Visual auxiliary positioning device for truss manipulator

Abstract

The utility model discloses a visual auxiliary positioning device for a truss manipulator, and relates to the technical field of positioning devices. The truss manipulator comprises a truss manipulator body, and the truss manipulator body comprises supporting legs and visual sensors located on the two sides of the truss manipulator body; the first adjusting structure comprises a stroke plate, side plates located at the front end and the rear end of the stroke plate, first sliding sleeves installed in the side plates in an embedded mode, inserting rods installed in the first sliding sleeves in a sliding mode, inserting holes formed in the supporting legs, inserting blocks located at one ends of the inserting rods, limiting rings connected to the outer walls of the inserting rods in a sleeving mode, and first springs located between the limiting rings and the side plates. The second adjusting structure comprises a mounting frame, a guide rail fixedly arranged at the upper end of the mounting frame, a pulling plate located below the mounting frame and a second spring fixedly arranged between the pulling plate and the mounting frame. According to the utility model, through the arrangement of the first adjusting structure and the second adjusting structure, the problems of relatively tedious disassembly and assembly and insufficient use flexibility in the adjusting process of the fixedly installed visual sensor are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to positioning device technical field, especially, a kind of visual auxiliary positioning device for truss manipulator. BACKGROUND

[0002] Truss manipulator is a kind of mechanical device with multiple joints and actuator, similar to human arm structure, for realizing accurate grabbing, carrying, assembling etc. in industrial production line or other environment, it is usually composed of support structure (truss), joint, actuator and control system etc., one of the important functions of truss manipulator is accurate positioning target, visual sensor can capture the image of surrounding environment and use corresponding algorithm to identify and locate target object.

[0003] Chinese patent discloses truss manipulator (grant announcement number CN219132309U), the patent technology includes: support frame, the support frame inside slidingly arranged with crossbeam, the upper portion of the crossbeam is fixedly provided with driving assembly, the middle part of the crossbeam is fixedly provided with bearing, the output end of the driving assembly is fixedly sleeved with the inner ring of bearing, and the output end of the driving assembly extends to the lower part of crossbeam. The output end of the driving assembly is fixedly provided with fixed frame, the fixed frame is slidably connected with gripper assembly in the inside, reciprocating assembly is fixedly arranged on the fixed frame, and the reciprocating assembly cooperates with gripper assembly. By setting driving assembly to drive gripper assembly to rotate, and by adjusting reciprocating assembly, the first manipulator and the second manipulator in gripper assembly are completed in the process of rotation Position exchange, so that the first manipulator and the second manipulator can work simultaneously, which significantly improves the working efficiency of truss manipulator.

[0004] The patent technology has the advantage of multiple manipulators working simultaneously when in use, but still has deficiencies in use. The manipulator is positioned by visual sensor, which captures the environment of the fixed area after installation. When different goods are carried, the movement trajectory of the manipulator will change, and the position of the visual sensor needs to be adjusted in time. However, the disassembly and assembly of the fixedly installed visual sensor during adjustment are relatively cumbersome, and the use flexibility is insufficient. Therefore, the technical personnel in the art provide a visual auxiliary positioning device for truss manipulator to solve the problems raised in the above background technology. UTILITY MODEL CONTENT

[0005] 1. Technical solution

[0006] To solve the above technical problems, the utility model is realized by the following technical solutions:

[0007] The utility model is a visual auxiliary positioning device for truss manipulator, which comprises,

[0008] The truss manipulator body comprises support legs fixed at the four corners of the lower end of the truss manipulator body, and visual sensors symmetrically arranged on both sides of the truss manipulator body.

[0009] The adjusting structure one comprises a stroke plate, side plates arranged at the front and rear ends of the stroke plate, a sliding sleeve one embeddedly installed in the side plates, a plug rod slidingly installed in the sliding sleeve one, plug holes equidistantly arranged in the support legs, a plug block arranged at one end of the plug rod and slidingly inserted into the plug holes, a limiting ring sleeved on the outer wall of the plug rod, and a spring one arranged between the limiting ring and the side plates and sleeved on the outer side of the plug rod.

[0010] The adjusting structure two comprises a mounting bracket arranged at one end of the stroke plate, guide rails fixedly arranged at the upper end of the mounting bracket and equidistantly arranged, a sliding sleeve two embeddedly installed in the mounting bracket, a pull plate arranged below the mounting bracket, a positioning rod slidingly inserted into the sliding sleeve two and arranged at the upper end of the pull plate, and a spring two fixedly arranged between the pull plate and the mounting bracket.

[0011] and;

[0012] The cleaning structure comprises a motor fixedly arranged at one end of the mounting bracket, a screw rod arranged at the output end of the motor and installed in the mounting bracket, and a threaded sliding block threadedly sleeved with the screw rod.

[0013] Further, an installation plate is arranged on the outer wall of the visual sensor, and a sliding seat slidingly sleeved with the outer wall of the guide rail is arranged at the lower end of the installation plate.

[0014] Specifically, the installation plate supports the visual sensor, and the sliding seat is slidingly installed with the guide rail.

[0015] Further, a positioning hole is arranged in each of the two ends of the installation plate, and the upper end of the positioning rod is slidingly inserted into the positioning hole.

[0016] Specifically, after the positioning rod is inserted into the positioning hole, the installation plate is positioned, and the sliding seat is positioned.

[0017] Further, a guide sleeve is embeddedly installed in the mounting bracket, and a guide rod is arranged at the upper end of the pull plate and slidingly inserted into the guide sleeve and arranged in the spring two.

[0018] Specifically, during the vertical extension and contraction of the spring two, the guide rod slides in the guide sleeve to limit the extension and contraction of the spring two and prevent the spring two from deviating outward.

[0019] Further, a linear bearing is embeddedly installed in the stroke plate, the linear bearing is slidingly sleeved with the outer wall of the support leg, and a handle is arranged at one end of the plug rod.

[0020] Specifically, the stroke plate is slidingly guided on the outer wall of the support leg through the linear bearing, and the plug rod is easily pulled by gripping the handle.

[0021] Furthermore, a support plate is provided at the upper end of the threaded slider, an air pump is provided at the upper end of the support plate, a slide rail is provided inside the mounting bracket to slide with the threaded slider, and a nozzle corresponding to the detection end of the vision sensor is provided at the output end of the air pump.

[0022] Specifically, the support plate supports the air pump, the stroke plate is slidably supported on the outer wall of the slide rail by a threaded slider, and the airflow output by the air pump is output through the nozzle.

[0023] 2. Beneficial effects

[0024] Compared with existing technologies, the advantages of this utility model are:

[0025] This invention relates to a vision sensor, which is a visual auxiliary positioning device for the gantry robot body. It is installed on both sides of the gantry robot body to capture and position the gantry robot body in its operating environment. During use, the vision sensor can be fixed by elastic elements and can move longitudinally and reciprocally. During the movement, all structural components are fixed by elastic elements, making the vision sensor easy to install and remove. When the gantry robot body needs to handle different goods and the movement trajectory changes, the vision sensor can effectively adapt and make flexible adjustments.

[0026] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a front-view three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a bottom-view three-dimensional structural diagram of the present invention;

[0030] Figure 3 This is a top-view three-dimensional structural diagram of the travel plate of this utility model;

[0031] Figure 4 This is a side view perspective diagram of the side panel of this utility model.

[0032] Figure 5 This is a side-view perspective three-dimensional structural diagram of the threaded slider of this utility model;

[0033] Figure 6 The utility model discloses a guide rail side view three-dimensional structure schematic diagram.

[0034] In the drawings, the component list represented by each sign is as follows:

[0035] 100, truss manipulator body;101, support leg;102, vision sensor;103, positioning hole;104, sliding seat;105, mounting plate;

[0036] 200, adjusting structure one;201, plug rod;202, plug hole;203, stroke plate;204, side plate;205, linear bearing;206, plug block;207, handle;208, limit ring;209, sliding sleeve one;

[0037] 300, adjusting structure two;301, mounting frame;302, pull plate;303, spring two;304, guide rod;305, guide sleeve;306, positioning rod;307, guide rail;308, sliding sleeve two;

[0038] 400, cleaning structure;401, threaded sliding block;402, slide rail;403, screw;404, support plate;405, air pump;406, nozzle;407, motor. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the specific embodiments of the utility model are described in detail below with the help of the drawings.

[0040] In the following description, a lot of specific details are set forth in order to fully understand the utility model, but the utility model can also be implemented in other ways different from the description, and those skilled in the art can make similar generalization without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0041] Secondly, the utility model is described in detail in combination with the schematic diagram, and when the embodiments of the utility model are described in detail, the cross-sectional view of the device structure will be partially enlarged without the general proportion for the convenience of description, and the schematic diagram is only an example, which should not limit the scope of protection of the utility model here. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual production.

[0042] In order to make the purpose, technical scheme and advantages of the utility model more clear, the embodiments of the utility model will be described in further detail below with the help of the drawings.

[0043] Example 1

[0044] Please refer to Figures 1-6 The utility model discloses a kind of visual auxiliary positioning devices used for truss manipulator, including,

[0045] The truss manipulator body 100 comprises support legs 101 fixed at the lower end of the four corners of the truss manipulator body 100, and visual sensors 102 symmetrically arranged at both sides of the truss manipulator body 100.

[0046] The adjusting structure one 200 comprises a stroke plate 203, side plates 204 arranged at the front and rear ends of the stroke plate 203, a sliding sleeve one 209 embeddedly installed in the inside of the side plate 204, an insertion rod 201 slidingly installed in the inside of the sliding sleeve one 209, insertion holes 202 equidistantly arranged in the inside of the support leg 101, an insertion block 206 arranged at one end of the insertion rod 201 and slidingly inserted into the inside of the insertion hole 202, a limiting ring 208 sleeved on the outer wall of the insertion rod 201, and a spring one arranged between the limiting ring 208 and the side plate 204 and sleeved on the outside of the insertion rod 201.

[0047] The adjusting structure two 300 comprises a mounting frame 301 arranged at one end of the stroke plate 203, guide rails 307 fixedly arranged at the upper end of the mounting frame 301 and equidistantly arranged, a sliding sleeve two 308 embeddedly installed in the inside of the mounting frame 301, a pull plate 302 arranged below the mounting frame 301, a positioning rod 306 slidingly inserted into the inside of the sliding sleeve two 308 and arranged at the upper end of the pull plate 302, and a spring two 303 fixedly arranged between the pull plate 302 and the mounting frame 301.

[0048] The outer wall of the visual sensor 102 is provided with a mounting plate 105, and the lower end of the mounting plate 105 is provided with a sliding seat 104 slidingly sleeved on the outer wall of the guide rail 307.

[0049] The inside of both ends of the mounting plate 105 is provided with a positioning hole 103, and the upper end of the positioning rod 306 is slidingly inserted into the inside of the positioning hole 103.

[0050] The inside of the mounting frame 301 is embeddedly installed with a guide sleeve 305, and the upper end of the pull plate 302 is provided with a guide rod 304 slidingly inserted into the inside of the guide sleeve 305 and arranged in the inside of the spring two 303.

[0051] The inside of the stroke plate 203 is embeddedly installed with a linear bearing 205, the linear bearing 205 is slidingly sleeved on the outer wall of the support leg 101, and one end of the insertion rod 201 is provided with a handle 207.

[0052] The adjusting structure one 200 and the adjusting structure two 300 are used.

[0053] In the use of the truss manipulator body 100, the surrounding environment is captured by the visual sensor 102 on both sides, and the target object is identified and positioned using the corresponding algorithm. The visual sensor 102 can also be used to detect obstacles, helping the truss manipulator to avoid obstacles and ensure safe operation. By analyzing real-time image data, the system can accurately control the position, direction and speed of the truss manipulator to achieve accurate grasping or placing of the target.

[0054] In use, the grip handle 207 drives the insertion rod 201 to move, thereby applying a squeezing force to the spring through the limiting ring 208, and moving the insertion block 206 out of the insertion hole 202 through the insertion rod 201. At this time, the travel plate 203 slides on the outer wall of the support leg 101 through the linear bearing 205, and after moving to the specified position, the grip handle 207 is released. The grip handle 207 drives the insertion block 206 to be inserted into the corresponding insertion hole 202 inside through the elastic force of the spring, and the travel plate 203 is clamped and positioned, thereby adjusting the height of the visual sensor 102.

[0055] At the same time, the visual sensor 102 slides on the guide rail 307 at the corresponding position through the sliding seat 104, and then slides the visual sensor 102 to be installed on the mounting bracket 301. Because the visual sensor 102 is fixed on the mounting plate 105, the positioning rod 306 is inserted into the positioning hole 103 through the elastic support, and the mounting plate 105 is fixed. The mounting plate 105 is positioned, and the visual sensor 102 is positioned, and the visual sensor 102 is adjusted in the longitudinal and reciprocating positions. When the truss manipulator body 100 carries different goods and the moving track changes, the visual sensor 102 can be quickly adjusted, and the flexibility of the visual sensor 102 is improved.

[0056] Embodiment 2

[0057] Please refer to Figures 1-6 The embodiment is based on the embodiment 1 and further includes;

[0058] And;

[0059] The cleaning structure 400 includes a motor 407 fixed to one end of the mounting bracket 301, a screw rod 403 installed inside the mounting bracket 301 at the output end of the motor 407, and a threaded slide block 401 threadedly connected with the screw rod 403.

[0060] The threaded slide block 401 is provided with a support plate 404 at the upper end, and the support plate 404 is provided with a gas pump 405 at the upper end. The mounting bracket 301 is provided with a sliding rail 402 slidably connected with the threaded slide block 401, and the gas pump 405 is provided with a nozzle 406 corresponding to the detection end of the visual sensor 102.

[0061] The cleaning structure 400 is used;

[0062] In the process of using the truss manipulator body 100, a large amount of dust is generated in the environment when carrying objects such as cement bags, at this time, the detection end of the visual sensor 102 is covered with a layer of dust in the process of use, which causes the visual sensor 102 to be unable to effectively capture the image of the surrounding environment in the process of use, thereby causing the truss manipulator body 100 to be unable to be effectively positioned in the process of use, at this time, the motor 407 drives the screw rod 403 to rotate, the threaded slide block 401 is pushed by the screw rod 403, and the air pump 405 is driven to move, the air pump 405 delivers high-pressure airflow through the nozzle 406 to the detection end of the visual sensor 102, blows off the dust adhered to the visual sensor 102, realizes automatic cleaning of the visual sensor 102, and further realizes that the visual sensor 102 provides positioning function for the truss manipulator body 100, and guarantees the stability of the use of the visual sensor 102.

[0063] In the description of the present application, it should be further pointed out that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0064] Finally, it should be pointed out that: the above only for the preferred embodiments of the present application, and does not limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vision-assisted positioning device for use with a gantry robot, characterized in that: include, The gantry manipulator body (100) includes support legs (101) fixed at the four corners of the lower end of the gantry manipulator body (100) and vision sensors (102) symmetrically distributed on both sides of the gantry manipulator body (100). Adjustment structure 1 (200) includes a stroke plate (203), side plates (204) located at the front and rear ends of the stroke plate (203), a sliding sleeve 1 (209) embedded in the side plate (204), a plug rod (201) slidably installed in the sliding sleeve 1 (209), insertion holes (202) evenly distributed inside the support leg (101), a plug block (206) located at one end of the plug rod (201) and slidably inserted into the insertion hole (202), a limiting ring (208) sleeved on the outer wall of the plug rod (201), and a spring 1 located between the limiting ring (208) and the side plate (204) and sleeved on the outside of the plug rod (201); Adjustment structure two (300) includes a mounting bracket (301) located at one end of the travel plate (203), guide rails (307) fixed on the upper end of the mounting bracket (301) and evenly distributed, a sliding sleeve two (308) embedded in the mounting bracket (301), a pull plate (302) located below the mounting bracket (301), a positioning rod (306) located on the upper end of the pull plate (302) and slidably inserted into the sliding sleeve two (308), and a spring two (303) fixed between the pull plate (302) and the mounting bracket (301); as well as; The cleaning structure (400) includes a motor (407) fixed at one end of a mounting bracket (301), a screw (403) located at the output end of the motor (407) and installed inside the mounting bracket (301), and a threaded slider (401) threadedly connected to the screw (403).

2. The vision-assisted positioning device for a gantry robot according to claim 1, characterized in that: The visual sensor (102) has an mounting plate (105) on its outer wall, and a slide (104) is provided at the lower end of the mounting plate (105) and is slidably sleeved on the outer wall of the guide rail (307).

3. The vision-assisted positioning device for a gantry robot according to claim 2, characterized in that: The mounting plate (105) has positioning holes (103) inside both ends, and the upper end of the positioning rod (306) is slidably inserted into the positioning hole (103).

4. The vision-assisted positioning device for a gantry robot according to claim 1, characterized in that: Each mounting bracket (301) has a guide sleeve (305) embedded inside, and the upper end of the pull plate (302) is provided with a guide rod (304) located inside the second spring (303) and slidably inserted into the guide sleeve (305).

5. The vision-assisted positioning device for a gantry robot according to claim 1, characterized in that: A linear bearing (205) is embedded inside the travel plate (203), and the linear bearing (205) is slidably sleeved on the outer wall of the support leg (101). A handle (207) is provided at one end of the insertion rod (201).

6. The vision-assisted positioning device for a gantry robot according to claim 1, characterized in that: The threaded slider (401) is provided with a support plate (404) at its upper end, and an air pump (405) is provided at the upper end of the support plate (404). The mounting bracket (301) is provided with a slide rail (402) that is slidably installed with the threaded slider (401). The air pump (405) output end is provided with a nozzle (406) corresponding to the detection end of the vision sensor (102).

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