. Then, the vision-guided positioning needs to be re-paired, which seriously affects the production of the manipulator. Therefore, those skilled in the art provide a manipulator vision-guided positioning device to solve the problems raised in the above background technology. Utility Model Content

[0005] 1. Technical solution

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The utility model is a manipulator vision-guided positioning device, comprising:

[0008] The robot body, including a vision sensor on one side above the robot body;

[0009] The adjustment structure includes a mounting frame, a sleeve fixed to one side of the lower end of the mounting frame, and a sleeve seat sleeved on the outer side of the lower end of the mounting frame;

[0010] The anti-collision structure includes a protective plate sleeved on the outer side of the sleeve and distributed in an annular array, a mounting tube fixed on the inner wall of the protective plate, a sealing ring mounted on the inner wall of the mounting tube, a plug rod fixed on the outer wall of the sleeve and slidably inserted into the interior of the sealing ring, a piston located at one end of the plug rod and slidably mounted inside the mounting tube, a one-way valve 1 and a one-way valve 2 located inside the piston and with opposite flow directions, and a spring sleeved on both ends of the outer side of the mounting tube and connected to the protective plate and the inner wall of the sleeve respectively;

[0011] as well as;

[0012] The mounting structure includes a side ring sleeved on the outer wall of the visual sensor and a support ring fixed on the inner wall of the sleeve.

[0013] Furthermore, symmetrically distributed sliding grooves are provided inside both ends of the sleeve, and sliders are provided on both sides of the lower end of the mounting frame and are slidably installed inside the sliding grooves;

[0014] Specifically, the mounting frame slides in the sliding groove via the slider, thereby providing longitudinal sliding guidance for the longitudinally moving mounting frame.

[0015] Furthermore, a bearing seat is rotatably mounted on one end of the sleeve, a screw is rotatably mounted inside the bearing seat, and a rotating rod distributed in a ring array is sleeved on the outer wall of the screw. A connecting frame is provided at one end of the mounting frame, and a screw hole is opened inside the connecting frame for threaded mounting with the screw.

[0016] Specifically, the bearing seat rotatably supports the screw rod, and the rotational force is applied to the screw rod by grasping the rotating rod.

[0017] Furthermore, the support ring is provided with positioning holes distributed in a circular array, and the lower end of the side ring is provided with positioning posts distributed in a circular array and slidably inserted into the positioning holes;

[0018] Specifically, the side ring is inserted into the positioning hole through the positioning column to perform positioning before installation.

[0019] Furthermore, the inner walls on both sides of the sleeve are provided with symmetrically distributed rotating seats, a rotating shaft is rotatably installed inside the rotating seat, a pressure block is provided at one end of the rotating shaft, and a torsion spring is sleeved on the outer side of the rotating shaft, with both ends connected to the pressure block and the inner wall of the sleeve respectively;

[0020] Specifically, the torsional elasticity of the torsion spring acts on the rotating shaft through the pressing block, and the pressing block elastically presses the side ring.

[0021] Furthermore, the side ring is provided with symmetrically distributed card slots, the lower end of the pressing block is provided with a card block that is slidably inserted into the card slot, and one end of the pressing block is provided with a pull rod;

[0022] Specifically, after the clamping block is clamped into the inside of the clamping slot, the side ring is pressed and held to provide a clamping and fixing effect.

[0023] 2. Beneficial effects

[0024] Compared with the prior art, the advantages of the present invention are:

[0025] The utility model installs a visual sensor above the manipulator to capture images or videos of the surrounding environment and convert them into digital signals for processing. When the outer side is hit by an object, it is buffered by the protective plates distributed in a ring array on the outer side and elastically supported. At the same time, the piston squeezes the hydraulic oil inside the installation cylinder. When it passes through the one-way valve 1 and the one-way valve 2 with different flow directions, resistance is applied to the piston, and the spring is subjected to a damping effect, thereby achieving the effect of buffering and shock absorption, cushioning the colliding object, and reducing collision losses.

[0026] At the same time, it avoids direct impact on the visual sensor, reduces the probability of re-debugging the robot's visual guidance positioning system, and improves the stability of the robot's production.

[0027] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 This is a schematic diagram of the main three-dimensional structure of the utility model;

[0030] Figure 2 This is a side view schematic diagram of the three-dimensional structure of the utility model;

[0031] Figure 3 This is a schematic side view of the three-dimensional structure of the seat cover of the present invention;

[0032] Figure 4 This is a schematic side view of the three-dimensional structure of the anti-collision structure of the utility model;

[0033] Figure 5 This is a schematic diagram of the three-dimensional structure of the sleeve of the utility model from a top view;

[0034] Figure 6 This is a schematic diagram of the main cross-sectional three-dimensional structure of the sleeve of the present invention;

[0035] Figure 7 This is a schematic diagram of the main sectional three-dimensional structure of the installation tube of the present invention.

[0036] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0037] 100. Robot body; 101. Vision sensor;

[0038] 200, adjustment structure; 201, mounting frame; 202, slider; 203, connecting frame; 204, slideway; 205, screw; 206, screw hole; 207, bearing seat; 208, rotary rod; 209, sleeve;

[0039] 300, mounting structure; 301, sleeve; 302, support ring; 303, rotating seat; 304, torsion spring; 305, rotating shaft; 306, pressure block; 307, pull rod; 308, side ring; 309, slot; 310, block; 311, positioning column; 312, positioning hole;

[0040] 400, anti-collision structure; 401, protective plate; 402, mounting tube; 403, sealing ring; 404, spring; 405, plug rod; 406, piston; 407, one-way valve 1; 408, one-way valve 2. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0043] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0045] Example 1

[0046] See also Figure 1-Figure 7 As shown, this embodiment is a manipulator vision-guided positioning device, comprising:

[0047] The robot body 100 includes a visual sensor 101 on one side above the robot body 100;

[0048] The adjustment structure 200 includes a mounting frame 201, a sleeve 301 fixed to one side of the lower end of the mounting frame 201, and a sleeve 209 sleeved on the outer side of the lower end of the mounting frame 201;

[0049] The anti-collision structure 400 includes a protective plate 401 arranged in an annular array and sleeved on the outside of the sleeve 301; a mounting tube 402 fixed to the inner wall of the protective plate 401; a sealing ring 403 mounted on the inner wall of the mounting tube 402; a plug rod 405 fixed to the outer wall of the sleeve 301 and slidably inserted into the interior of the sealing ring 403; a piston 406 located at one end of the plug rod 405 and slidably mounted inside the mounting tube 402; a first check valve 407 and a second check valve 408 located inside the piston 406 and with opposite flow directions; and a spring 404 sleeved on the outside of the mounting tube 402, with both ends connected to the protective plate 401 and the inner wall of the sleeve 301, respectively.

[0050] Symmetrically distributed sliding grooves 204 are provided at both ends of the sleeve 209, and sliders 202 are provided on both sides of the lower end of the mounting frame 201 and are slidably mounted in the sliding grooves 204;

[0051] A bearing seat 207 is rotatably mounted on one end of the sleeve 209, and a screw rod 205 is rotatably mounted inside the bearing seat 207. The outer wall of the screw rod 205 is sleeved with rotating rods 208 distributed in a circular array. A connecting frame 203 is provided at one end of the mounting frame 201, and a screw hole 206 is provided inside the connecting frame 203 for threaded mounting with the screw rod 205.

[0052] The support ring 302 is provided with positioning holes 312 distributed in an annular array inside, and the lower end of the side ring 308 is provided with positioning posts 311 distributed in an annular array and slidably inserted into the positioning holes 312;

[0053] Using the anti-collision structure 400 and the adjustment structure 200;

[0054] The visual sensor 101 captures images or videos of the surrounding environment and uses algorithms to perform image analysis, edge detection, object recognition, etc. to identify the target position, shape, and features. At the same time, the control system is responsible for receiving and processing the sensor data, and then guiding the movement of the manipulator body 100 according to a pre-set program or algorithm, thereby achieving precise positioning and navigation. The positioning device is the end effector of the manipulator, and accurately locates the relative position with the target object through information provided by the system to facilitate the operation of the manipulator;

[0055] When an object hits the visual sensor 101, it directly acts on the protective plate 401. The protective plate 401 contracts due to the elastic force of the spring 404 to buffer the impact force. At the same time, the protective plate 401 drives the mounting cylinder 402 to move, thereby causing the piston 406 to squeeze the hydraulic oil inside the mounting cylinder 402. When the hydraulic oil passes through the one-way valve 1 407 or the one-way valve 2 408, due to the small valve hole, resistance is applied to the piston 406. The spring 404 is applied with a damping force during its expansion and contraction, which buffers the impact force and plays a role in shock absorption and collision prevention. It reduces the need to re-pair the visual sensor 101 when the visual sensor 101 is offset or damaged by the impact, thereby providing protection for the production of the manipulator body 100.

[0056] When the visual sensor 101 is in use, the gripping rotary rod 208 drives the screw 205 to rotate. Since the mounting frame 201 slides inside the slide groove 204 through the slider 202, the mounting frame 201 is guided by longitudinal sliding. When the screw 205 squeezes the internal thread raceway of the screw hole 206, it pushes the connecting frame 203 to move longitudinally, thereby driving the mounting frame 201 to move longitudinally, and adjusting the height of the visual sensor 101 to meet the needs of possible adjustments in production.

[0057] Example 2

[0058] See also Figure 1-Figure 7 As shown, this embodiment is based on embodiment 1 and also includes:

[0059] as well as;

[0060] The mounting structure 300 includes a side ring 308 sleeved on the outer wall of the visual sensor 101 and a support ring 302 fixed on the inner wall of the sleeve 301;

[0061] The inner walls of both sides of the sleeve 301 are provided with symmetrically distributed rotating seats 303, and a rotating shaft 305 is rotatably installed inside the rotating seat 303. A pressure block 306 is provided at one end of the rotating shaft 305. A torsion spring 304 is sleeved on the outer side of the rotating shaft 305, and its two ends are respectively connected to the pressure block 306 and the inner wall of the sleeve 301;

[0062] Symmetrically distributed slots 309 are provided inside the side ring 308. A block 310 is provided at the lower end of the pressing block 306 and is slidably inserted into the slots 309. A pull rod 307 is provided at one end of the pressing block 306.

[0063] Performing use of the mounting structure 300;

[0064] The visual sensor 101 is installed on the inner wall of the sleeve 301 through the side ring 308. During installation, the gripping rod 307 lifts the pressure block 306 and rotates it around the rotating shaft 305. During rotation, a torsional force is applied to the torsion spring 304. The positioning column 311 is inserted into the positioning hole 312 to install and position the side ring 308. Then the pull rod 307 is relaxed and the torsional elastic support of the pressure block 306 by the torsion spring 304 pushes the pressure block 306 rotating around the rotating shaft 305 to reset. The pressure block 306 drives the card block 310 to be inserted into the card slot 309, thereby pressing the side ring 308. The visual sensor 101 is fixed in the sleeve 301. Because it is fixed by the elastic member, disassembly and assembly are relatively convenient, which is convenient for subsequent maintenance of the visual sensor 101.

[0065] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0066] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A vision-guided positioning device for a manipulator, characterized in that: include, A manipulator body (100), including a visual sensor (101) on one side above the manipulator body (100); The adjustment structure (200) includes a mounting frame (201), a sleeve (301) fixed to one side of the lower end of the mounting frame (201), and a sleeve (209) sleeved on the outer side of the lower end of the mounting frame (201); The anti-collision structure (400) comprises a protective plate (401) sleeved on the outer side of the sleeve (301) and distributed in an annular array, a mounting tube (402) fixed on the inner wall of the protective plate (401), a sealing ring (403) mounted on the inner wall of the mounting tube (402), a plug rod (405) fixed on the outer wall of the sleeve (301) and slidably inserted into the interior of the sealing ring (403), a piston (406) located at one end of the plug rod (405) and slidably mounted inside the mounting tube (402), a one-way valve (407) and a one-way valve (408) located inside the piston (406) and having opposite flow directions, and a spring (404) sleeved on the outer side of the mounting tube (402) and connected to the protective plate (401) and the inner wall of the sleeve (301) at both ends respectively; as well as; The mounting structure (300) comprises a side ring (308) sleeved on the outer wall of the visual sensor (101) and a support ring (302) fixed on the inner wall of the sleeve (301).

2. A vision-guided positioning device for a manipulator according to claim 1, characterized in that: Both ends of the sleeve (209) are provided with symmetrically distributed sliding grooves (204), and both sides of the lower end of the mounting frame (201) are provided with sliders (202) slidably installed in the sliding grooves (204).

3. The vision-guided positioning device for a manipulator according to claim 1, characterized in that: A bearing seat (207) is rotatably mounted on one end of the sleeve (209), a screw rod (205) is rotatably mounted inside the bearing seat (207), and a rotating rod (208) distributed in a ring array is sleeved on the outer wall of the screw rod (205). A connecting frame (203) is provided at one end of the mounting frame (201), and a screw hole (206) is provided inside the connecting frame (203) for threaded mounting with the screw rod (205).

4. The vision-guided positioning device for a manipulator according to claim 1, characterized in that: Positioning holes (312) distributed in an annular array are provided inside the support ring (302), and positioning posts (311) distributed in an annular array and slidably inserted into the positioning holes (312) are provided at the lower end of the side ring (308).

5. The vision-guided positioning device for a manipulator according to claim 1, characterized in that: The inner walls on both sides of the sleeve (301) are provided with symmetrically distributed rotating seats (303), a rotating shaft (305) is rotatably installed inside the rotating seat (303), a pressure block (306) is provided at one end of the rotating shaft (305), and a torsion spring (304) is sleeved on the outer side of the rotating shaft (305), with the two ends respectively connected to the pressure block (306) and the inner wall of the sleeve (301).

6. The vision-guided positioning device for a manipulator according to claim 5, characterized in that: The side ring (308) is provided with symmetrically distributed card slots (309), the lower end of the pressing block (306) is provided with a card block (310) that is slidably inserted into the card slot (309), and one end of the pressing block (306) is provided with a pull rod (307).

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