Visual positioning auxiliary mechanism of industrial robot

Abstract

The utility model relates to the technical field of industrial robot visual positioning auxiliary mechanisms, and discloses an industrial robot visual positioning auxiliary mechanism which comprises a mechanical arm, the outer side of the mechanical arm is rotationally connected with a sleeve shell, a rotating mechanism is arranged in the sleeve shell, the outer side of the sleeve shell is fixedly connected with a telescopic mechanism, and the telescopic mechanism is arranged in the sleeve shell. Visual positioning equipment is fixedly connected to the outer side of the telescopic mechanism; and the telescopic mechanism comprises a mounting frame, the mounting frame is fixedly connected to the outer side of the sleeve shell, and a first motor is fixedly connected to the top of the mounting frame. The visual positioning auxiliary mechanism of the industrial robot has the advantages of facilitating rotation of visual positioning equipment, being good in fixing effect and the like, and solves the problems that existing visual positioning auxiliary mechanisms are mostly of fixed installation structures, the angles of the visual positioning mechanisms are mostly invariable, and during visual positioning, the visual positioning auxiliary mechanisms are easily blocked by mechanical arms or goods, goods shelves and the like, so that the visual positioning is inconvenient. And the problem of deviation of a visual positioning angle is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot vision positioning auxiliary mechanism technical field, concretely is a kind of industrial robot vision positioning auxiliary mechanism. BACKGROUND

[0002] Industrial robot is widely used in industrial field multi-joint manipulator or multi-degree-of-freedom machine device, with certain automaticity, can rely on self power source and control ability to realize various industrial processing manufacturing function.Industrial robot is widely used in electronics, logistics, chemical industry and other various industrial fields.

[0003] The existing vision positioning auxiliary mechanism is mostly fixed installation structure, the angle of vision positioning mechanism is mostly invariable, when using vision positioning, it is easy to be blocked by mechanical arm or goods, goods shelf etc., causes the deviation of vision positioning angle, so a kind of industrial robot vision positioning auxiliary mechanism is proposed to solve the above problems. UTILITY MODEL CONTENT

[0004] (One) technical problem solved

[0005] In view of the deficiencies of prior art, the utility model provides a kind of industrial robot vision positioning auxiliary mechanism, with the advantages such as the vision positioning equipment is conveniently rotated, fixed effect is good, solve the problem that the existing vision positioning auxiliary mechanism is mostly fixed installation structure, the angle of vision positioning mechanism is mostly invariable, when using vision positioning, it is easy to be blocked by mechanical arm or goods, goods shelf etc., causes the deviation of vision positioning angle.

[0006] (Two) technical scheme

[0007] The technical scheme that the utility model solves above technical problem is as follows: a kind of industrial robot vision positioning auxiliary mechanism, including mechanical arm, the outside of the mechanical arm is rotatably connected with shell, the inside of the shell is provided with rotating mechanism, the outside of the shell is fixedly connected with telescopic mechanism, the outside of the telescopic mechanism is fixedly connected with vision positioning equipment;

[0008] The telescopic mechanism includes mounting bracket, the mounting bracket is fixedly connected in the outside of shell, the top of the mounting bracket is fixedly connected with first motor, the output of the first motor is fixedly connected with screw rod rotatably connected with mounting bracket interior, the outside of the screw rod is fixedly connected with internal thread plate, the left side of the internal thread plate is fixedly connected with slide plate, the left side of the slide plate is fixedly connected with the right side of vision positioning equipment.

[0009] The utility model discloses beneficial effect is: through the rotation mechanism drive sleeve shell rotates on the outside of mechanical arm, thereby through sleeve shell drive telescopic mechanism and visual positioning equipment rotate and adjust the observation angle of visual positioning equipment, and through telescopic mechanism adjustment visual positioning equipment's observation distance makes it more close to goods makes it good visual positioning.

[0010] This industrial robot visual positioning auxiliary mechanism has the advantages of convenient rotation of the visual positioning equipment and good fixing effect.

[0011] On the basis of the above technical scheme, the utility model further can make the following improvement.

[0012] Further, the mechanical arm is a clamping part of an industrial robot, and the outside of the mechanical arm is provided with two positioning grooves matched with the sleeve shell.

[0013] The beneficial effect of the above further scheme is that the preset positioning grooves facilitate the embedding and limiting of the rollers.

[0014] Further, the sleeve shell is sleeved on the outside of the mechanical arm, and the inside of the sleeve shell is rotatably connected with the right side of the mounting frame a plurality of rollers matched with the positioning grooves.

[0015] The beneficial effect of the above further scheme is that the rollers can limit the up-down displacement of the sleeve shell, and can also convert sliding friction into rolling friction, reduce friction, and improve service life.

[0016] Further, the rotation mechanism comprises a second motor, the output end of the second motor is fixedly connected with a transmission gear extending to the inside of the sleeve shell, the outside of the transmission gear is engaged with a rotating gear rotatably connected with the inside of the sleeve shell, and the outside of the rotating gear is engaged with a transmission gear ring fixedly connected with the outside of the mechanical arm.

[0017] The beneficial effect of the above further scheme is that the gear transmission has accurate transmission ratio and is not easy to slip.

[0018] Further, the visual positioning equipment is a visual camera, and the visual positioning equipment faces the working end of the mechanical arm.

[0019] The beneficial effect of the above further scheme is that the visual camera has a lens zoom function, and can be matched with the telescopic mechanism to replace the auxiliary mechanical arm mechanical visual positioning aid.

[0020] Further, the left side of the mounting frame is fixedly connected with a T-shaped limiting block, the inside of the sliding plate is provided with a limiting sliding groove matched with the T-shaped limiting block, and the bottom of the sliding plate is fixedly connected with an anti-collision rubber column.

[0021] The beneficial effect of adopting the further scheme is that the anti-collision rubber column has the ability of shock absorption and buffering, and can avoid the visual positioning device from being damaged by colliding with the goods. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic view of the utility model;

[0023] Figure 2 It is a front view of the mechanical arm and the sleeve shell connecting structure of the utility model;

[0024] Figure 3 It is an enlarged view of the structure at A of the utility model;

[0025] Figure 4 It is an enlarged view of the structure at B of the utility model.

[0026] In the figure: 1, mechanical arm; 2, sleeve shell; 3, rotating mechanism; 301, second motor; 302, transmission gear; 303, rotating gear; 304, transmission gear ring; 4, telescopic mechanism; 401, mounting frame; 402, first motor; 403, screw rod; 404, internally threaded plate; 405, sliding plate; 5, visual positioning device; 6, positioning groove; 7, roller; 8, T-shaped limiting block; 9, limiting sliding groove; 10, anti-collision rubber column. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0028] In the embodiments, Figures 1-4 A visual positioning auxiliary mechanism for industrial robot is given, the utility model discloses a mechanical arm 1, the outside rotation of mechanical arm 1 is connected with sleeve shell 2, the inside of sleeve shell 2 is provided with rotating mechanism 3, the outside of sleeve shell 2 is fixedly connected with telescopic mechanism 4, the outside of telescopic mechanism 4 is fixedly connected with visual positioning device 5;

[0029] Telescopic mechanism 4 includes mounting frame 401, mounting frame 401 is fixedly connected on the outside of sleeve shell 2, the top of mounting frame 401 is fixedly connected with first motor 402, the output end of first motor 402 is fixedly connected with screw rod 403 that is rotationally connected with the inside of mounting frame 401, the outside of screw rod 403 is threadedly connected with internally threaded plate 404, the left side of internally threaded plate 404 is fixedly connected with sliding plate 405, and the left side of sliding plate 405 is fixedly connected with the right side of visual positioning device 5.

[0030] The mechanical arm 1 is a clamping part of an industrial robot, and the outer side of the mechanical arm 1 is provided with two positioning grooves 6 matched with the sleeve 2;

[0031] The preset positioning groove 6 facilitates the embedding and limiting of the roller 7;

[0032] The sleeve 2 is sleeved on the outer side of the mechanical arm 1, and the inner side of the sleeve 2 is rotatably connected with a plurality of rollers 7 matched with the positioning grooves 6 on the right side of the mounting frame 401;

[0033] The roller 7 can limit the up-down displacement of the sleeve 2, and can also convert sliding friction into rolling friction, thereby reducing friction and prolonging service life;

[0034] The rotating mechanism 3 comprises a second motor 301, the output end of the second motor 301 is fixedly connected with a transmission gear 302 extending to the inner side of the sleeve 2, the outer side of the transmission gear 302 is engaged with a rotating gear 303 rotatably connected with the sleeve 2, and the outer side of the rotating gear 303 is engaged with a transmission gear ring 304 fixedly connected with the outer side of the mechanical arm 1;

[0035] The gear transmission has accurate transmission ratio and is not easy to slip;

[0036] The visual positioning device 5 is a visual camera, and the visual positioning device 5 faces the working end of the mechanical arm 1;

[0037] The visual camera has a lens zoom function, and can be replaced to assist the mechanical arm 1 in visual positioning with the cooperation of the telescopic mechanism 4;

[0038] The left side of the mounting frame 401 is fixedly connected with a T-shaped limiting block 8, the inner side of the sliding plate 405 is provided with a limiting sliding groove 9 matched with the T-shaped limiting block 8, and the bottom of the sliding plate 405 is fixedly connected with an anti-collision rubber column 10;

[0039] The anti-collision rubber column 10 has the ability of shock absorption and buffering, and can avoid the collision between the visual positioning device 5 and the goods to damage the visual positioning device 5.

[0040] Working principle:

[0041] First step: start the second motor 301, the second motor 301 drives the rotating gear 303 to rotate through the transmission gear 302, the rotating gear 303 drives the sleeve 2 to rotate on the outer side of the mechanical arm 1 through the meshing of the rotating gear 303 and the transmission gear ring 304, and the telescopic mechanism 4 and the visual positioning device 5 connected with the telescopic mechanism 4 can be driven to rotate and adjust the observation and positioning angle when the sleeve 2 rotates;

[0042] The second step: start the first motor 402, the first motor 402 drives the screw rod 403 to rotate, the rotation of the screw rod 403 can drive the inner threaded plate 404 to move up and down, the inner threaded plate 404 can drive the visual positioning device 5 to be closer to the material to carry out visual positioning operation through the sliding plate 405;

[0043] The third step: in the process of rotating the sleeve shell 2, the up and down sliding of the sleeve shell 2 can be limited through the rolling of the rolling shaft 7 in the positioning groove 6, when the sliding plate 405 extends, the shaking of the sliding plate 405 can be controlled through the cooperation of the T-shaped limiting block 8 and the limiting sliding groove 9, and the visual positioning device 5 and the material are prevented from being damaged by excessive impact through the anti-collision rubber column 10.

[0044] It should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Additionally, unless otherwise specified, terms such as "first" and "second" are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0045] Although the embodiments of the present application have been shown and described, it should be understood by those ordinary skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An industrial robot vision positioning auxiliary mechanism, comprising a robotic arm (1), characterized in that: The outer side of the robotic arm (1) is rotatably connected to a housing (2), the housing (2) is provided with a rotating mechanism (3), the outer side of the housing (2) is fixedly connected to a telescopic mechanism (4), and the outer side of the telescopic mechanism (4) is fixedly connected to a visual positioning device (5). The telescopic mechanism (4) includes a mounting frame (401), which is fixedly connected to the outside of the housing (2). A first motor (402) is fixedly connected to the top of the mounting frame (401). A lead screw (403) that is rotatably connected to the inside of the mounting frame (401) is fixedly connected to the output end of the first motor (402). An internal thread plate (404) is threadedly connected to the outside of the lead screw (403). A sliding plate (405) is fixedly connected to the left side of the internal thread plate (404). The left side of the sliding plate (405) is fixedly connected to the right side of the visual positioning device (5).

2. The industrial robot vision positioning auxiliary mechanism according to claim 1, characterized in that: The robotic arm (1) is the gripping part of the industrial robot, and the outer side of the robotic arm (1) has two positioning slots (6) that are adapted to the housing (2).

3. The industrial robot vision positioning auxiliary mechanism according to claim 2, characterized in that: The housing (2) is fitted on the outside of the robotic arm (1), and the inner side of the housing (2) is rotatably connected to the right side of the mounting frame (401) with a number of rollers (7) that are adapted to the positioning groove (6).

4. The industrial robot vision positioning auxiliary mechanism according to claim 1, characterized in that: The rotating mechanism (3) includes a second motor (301), the output end of which is fixedly connected to a transmission gear (302) extending to the inside of the housing (2), the outer side of the transmission gear (302) meshing with a rotating gear (303) rotatably connected to the inside of the housing (2), and the outer side of the rotating gear (303) meshing with a transmission gear ring (304) fixedly connected to the outer side of the robotic arm (1).

5. The industrial robot vision positioning auxiliary mechanism according to claim 1, characterized in that: The visual positioning device (5) is a visual camera, and the visual positioning device (5) faces the working end of the robotic arm (1).

6. The industrial robot vision positioning auxiliary mechanism according to claim 1, characterized in that: A T-shaped limiting block (8) is fixedly connected to the left side of the mounting bracket (401), and a limiting groove (9) adapted to the T-shaped limiting block (8) is opened inside the sliding plate (405). A collision-resistant rubber post (10) is fixedly connected to the bottom of the sliding plate (405).

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