Composite robot vision experiment platform

Abstract

The utility model belongs to the technical field of visual experiment platforms, and particularly relates to a composite robot visual experiment platform which comprises a detection platform, a visual mechanism and a rotating disc, a first driving motor; a fixing mechanism; a Z direction slide block, wherein the Z direction slide block is movably arranged above the detection platform; a Z-direction power mechanism; the X-direction sliding block is movably connected to the Z-direction sliding block, and the X-direction sliding block is movably connected to the Z-direction sliding block; an X-direction power mechanism; the rotating air cylinder is fixed to the X-direction sliding block, and the visual mechanism is fixed to an output shaft of the rotating air cylinder; according to the utility model, the plurality of fixing mechanisms can simultaneously fix a plurality of different objects to be tested, the first driving motor is utilized to drive the rotating disc to rotate and transfer the objects to be tested, and the height, the horizontal position and the inclination angle of the visual mechanism can be adjusted to adapt to different experiment requirements and meet real processing scenes; and the experiment result is closer to the real situation.

Description

TECHNICAL FIELD

[0001] The utility model belongs to visual experiment platform technical field, concretely relates to a compound robot visual experiment platform. BACKGROUND

[0002] Robot vision refers to the system that enables robots to have visual perception function, and is one of important components of robot system, robot vision enables robots to process visual data from the real world by using camera hardware and computer algorithms.

[0003] Machine vision system is through machine vision product (namely image pickup device, divides two kinds of CMOS and CCD) with the target that is taken in to be converted into image signal, is transmitted to the image processing system of special use, obtains the morphological information of the target that is taken in, according to pixel distribution and brightness, color etc., changes into digitized signal;Image system carries out various operations to the signal to extract the characteristics of target, and then according to the result of discrimination to control the action of on-site equipment.

[0004] Machine vision system needs to test the visual performance of the system before being put into use, for the relevant test platform, for example, in the prior art, the authorized announcement number CN218566923U Chinese utility model patent discloses "a desktop robot visual experiment module", including bottom plate, support rod and placing plate, support rod is fixedly installed at the top of bottom plate, placing plate is fixedly installed at the top of support rod, bottom plate is provided with shielding assembly, the top of bottom plate is fixedly installed with U-shaped mounting plate, U-shaped plate is provided with circular rotating plate.

[0005] The visual experiment platform in the prior art including the above, although it can meet the general experimental requirements, but the position and angle of the visual camera cannot be adjusted, so that the platform can only experiment on specific shape of the measured object, there is very high use limitation, it is difficult to meet the real processing scene.

[0006] To solve the above problems, a compound robot visual experiment platform is provided in the utility model. UTILITY MODEL CONTENT

[0007] To solve the above problems in the prior art, the utility model provides a compound robot visual experiment platform, which has the characteristics of convenient use, easy adjustment and high experimental precision.

[0008] To achieve the above purpose, the utility model provides the following technical scheme: a compound robot visual experiment platform, comprising a detection platform and a visual mechanism, further comprising:

[0009] Rotary disc, the rotary disc is rotatably installed on the top of the detection platform;

[0010] A first driving motor is fixed to the bottom surface of the detection platform and used for driving the rotating disc to rotate;

[0011] A plurality of fixing mechanisms are fixed to the top of the rotating disc at equal intervals in the circumferential direction and used for fixing the object to be detected;

[0012] A Z-direction sliding block is movably arranged above the detection platform;

[0013] A Z-direction power mechanism is drivably connected to the Z-direction sliding block and used for driving the Z-direction sliding block to move in the vertical direction;

[0014] An X-direction sliding block is movably connected to the Z-direction sliding block;

[0015] An X-direction power mechanism is drivably connected to the X-direction sliding block and used for driving the X-direction sliding block to move in the horizontal direction;

[0016] A rotating cylinder is fixed on the X-direction sliding block, and the visual mechanism is fixed on the output shaft of the rotating cylinder.

[0017] As a preferred technical scheme of the utility model, the fixing mechanism is an electric suction disc.

[0018] As a preferred technical scheme of the utility model, further comprising:

[0019] A plurality of fixing bases are distributed at equal intervals in the circumferential direction and fixed to the top of the rotating disc by bolts, and the fixing mechanism is fixed to the top of the fixing base by bolts.

[0020] As a preferred technical scheme of the utility model, the visual mechanism comprises:

[0021] A fixing frame is fixed on the output shaft of the rotating cylinder;

[0022] An annular light source is fixed on the fixing frame;

[0023] A camera mounting frame is fixed to the top of the fixing frame;

[0024] A CCD camera is fixed on the camera mounting frame and directly above the annular light source.

[0025] As a preferred technical scheme of the utility model, the Z-direction power mechanism comprises:

[0026] A base is fixed to the top of the detection platform;

[0027] A C-shaped frame is fixed to the top of the base;

[0028] A first threaded lead screw is rotatably installed in the C-shaped frame, and the first threaded lead screw penetrates the Z-direction sliding block and is connected with the Z-direction sliding block by a threaded screwing manner;

[0029] A second driving motor is fixed to the top end of the C-shaped frame and is used for driving the first threaded lead screw to rotate.

[0030] As a preferred technical scheme of the utility model, the Z-direction power mechanism further comprises:

[0031] Two guide columns are fixed in the C-shaped frame in a symmetrical manner, and the guide columns penetrate the Z-direction sliding block.

[0032] As a preferred technical scheme of the utility model, the X-direction power mechanism comprises:

[0033] An n-shaped frame is fixed on the Z-direction sliding block;

[0034] A second threaded lead screw is rotatably installed in the n-shaped frame, and the second threaded lead screw penetrates the X-direction sliding block and is connected with the X-direction sliding block by a threaded screwing manner;

[0035] A third driving motor is fixed to one end of the n-shaped frame and is used for driving the second threaded lead screw to rotate.

[0036] As a preferred technical scheme of the utility model, the X-direction power mechanism further comprises:

[0037] Two guide rods are fixed in the n-shaped frame in a symmetrical manner, and the guide rods penetrate the X-direction sliding block.

[0038] Compared with the prior art, the utility model has the beneficial effects that:

[0039] In the utility model, multiple fixing mechanisms can fix multiple different measured objects at the same time, and a first driving motor is used for driving a rotating disc to rotate to transfer the measured objects, the height, horizontal position and inclination angle of a visual mechanism can be adjusted, different experimental requirements can be met, a real processing scene is met, and the experimental result is closer to the real situation.

[0040] Other additional advantages and beneficial effects of the utility model will be partially given in the following description, will become obvious from the following description, or will be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings are used to provide further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation to the present application. In the drawings:

[0042] Figure 1 It is a structural schematic view of the present application;

[0043] Figure 2 It is an axonometric structural schematic view of the vision mechanism in the present application;

[0044] Figure 3 It is an axonometric structural schematic view of the X-direction power mechanism and the Z-direction power mechanism in the present application.

[0045] In the drawings: 1, detection platform; 2, rotating disc; 3, No. 1 driving motor; 4, fixed seat; 5, fixed mechanism; 6, Z-direction power mechanism; 61, Z-direction sliding block; 62, base; 63, C-shaped frame; 64, No. 1 threaded screw rod; 65, No. 2 driving motor; 66, guide column; 7, X-direction power mechanism; 71, X-direction sliding block; 72, n-shaped frame; 73, No. 2 threaded screw rod; 74, No. 3 driving motor; 75, guide rod; 8, rotary air cylinder; 9, vision mechanism; 91, fixed frame; 92, annular light source; 93, camera mounting frame; 94, CCD camera. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0047] Please refer to Figures 1-3 The present application provides the following technical solutions: a composite robot vision experiment platform, comprising a detection platform 1 and a vision mechanism 9, further comprising: a rotating disc 2, a No. 1 driving motor 3, a fixed mechanism 5, a Z-direction sliding block 61, a Z-direction power mechanism 6, an X-direction sliding block 71, an X-direction power mechanism 7, and a rotary air cylinder 8.

[0048] Further, Figure 1 and Figure 2As shown, in this embodiment, the rotating disc 2 is rotatably mounted on the top of the detection platform 1, the first driving motor 3 is fixed on the bottom surface of the detection platform 1, used to drive the rotating disc 2 to rotate, a plurality of fixing mechanisms 5 are fixed on the top of the rotating disc 2 in the circumferential direction, used to fix the measured objects, the Z-direction sliding block 61 is movably arranged above the detection platform 1, the Z-direction power mechanism 6 is drivably connected to the Z-direction sliding block 61, used to drive the Z-direction sliding block 61 to move in the vertical direction, the X-direction sliding block 71 is movably connected to the Z-direction sliding block 61, the X-direction power mechanism 7 is drivably connected to the X-direction sliding block 71, used to drive the X-direction sliding block 71 to move in the horizontal direction, the rotary cylinder 8 is fixed on the X-direction sliding block 71, and the visual mechanism 9 is fixed on the output shaft of the rotary cylinder 8. After the above scheme is adopted, in use, different measured objects are fixed on each fixing mechanism 5, the visual mechanism 9 is used to shoot the image information of the measured object, and the image information is transmitted to a dedicated image processing system; when other measured objects are detected, the first driving motor 3 is started to drive the rotating disc 2 to rotate, so that the measured object is rotated to the lower side of the visual mechanism 9; when necessary, the Z-direction power mechanism 6 is started to drive the Z-direction sliding block 61 to move in the vertical direction, so as to adjust the height of the visual mechanism 9, the X-direction power mechanism 7 is started to drive the X-direction sliding block 71 to move in the horizontal direction, so as to adjust the horizontal position of the visual mechanism 9, and the rotary cylinder 8 can also be started to drive the visual mechanism 9 to rotate, so as to adjust the inclination angle of the visual mechanism 9, so as to adapt to different experimental requirements, meet the real processing scene, and make the experimental results closer to the real situation.

[0049] Optionally, the fixing mechanism 5 is a vacuum chuck. Figure 1 As shown, in this embodiment, the fixing mechanism 5 is an electric suction cup. After the above scheme is adopted, in use, the electric suction cup can stably adsorb measured objects with different structures, and the adsorption function is realized by using the vacuum principle through the internal integrated motor and air pump and other mechanical equipment. The internal structure and use principle are the prior art which has been disclosed, and will not be described in detail here.

[0050] It can be understood that other conventional clamps can also be used to fix the measured object in specific use, and are not limited to the electric suction cup.

[0051] Preferably, the fixing mechanism 5 is a vacuum chuck. Figure 1 As shown, in this embodiment, it further comprises a plurality of fixing seats 4, the fixing seats 4 are distributed in the circumferential direction and are fixed on the top of the rotating disc 2 by bolts, and the fixing mechanism 5 is fixed on the top of the fixing seat 4 by bolts. After the above scheme is adopted, in use, the installation of the fixing seat 4 and the fixing mechanism 5 is facilitated, the installation stability is ensured, and the actual experimental scene is also convenient for disassembly and replacement.

[0052] Optionally, the fixing mechanism 5 is a vacuum chuck. Figure 1 and Figure 2As shown in the drawings, in the embodiment, the visual mechanism 9 comprises a fixed frame 91, a ring-shaped light source 92, a camera mounting frame 93 and a CCD camera 94, the fixed frame 91 is fixed on the output shaft of the rotary cylinder 8, the ring-shaped light source 92 is fixed on the fixed frame 91, the camera mounting frame 93 is fixed on the top of the fixed frame 91, and the CCD camera 94 is fixed on the camera mounting frame 93 and directly above the ring-shaped light source 92. After the above scheme is adopted, in use, the CCD camera 94 shoots the image information of the object to be detected, and the ring-shaped light source 92 provides supplementary light, so that the image information is clearer.

[0053] Optionally, the Z-direction power mechanism 6 comprises a base 62, a C-shaped frame 63, a first threaded lead screw 64 and a second driving motor 65. Figure 1 and Figure 3 As shown in the drawings, in the embodiment, the Z-direction power mechanism 6 comprises a base 62, a C-shaped frame 63, a first threaded lead screw 64 and a second driving motor 65. The base 62 is fixed on the top of the detection platform 1, the C-shaped frame 63 is fixed on the top of the base 62, the first threaded lead screw 64 is rotatably installed in the C-shaped frame 63, and the first threaded lead screw 64 penetrates through the Z-direction sliding block 61 and is connected with the Z-direction sliding block 61 in a threaded screwing manner, and the second driving motor 65 is fixed on the top end of the C-shaped frame 63 and is used to drive the first threaded lead screw 64 to rotate. After the above scheme is adopted, in use, the second driving motor 65 is started to drive the first threaded lead screw 64 to rotate, and under the threaded screwing action, the Z-direction sliding block 61 moves in the vertical direction.

[0054] Preferably, the Z-direction power mechanism 6 further comprises two guide columns 66, which are fixed in the C-shaped frame 63 in a symmetrical manner and penetrate through the Z-direction sliding block 61. Figure 1 and Figure 3 As shown in the drawings, in the embodiment, the Z-direction power mechanism 6 further comprises two guide columns 66, which are fixed in the C-shaped frame 63 in a symmetrical manner and penetrate through the Z-direction sliding block 61. After the above scheme is adopted, in use, the two guide columns 66 are used to guide the Z-direction sliding block 61, so that the stability of the Z-direction sliding block 61 is improved.

[0055] Optionally, the X-direction power mechanism 7 comprises an n-shaped frame 72, a second threaded lead screw 73 and a third driving motor 74. Figure 1 and Figure 3 As shown in the drawings, in the embodiment, the X-direction power mechanism 7 comprises an n-shaped frame 72, a second threaded lead screw 73 and a third driving motor 74. The n-shaped frame 72 is fixed on the Z-direction sliding block 61, the second threaded lead screw 73 is rotatably installed in the n-shaped frame 72, and the second threaded lead screw 73 penetrates through the X-direction sliding block 71 and is connected with the X-direction sliding block 71 in a threaded screwing manner, and the third driving motor 74 is fixed on one end of the n-shaped frame 72 and is used to drive the second threaded lead screw 73 to rotate. After the above scheme is adopted, in use, the third driving motor 74 is started to drive the second threaded lead screw 73 to rotate, and under the threaded screwing action, the X-direction sliding block 71 moves in the horizontal direction.

[0056] Preferably, the X-direction power mechanism 7 further comprises two guide columns 76, which are fixed in the n-shaped frame 72 in a symmetrical manner and penetrate through the X-direction sliding block 71. Figure 1 and Figure 3As shown, in the embodiment, the X-direction power mechanism 7 further comprises two guide rods 75 symmetrically fixed in the n-shaped frame 72 and penetrating through the X-direction sliding block 71.

[0057] It should be noted that the first driving motor 3, the fixing mechanism 5, the second driving motor 65, the third driving motor 74, the rotary cylinder 8 and the visual mechanism 9 are all commercially available conventional devices, and the person skilled in the art can make a conventional selection according to the use requirement, the working principle of which is the common knowledge of the person skilled in the art and has been fully disclosed by the prior art, and thus will not be described in detail herein.

[0058] The circuit connection of the utility model relates to the common means adopted by the person skilled in the art, and the technical inspiration can be obtained through limited tests, and belongs to the widely used prior art.

[0059] The components not described in detail herein are the prior art.

[0060] The working principle and use process of the utility model: the detection platform 1 of the utility model, in use, fixes different to-be-detected objects on each fixing mechanism 5, shoots the image information of the to-be-detected objects through the CCD camera 94, and transmits the image information to the dedicated image processing system;

[0061] When detecting other to-be-detected objects, the first driving motor 3 is started to drive the rotating disc 2 to rotate, so that the to-be-detected objects are rotated to the lower side of the visual mechanism 9;

[0062] When necessary, the second driving motor 65 is started to drive the first threaded lead screw 64 to rotate, and under the threaded screwing action, the Z-direction sliding block 61 moves along the vertical direction, so that the height of the visual mechanism 9 is adjusted;

[0063] The third driving motor 74 is started to drive the second threaded lead screw 73 to rotate, and under the threaded screwing action, the X-direction sliding block 71 moves along the horizontal direction, so that the horizontal position of the visual mechanism 9 is adjusted;

[0064] The rotary cylinder 8 can also be started to drive the visual mechanism 9 to rotate, so that the inclination angle of the visual mechanism 9 is adjusted, different experimental requirements are adapted to, the real processing scene is met, and the experimental result is closer to the real situation.

[0065] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and is not intended to limit the present application, although the foregoing embodiments of the present application has been described in detail, for the skilled in the art, it still can be modified, or for the equivalent replacement of part of the technical features of the technical solutions recorded in the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, shall be included within the scope of the present application.

Claims

1. A composite robot vision experiment platform, comprising a detection platform (1) and a vision mechanism (9), characterized in that, Also include: Rotary disc (2), the rotary disc (2) is rotatably mounted on the top of the detection platform (1); A drive motor (3), the drive motor (3) is fixed on the bottom surface of the detection platform (1), for driving the rotary disc (2) to rotate; Fixing mechanism (5), a plurality of fixing mechanism (5) is fixed on the top of the rotary disc (2) in the circumferential direction, for fixing the object to be measured; Z direction slider (61), the Z direction slider (61) is movably placed above the detection platform (1); Z direction power mechanism (6), the Z direction power mechanism (6) is drivably connected to the Z direction slider (61), for driving the Z direction slider (61) to move in the vertical direction; X direction slider (71), the X direction slider (71) is movably connected to the Z direction slider (61); X direction power mechanism (7), the X direction power mechanism (7) is drivably connected to the X direction slider (71), for driving the X direction slider (71) to move in the horizontal direction; Rotary cylinder (8), the rotary cylinder (8) is fixed on the X direction slider (71), and the visual mechanism (9) is fixed on the output shaft of the rotary cylinder (8).

2. The composite robot vision experiment platform according to claim 1, characterized in that: The fixing mechanism (5) is an electric suction cup.

3. The composite robot vision experiment platform according to claim 1, characterized in that: Also include: Fixed seat (4), a plurality of fixed seat (4) is distributed in the circumferential direction, and is fixed on the top of the rotary disc (2) by bolt, and the fixing mechanism (5) is fixed on the top of the fixed seat (4) by bolt.

4. The composite robot vision experiment platform according to claim 1, characterized in that: The visual mechanism (9) comprises: Fixed frame (91), the fixed frame (91) is fixed on the output shaft of the rotary cylinder (8); Annular light source (92), the annular light source (92) is fixed on the fixed frame (91); Camera mounting frame (93), the camera mounting frame (93) is fixed on the top of the fixed frame (91); CCD camera (94), the CCD camera (94) is fixed on the camera mounting frame (93) and is directly above the annular light source (92).

5. The composite robot vision experiment platform according to claim 1, characterized in that: The Z direction power mechanism (6) comprises: Base (62), the base (62) is fixed on the top of the detection platform (1); C type frame (63), the C type frame (63) is fixed on the top of the base (62); A threaded rod (64), the threaded rod (64) is rotatably installed in the C type frame (63), and the threaded rod (64) penetrates the Z direction slider (61) and is connected with the Z direction slider (61) by screw thread; Second drive motor (65), the second drive motor (65) is fixed on the top end of the C type frame (63), for driving the threaded rod (64) to rotate.

6. The composite robot vision experiment platform according to claim 5, characterized in that: The Z direction power mechanism (6) further comprises: Guide column (66), two guide columns (66) are fixed in the C type frame (63) in a symmetrical manner, and the guide column (66) penetrates the Z direction slider (61).

7. The composite robot vision experiment platform according to claim 1, characterized in that: The X direction power mechanism (7) comprises: An n-shaped frame (72) is fixed on the Z-direction slider (61); A second threaded screw rod (73) is rotatably installed in the n-shaped frame (72), and penetrates through the X-direction slider (71) and is connected with the X-direction slider (71) by screwing; A third driving motor (74) is fixed on one end of the n-shaped frame (72) and is used for driving the second threaded screw rod (73) to rotate.

8. The composite robot vision experiment platform according to claim 7, characterized in that: The X-direction power mechanism (7) further comprises: Two guide rods (75) are fixed in the n-shaped frame (72) in a symmetrical manner, and the guide rods (75) penetrate through the X-direction slider (71).

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