Track real-time tracking device for robot

Abstract

The utility model discloses a real-time track tracking device for a robot, and belongs to the technical field of real-time track tracking devices for robots. A real-time track tracking device for a robot comprises a device body, and the device body comprises a mounting frame; the mounting frame is provided with two mounting parts which are arranged in a mirror image manner in the horizontal direction and are used for mounting workpieces, one of the two mounting parts is provided with image acquisition equipment and a track recording handle, and the other one of the two mounting parts is used for being matched with an execution robot. A pair of mirrored operation stations and an image acquisition station can be provided through the mounting frame, and the two mirrored operation stations can provide a track acquisition station for the track recording handle and provide an operation station for the execution robot. According to the design, an operator can conveniently arrange the real-time track tracking device on an existing assembly line, so that the real-time track tracking device is simple to operate and easy to implement.

Description

Technical Field

[0001] This utility model relates to the technical field of real-time trajectory tracking devices for robots, and more specifically, to a real-time trajectory tracking device for robots. Background Technology

[0002] In current industrial production lines, industrial robots, such as execution robots, are typically used to perform processes like spraying, grinding, and gluing on workpieces. A challenge with this approach is how to pre-program the robot's trajectory to suit the specific properties of the workpiece. Existing technologies allow for manual input of the robot's trajectory using methods such as handheld controllers, enabling the execution robot to track the entered trajectory. Robot trajectory tracking refers to the robot's ability to accurately follow a given path by adjusting its posture and position. In vision-based robot trajectory tracking, trajectory data is typically acquired using a handheld controller and then reproduced by the execution robot. However, existing trajectory tracking devices are generally complex and difficult to integrate into existing production lines. Utility Model Content

[0003] This invention provides a real-time trajectory tracking device for robots, which can overcome some or all of the defects of the prior art.

[0004] According to the present invention, a real-time trajectory tracking device for a robot includes a device body, the device body including a mounting frame; the mounting frame has two mounting parts arranged in a horizontal direction and both used for mounting workpieces, one of the two mounting parts is provided with an image acquisition device and a trajectory recording handle, and the other of the two mounting parts is used to cooperate with an execution robot; wherein, the trajectory recording handle is used to acquire a preset trajectory based on the workpiece at the corresponding mounting part, and the preset trajectory is used to send to the execution robot.

[0005] The real-time trajectory tracking device for robots disclosed herein provides a pair of mirrored operating stations (i.e., two mounting parts) and an image acquisition station (i.e., an image acquisition device) via a mounting bracket. The two mirrored operating stations can respectively provide a trajectory acquisition station to the trajectory recording handle and a work station to the executing robot. This design allows operators to easily install the real-time trajectory tracking device of this disclosure on existing production lines, thus making operation simple and easy to implement.

[0006] Preferably, the mounting bracket includes a movable base, a vertically mounted mounting rod at the base, and a crossbar at the top of the mounting rod for mounting the image acquisition device; wherein the height of the crossbar is higher than the height of the mounting part.

[0007] With its movable base, the mounting bracket can be easily adjusted to suit actual needs, allowing the image acquisition equipment to be flexibly deployed in the required location and improving the device's flexibility.

[0008] Understandably, by setting the height of the crossbar higher than the height of the mounting part, the image acquisition device can acquire images over a wider range and in a better manner, thus improving the acquisition effect and efficiency.

[0009] Preferably, the mounting bracket includes an extension rod arranged horizontally and perpendicularly to the mounting rod, a connecting rod arranged vertically along the horizontal direction on the extension rod, and a mounting part mirror-imagely disposed at both ends of the connecting rod along the extension rod.

[0010] Since both the extension rod and the connecting rod are arranged horizontally, the position of the mounting part can be adjusted as needed, allowing the mounting part to adapt to the installation of workpieces of different sizes and shapes, thus improving the applicability of the device.

[0011] Preferably, the robot has an execution end, and an end effector is provided at the execution end.

[0012] The above structure allows the robot to replace or adjust the end effector according to different task requirements, thus improving the practicality of the device.

[0013] Preferably, the trajectory recording handle includes a handle body, and the handle body is provided with a sensing component that cooperates with the image acquisition device.

[0014] The above structure allows the image acquisition device to better capture data from the sensing components on the main body of the handle, thereby better obtaining and recording the movement trajectory of the handle.

[0015] Preferably, a pointer is provided at one end of the handle body, the pointer is used to point to the working point, wherein the pointer is located in the middle of the sensing component.

[0016] By setting the pointer, the operator can intuitively see the direction of the handle body, making it easier to accurately locate the work point.

[0017] Preferably, a controller is provided at the base, and the robot, trajectory recording handle, and image acquisition device are all electrically connected to the controller.

[0018] By connecting the execution robot, trajectory recording handle, and image acquisition device to the controller, operators can centrally control the entire system, simplifying the operation process and improving work efficiency. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the overall structure of a real-time trajectory tracking device for robots.

[0020] Figure 2 This is a schematic diagram of the frame components of a real-time trajectory tracking device for robots.

[0021] Figure 3 This is a schematic cross-sectional view of the support tube and guide tube of a real-time trajectory tracking device for robots. Detailed Implementation

[0022] To further understand the content of this utility model, a detailed description of the utility model is provided in conjunction with the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the utility model.

[0023] Example 1

[0024] See Figure 1-3 This embodiment provides a real-time trajectory tracking device for a robot, which includes a device body 100 and a mounting frame 110. The mounting frame 110 has two mounting portions 210 arranged in a horizontal direction and both used for mounting workpieces. One of the two mounting portions 210 is provided with an image acquisition device 140 and a trajectory recording handle 120, and the other of the two mounting portions 210 is used to cooperate with an execution robot 130. The trajectory recording handle 120 is used to acquire a preset trajectory based on the workpiece at the corresponding mounting portion 210, and the preset trajectory is used to send to the execution robot 130.

[0025] The real-time trajectory tracking device for robots disclosed herein is used via mounting bracket 110.

[0026] It can provide a pair of mirrored operating stations (i.e., two mounting parts 210) and an image acquisition station (i.e., an image acquisition device 140). The two mirrored operating stations can respectively provide a trajectory acquisition station to the trajectory recording handle 120 and a work station to the execution robot 130. This design allows operators to easily set up the real-time trajectory tracking device of this disclosure in existing production lines, so it is simple to operate and easy to implement.

[0027] It is understood that the trajectory recording handle 120 can collect and generate a preset trajectory by manually holding the trajectory recording handle 120 and drawing it at the corresponding workpiece. This drawing process can be recorded by the image acquisition device 140 to generate the preset trajectory. In addition, in the above steps, the image acquisition device 140, the execution robot 130, etc. should be calibrated to achieve spatial coordinate association. This can be achieved by means well known to those skilled in the art, and will not be described in detail in this disclosure.

[0028] It is understandable that the two mounting parts 210 in this disclosure are designed in a mirror image, which can greatly reduce the difficulty of obtaining the transformation matrix between the coordinate systems of the image acquisition device 140 and the execution robot 130, and also avoid motion interference between the execution robot 130 and the trajectory recording handle 120.

[0029] In this embodiment, the mounting bracket 110 includes a movable base 220, a vertically mounted mounting rod 230 at the base 220, and a crossbar 240 at the top of the mounting rod 230 for mounting the image acquisition device 140; wherein, the height of the crossbar 240 is higher than the height of the mounting part 210.

[0030] With the movable base 220, the mounting bracket 110 can be easily adjusted in position according to actual needs, so that the image acquisition device 140 can be flexibly deployed in the required location, improving the flexibility of the device.

[0031] It is understandable that by setting the height of the crossbar 240 to be higher than the height of the mounting part 210, the image acquisition device 140 can acquire images over a wider range and in a better manner, thereby improving the acquisition effect and efficiency.

[0032] In this embodiment, the mounting bracket 110 includes an extension rod 310 arranged horizontally and perpendicularly to the mounting rod 230. A connecting rod 320 is vertically provided on the extension rod 310 in the horizontal direction. The mounting part 210 is mirrored on both ends of the connecting rod 320 along the extension rod 310.

[0033] Since both the extension rod 310 and the connecting rod 320 are arranged in the horizontal direction, the position of the mounting part 210 can be adjusted as needed, so that the mounting part 210 can adapt to the installation of workpieces of different sizes and shapes, thus improving the applicability of the device.

[0034] In this embodiment, the execution robot 130 has an execution end, and an end effector 260 is provided at the execution end.

[0035] The end effector 260 can be a spray gun, glue gun, or abrasive, etc.

[0036] The above structure allows the execution robot 130 to replace or adjust the end effector 260 according to different task requirements, thus improving the practicality of the device.

[0037] In this embodiment, the trajectory recording handle 120 includes a handle body 330, and a sensing component 340 that cooperates with the image acquisition device 140 is provided on the handle body 330.

[0038] The above structure enables the image acquisition device 140 to better acquire the sensor component 340 at the handle body 330, thereby better obtaining the trajectory recording of the handle 120's movement trajectory.

[0039] In this embodiment, a pointer 350 is provided at one end of the handle body 330. The pointer 350 is used to point to the working point, and the pointer 350 is located in the middle of the sensing component 340.

[0040] By setting the pointer 350, the operator can intuitively see the direction of the handle body 330, making it easier to accurately locate the work point.

[0041] In this embodiment, a controller 250 is provided at the base 220, and the execution robot 130, the trajectory recording handle 120, and the image acquisition device 140 are all electrically connected to the controller 250.

[0042] By connecting the execution robot 130, the trajectory recording handle 120, and the image acquisition device 140 to the controller 250, the operator can centrally control the entire system through the controller 250, simplifying the operation process and improving work efficiency.

[0043] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0044] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited to this. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A real-time trajectory tracking device for robots, characterized in that, The device includes a main body (100), which includes a mounting frame (110). The mounting frame (110) has two mounting portions (210) arranged in a horizontal direction and both used for mounting workpieces. One of the two mounting portions (210) is provided with an image acquisition device (140) and a trajectory recording handle (120), and the other of the two mounting portions (210) is used to cooperate with an execution robot (130). The trajectory recording handle (120) is used to acquire a preset trajectory based on the workpiece at the corresponding mounting portion (210), and the preset trajectory is used to send to the execution robot (130).

2. The real-time trajectory tracking device for a robot according to claim 1, characterized in that: The mounting bracket (110) includes a movable base (220), a vertically mounted mounting rod (230) is provided at the base (220), and a crossbar (240) for mounting an image acquisition device (140) is provided at the top of the mounting rod (230); wherein the height of the crossbar (240) is higher than the height of the mounting part (210).

3. The real-time trajectory tracking device for robots according to claim 1, characterized in that: The mounting bracket (110) includes an extension rod (310) arranged vertically to the mounting rod (230) in the horizontal direction, and a connecting rod (320) is provided vertically in the horizontal direction on the extension rod (310). The mounting part (210) is mirrored on both ends of the connecting rod (320) along the extension rod (310).

4. The real-time trajectory tracking device for a robot according to claim 1, characterized in that: The execution robot (130) has an execution end, at which an end-effector (260) is provided.

5. The real-time trajectory tracking device for a robot according to claim 1, characterized in that: The trajectory recording handle (120) includes a handle body (330), and a sensing component (340) is provided on the handle body (330) to cooperate with the image acquisition device (140).

6. The real-time trajectory tracking device for a robot according to claim 5, characterized in that: A pointer (350) is provided at one end of the handle body (330). The pointer (350) is used to point to the working point. The pointer (350) is located in the middle of the sensing component (340).

7. The real-time trajectory tracking device for a robot according to claim 1, characterized in that: A controller (250) is provided at the base (220), and the execution robot (130), the trajectory recording handle (120), and the image acquisition device (140) are all electrically connected to the controller (250).

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