Industrial robot terminal pose detection device

Abstract

The utility model relates to the technical field of pose detectors, in particular to an industrial robot terminal pose detection device which comprises a base and a shading device, a rod body is arranged on the surface of the base, a laser detector is installed on the surface of the rod body, and the shading device is arranged on the surface of the laser detector and comprises a transverse rod. The cross rod is in sliding connection with the laser detector, the surface of the cross rod is fixedly connected with a circular ring, and one side, close to the laser detector, of the circular ring is fixedly connected with shading cloth. Therefore, the high detection precision is maintained, the pose detection data of the industrial robot is more accurate and reliable, the robot is helped to accurately complete various operation tasks, and errors caused by strong light interference in precise assembly, high-precision welding and other work are reduced.

Description

Technical Field

[0001] This utility model relates to the field of posture detection technology, and in particular to an industrial robot terminal posture detection device. Background Technology

[0002] Industrial robot pose detection devices are key equipment to ensure precise robot operation. Through various laser trackers, they monitor the position and posture information of the robot terminal in real time, providing accurate data for the robot in various tasks such as assembly, welding, and handling, ensuring the precision of the movements, adapting to different working environments, and helping industrial robots to complete various production tasks efficiently and accurately.

[0003] Existing technologies include, for example, the utility model with publication number CN204286357U. This utility model relates to the field of pose detection devices, specifically an industrial robot pose detection device. Its measuring device comprises: two movable supports vertically mounted on either side of a 90° angle track, and a fixed support vertically mounted at the top of the 90° angle track; two CCD cameras are mounted on the movable supports, and three laser rangefinders are placed on the fixed supports; its actuator is a tetrahedron containing a vertically downward fixed rod. The actuator is connected to the industrial robot flange via its conical base. Parallel light sources are laid on its three outer surfaces, and nine target spheres are used. Seven of these are mounted on the actuator as measurement points for the CCD cameras, and two are mounted on the CCD cameras as measurement points for the laser rangefinders. The industrial robot is placed within the visual field of the measuring device. The laser rangefinders are used to detect the camera positions, providing coordinate values ​​for the visual field. Data collected by the cameras and laser rangefinders is imported into a host computer via a data cable for processing, detecting the pose characteristics of the industrial robot.

[0004] However, in strong light environments, such as industrial scenarios with strong direct sunlight or high-power lighting equipment, the additional strong light signal may overlap and confuse with the laser signal emitted and received by the laser detector. The laser detector relies on lasers of specific wavelengths and frequencies to perform pose detection-related measurements. When strong light signals are mixed in, it is difficult for its receiver to accurately distinguish the real laser reflection signal, and it is easy to misjudge the strong light signal as a valid measurement signal, which leads to a large deviation in the measurement data and makes it difficult to accurately reflect the real pose of the industrial robot terminal. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies where, in strong light environments, such as industrial scenarios with strong direct sunlight or high-power lighting equipment, additional strong light signals may overlap and confuse with the laser signals emitted and received by the laser detector. Therefore, this invention proposes an industrial robot terminal posture detection device.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an industrial robot terminal posture detection device, comprising a base and a light-shielding device. A rod is provided on the surface of the base, and a laser detector is mounted on the surface of the rod. The light-shielding device is disposed on the surface of the laser detector and includes a crossbar slidably connected to the laser detector. A ring is fixedly connected to the surface of the crossbar, and a light-shielding cloth is fixedly connected to the side of the ring closest to the laser detector. The side of the light-shielding cloth away from the ring is fixedly connected to the laser detector. A through hole is provided on the surface of the ring. By setting up the light-shielding device, strong external light can be effectively blocked from entering the detection optical path, ensuring that the laser detector receives mainly the effective laser signal emitted by itself and reflected back by the target, thereby maintaining high detection accuracy. This makes the posture detection data of the industrial robot more accurate and reliable, helping the robot to accurately complete various tasks, such as reducing errors caused by strong light interference in precision assembly and high-precision welding.

[0007] Preferably, the surface of the laser detector is fixedly connected to a mounting bracket, and the surface of the mounting bracket is rotatably connected to a hook. By setting the hook, when the light-shielding cloth is unfolded to protect the lens of the laser detector, the ring can be fixed by simply rotating the hook and inserting it into the through hole, thereby achieving stable unfolding and fixing of the light-shielding cloth.

[0008] Preferably, the hook engages with the through hole, and the hook is L-shaped. The through hole provides a clear and convenient insertion position for the hook. When it is necessary to fix the unfolded blackout cloth, simply rotate the hook and insert it into the through hole to quickly fix the ring, thereby making the blackout cloth unfolded and able to effectively block strong light.

[0009] Preferably, there are two crossbars arranged in a mirror-symmetrical manner. By setting the crossbars, they can provide good support when the light-shielding cloth is unfolded. When the ring is pulled to extend and the light-shielding cloth is unfolded, the crossbars extend along with it, just like building a stable skeleton for the light-shielding cloth. This allows the light-shielding cloth to be unfolded flat and stably in front of the laser detector lens, reducing the possibility of the light-shielding cloth sagging or wrinkling due to its own weight or slight external interference. This ensures that the light-shielding cloth can effectively block strong light from the lens and ensures that the laser detector can work in a relatively stable environment without strong light interference.

[0010] Preferably, the surface of the base is provided with a replacement device, which includes an arc-shaped sleeve that is fixedly connected to the base. The surface of the arc-shaped sleeve is provided with a groove, and an insert ring is slidably connected to the inner wall of the groove. By providing a replacement device, when the equipment malfunctions, the rod can be easily pulled out and separated from the base by simply pulling the insert ring away from the auxiliary block. The operation is simple and direct, without the need for complicated tools or cumbersome steps.

[0011] Preferably, an auxiliary block is fixedly connected to the lower surface of the rod, and a hole is opened on the surface of the auxiliary block. The insertion ring is inserted into the auxiliary block. By setting the auxiliary block, the auxiliary block provides a clear positioning reference for the insertion of the rod. When the rod needs to be reinserted into the arc sleeve, the operator can accurately place the rod in place according to the position of the auxiliary block, and at the same time, it is convenient to use the insertion ring to fix the rod.

[0012] Preferably, a pressure spring is fixedly connected to one side of the insertion ring, and the side of the pressure spring away from the insertion ring is fixedly connected to the arc-shaped sleeve. The rod body is inserted into the arc-shaped sleeve. By setting the pressure spring, when the rod body is inserted into the arc-shaped sleeve, the insertion ring is released, the pressure spring loses its restraint and generates elastic force, which squeezes the insertion ring into the auxiliary block to complete the fixation. This fixation method under the action of elastic force can ensure that the connection between the rod body and the base is very firm.

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

[0014] In this invention, by setting up a light-shielding device and a replacement device, when in use, pulling the ring extends the light-shielding cloth, and then rotating the hook to insert it into the through hole to fix the ring. At this time, the light-shielding cloth protects the lens of the laser detector and reduces strong light interference. When not in use, rotating the hook disengages it from the through hole, and then pressing the ring drives the crossbar to reset, thus storing the light-shielding cloth. When the equipment malfunctions, pulling the insert ring disengages it from the auxiliary block, allowing the entire rod to be pulled out and separated from the base. After maintenance, the rod is reinserted into the arc-shaped sleeve, and the insert ring is released. The pressure spring, freed from its restraint, generates elastic force to press the insert ring into the auxiliary block to complete the fixation. By setting up this invention, strong external light can be effectively blocked from entering the detection optical path, ensuring that the laser detector receives mainly the effective laser signal emitted by itself and reflected back by the target, thereby maintaining high detection accuracy. This makes the position detection data of industrial robots more accurate and reliable, helping robots to accurately complete various tasks, such as reducing errors caused by strong light interference in precision assembly and high-precision welding. Attached Figure Description

[0015] Figure 1 This utility model provides a three-dimensional structural schematic diagram of an industrial robot terminal pose detection device;

[0016] Figure 2 This utility model provides a side view structural diagram of an industrial robot terminal pose detection device;

[0017] Figure 3 This utility model provides a schematic diagram of the rod structure of an industrial robot terminal pose detection device;

[0018] Figure 4 This utility model provides a schematic diagram of the light-shielding device structure for an industrial robot terminal pose detection device;

[0019] Figure 5 This utility model presents a schematic diagram of a replacement device for an industrial robot terminal pose detection device.

[0020] Legend: 1. Base; 2. Rod; 3. Laser detector; 4. Light-shielding device; 41. Light-shielding cloth; 42. Ring; 43. Hook; 44. Mounting bracket; 45. Crossbar; 46. Through hole; 5. Replacement device; 51. Arc sleeve; 52. Auxiliary block; 53. Insert ring; 54. Pressure spring. Detailed Implementation

[0021] Please see Figure 1-5 This utility model provides a technical solution: an industrial robot terminal posture detection device, including a base 1 and a light-shielding device 4. A rod 2 is provided on the surface of the base 1, a laser detector 3 is installed on the surface of the rod 2, and the light-shielding device 4 is provided on the surface of the laser detector 3.

[0022] The specific settings and functions of its light-shielding device 4 and replacement device 5 will be explained in detail below.

[0023] In this implementation scheme: the light-shielding device 4 includes a crossbar 45, which is slidably connected to the laser detector 3. A ring 42 is fixedly connected to the surface of the crossbar 45. A light-shielding cloth 41 is fixedly connected to the side of the ring 42 closest to the laser detector 3. The side of the light-shielding cloth 41 away from the ring 42 is fixedly connected to the laser detector 3. A through hole 46 is opened on the surface of the ring 42. By setting the light-shielding device 4, strong external light can be effectively blocked from entering the detection optical path, ensuring that the laser detector 3 mainly receives the effective laser signal emitted by itself and reflected back by the target, thereby maintaining high detection accuracy and making the posture detection data of the industrial robot more accurate and reliable. This helps the robot to accurately complete various tasks, such as reducing errors caused by strong light interference in precision assembly and high-precision welding.

[0024] Specifically, a mounting bracket 44 is fixedly connected to the surface of the laser detector 3, and a hook 43 is rotatably connected to the surface of the mounting bracket 44. By setting the hook 43, when the light-shielding cloth 41 is unfolded to protect the lens of the laser detector 3, the ring 42 can be fixed by simply rotating the hook 43 and inserting it into the through hole 46, thereby achieving stable unfolding and fixing of the light-shielding cloth 41.

[0025] Specifically, the hook 43 engages with the through hole 46. The hook 43 is L-shaped. The through hole 46 provides a clear and convenient insertion position for the hook 43. When it is necessary to fix the unfolded light-blocking cloth 41, simply rotate the hook 43 and insert it into the through hole 46 to quickly fix the ring 42, thereby making the light-blocking cloth 41 unfolded and able to effectively block strong light.

[0026] Specifically, there are two crossbars 45, which are arranged in a mirror-symmetrical manner. By setting the crossbars 45, when the light-shielding cloth 41 is unfolded, the crossbars 45 can play a good supporting role. When the ring 42 is pulled to extend and the light-shielding cloth 41 is unfolded, the crossbars 45 extend along with it, just like building a stable skeleton for the light-shielding cloth 41. This allows the light-shielding cloth 41 to be unfolded flat and stably in front of the lens of the laser detector 3, reducing the possibility of the light-shielding cloth 41 sagging or wrinkling due to its own weight or slight external interference. This ensures that the light-shielding cloth 41 can effectively block strong light from the lens and ensure that the laser detector 3 can work in a relatively stable environment without strong light interference.

[0027] Specifically, a replacement device 5 is provided on the surface of the base 1. The replacement device 5 includes an arc-shaped sleeve 51, which is fixedly connected to the base 1. A groove is provided on the surface of the arc-shaped sleeve 51, and a ring 53 is slidably connected to the inner wall of the groove on the surface of the arc-shaped sleeve 51.

[0028] In this embodiment: by setting the replacement device 5, when the equipment malfunctions, simply pull the plug ring 53 to disengage from the auxiliary block 52, and the rod body 2 can be easily pulled out and separated from the base 1. The operation process is simple and direct, without the need for complicated tools or cumbersome steps.

[0029] Specifically, an auxiliary block 52 is fixedly connected to the lower surface of the rod 2. The surface of the auxiliary block 52 has a hole, and the insert ring 53 is inserted into the auxiliary block 52.

[0030] In this embodiment: By setting an auxiliary block 52, the auxiliary block 52 provides a clear positioning reference for the insertion of the rod 2. When the rod 2 needs to be reinserted into the arc sleeve 51, the operator can accurately place the rod 2 in place according to the position of the auxiliary block 52, and at the same time, it is convenient to use the insertion ring 53 to fix the rod 2.

[0031] Specifically, a pressure spring 54 is fixedly connected to one side of the insertion ring 53, and the side of the pressure spring 54 away from the insertion ring 53 is fixedly connected to the arc-shaped sleeve 51. The rod body 2 is inserted into the arc-shaped sleeve 51.

[0032] In this embodiment: by setting a pressure spring 54, when the rod 2 is inserted into the arc sleeve 51, the insert ring 53 is released, the pressure spring 54 loses its restraint and generates elastic force, which squeezes the insert ring 53 into the auxiliary block 52 to complete the fixation. This fixation method under the action of elastic force can ensure that the connection between the rod 2 and the base 1 is very firm.

[0033] Working principle: By setting up the light-shielding device 4 and the replacement device 5, when in use, pull the ring 42 to extend it and unfold the light-shielding cloth 41. At this time, rotate the hook 43 to insert it into the through hole 46 to fix the ring 42. At this time, the light-shielding cloth 41 protects the lens of the laser detector 3 and reduces strong light interference. When not in use, rotate the hook 43 to disengage from the through hole 46, and then press the ring 42 to drive the crossbar 45 to reset, so that the light-shielding cloth 41 can be stored. When the equipment malfunctions, pull the insertion ring 53 to disengage from the auxiliary block 52, so that the rod body 2 can be pulled out as a whole and separated from the base 1. After the maintenance is completed, the rod body can be reassembled. 2. Insert the ring 51 into the arc-shaped sleeve and release the insertion ring 53. The pressure spring 54 loses its restraint and generates elastic force to squeeze the insertion ring 53 into the auxiliary block 52 to complete the fixation. By setting this utility model, it can effectively block strong external light from entering the detection optical path, ensuring that the laser detector 3 mainly receives the effective laser signal emitted by itself and reflected back by the target, thereby maintaining high detection accuracy and making the posture detection data of the industrial robot more accurate and reliable. This helps the robot to accurately complete various tasks, such as reducing errors caused by strong light interference in precision assembly and high-precision welding.

Claims

1. An industrial robot terminal pose detection device, comprising a base (1) and a light-shielding device (4), characterized in that: A rod (2) is provided on the surface of the base (1), and a laser detector (3) is installed on the surface of the rod (2). A light-shielding device (4) is provided on the surface of the laser detector (3). The light-shielding device (4) includes a crossbar (45), which is slidably connected to the laser detector (3). A ring (42) is fixedly connected to the surface of the crossbar (45). A light-shielding cloth (41) is fixedly connected to the side of the ring (42) close to the laser detector (3). The side of the light-shielding cloth (41) away from the ring (42) is fixedly connected to the laser detector (3). A through hole (46) is opened on the surface of the ring (42).

2. The industrial robot end-effector pose detection device according to claim 1, characterized in that: The surface of the laser detector (3) is fixedly connected to a mounting bracket (44), and the surface of the mounting bracket (44) is rotatably connected to a hook (43).

3. The industrial robot end-effector pose detection device according to claim 2, characterized in that: The hook (43) engages with the through hole (46), and the hook (43) is arranged in an "L" shape.

4. The industrial robot end-effector pose detection device according to claim 1, characterized in that: There are two crossbars (45), and the two crossbars (45) are arranged in a mirror symmetrical manner.

5. The industrial robot end-effector pose detection device according to claim 1, characterized in that: The base (1) is provided with a replacement device (5) on its surface. The replacement device (5) includes an arc-shaped sleeve (51), which is fixedly connected to the base (1). The surface of the arc-shaped sleeve (51) is provided with a groove, and a ring (53) is slidably connected to the inner wall of the groove on the surface of the arc-shaped sleeve (51).

6. The industrial robot end-effector pose detection device according to claim 5, characterized in that: An auxiliary block (52) is fixedly connected to the lower surface of the rod (2). The surface of the auxiliary block (52) has a hole, and the insert ring (53) is inserted into the auxiliary block (52).

7. The industrial robot end-effector pose detection device according to claim 5, characterized in that: A pressure spring (54) is fixedly connected to one side of the insert ring (53), and the side of the pressure spring (54) away from the insert ring (53) is fixedly connected to the arc sleeve (51). The rod body (2) is inserted into the arc sleeve (51).

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