Visual guidance high-precision positioning module

Abstract

The utility model relates to the technical field of visual guidance positioning, and discloses a visual guidance high-precision positioning module which comprises a base, a mechanical arm body is fixedly connected to the top of the base, a visual guidance mechanism is arranged outside the mechanical arm body, and the visual guidance mechanism comprises an installation ring. The mounting ring is fixedly connected to the exterior of the mechanical arm body, and the exterior of the mounting ring is rotationally connected with a rotating ring. Through the design of the visual guiding mechanism, when the mechanical arm body carries out workpiece positioning grabbing and other operations, a camera carries out shooting positioning analysis on a workpiece, in order to avoid the situation that dust and other impurities adhere to the camera, and consequently the shooting precision is affected, a first electric push rod pushes and pulls a push plate after working, a cleaning layer is promoted to move under the camera, and therefore the cleaning precision is improved. And in the moving process of the cleaning layer, the lens part of the camera can be wiped and cleaned, so that the cleanliness of the lens part is effectively guaranteed, and the positioning precision of the mechanical arm during working is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of visual guidance and positioning technology, and in particular to a visual guidance high-precision positioning module. Background Technology

[0002] With the development of industry, vision technology has been widely introduced into the industrial robot industry. In manufacturing, camera modules are generally equipped on robotic arms for vision-guided positioning, which enables faster, more accurate, and more flexible positioning, grasping, alignment, and assembly operations. The principle is to accurately acquire the coordinate position and angle of the object and target object through the camera module, convert the image coordinates into coordinates that the robot can recognize, and then perform precise positioning and assembly.

[0003] Patent publication number CN220719388U discloses a visual guidance and positioning device for a robotic arm. The device includes a base, a robotic arm body mounted on top of the base, a movable column mounted at the other end of the robotic arm body, a gripper mounted below the movable column, a positioning hole on the outer surface of the movable column, a flexible retaining ring fitted around the movable column, a positioning pin penetrating the front side of the flexible retaining ring, and a connecting block fixed to one side of the flexible retaining ring. Through the coordinated use of the positioning hole, flexible retaining ring, positioning pin, and connecting block, the flexible retaining ring is secured to the outside of the movable column, and the positioning pin is inserted into the positioning hole to easily fix the camera. When the camera position needs to be adjusted, the positioning pin can be removed, the camera rotated to a suitable position, and then the positioning pin can be inserted back into the corresponding positioning hole. The camera position can be adjusted according to the target object.

[0004] The above devices avoid blind spots in camera shooting by adjusting the position of the camera. In actual positioning production, the clarity of the camera's image is directly related to the subsequent positioning accuracy. When the camera's shooting part is covered with a thick layer of dust or other impurities, it will directly lead to a decrease in the clarity of the camera's image. The cameras in the above devices lack corresponding self-cleaning functions. Therefore, a visually guided high-precision positioning module is proposed to solve the above problems. Utility Model Content

[0005] To address the aforementioned problems, this utility model provides a visually guided high-precision positioning module.

[0006] The visually guided high-precision positioning module provided by this utility model adopts the following technical solution:

[0007] A visually guided high-precision positioning module includes a base, a robotic arm body fixedly connected to the top of the base, and a visual guidance mechanism provided on the outside of the robotic arm body.

[0008] The visual guidance mechanism includes a mounting ring, which is fixedly connected to the outside of the robotic arm body. A rotating ring is rotatably connected to the outside of the mounting ring. A connecting plate is fixedly connected to one side of the rotating ring. A fixing ring and a camera are arranged inside the connecting plate. The camera passes through the fixing ring and is fixedly connected to it. A frame plate is arranged outside the connecting plate. Two round rods are fixedly connected to the outside of the fixing ring. The two round rods pass through the side walls of the connecting plate and the frame plate, respectively. The round rods are rotatably connected to the connecting plate and fixedly connected to the frame plate. A through groove is opened at the bottom of the frame plate, which is located at the bottom of the camera. A positioning seat is slidably connected inside the through groove. A mounting plate is arranged at the bottom of the positioning seat. The mounting plate passes through the positioning seat and matches it. A cleaning layer is fixedly connected to the top of the mounting plate. A push plate is fixedly connected to one side of the positioning seat. The push plate extends out of the frame plate. A first electric push rod is fixedly connected to the outside of the frame plate. One end of the first electric push rod is fixedly connected to the inside of the push plate.

[0009] By adopting the above technical solution, when the main body of the robotic arm performs operations such as workpiece positioning and grasping, the workpiece is photographed and positioned by a camera. In order to avoid dust and other impurities adhering to the camera and affecting the shooting accuracy, the first electric push rod pushes and pulls the push plate after it works, causing the cleaning layer to move directly below the camera. During the movement of the cleaning layer, the lens part of the camera can be wiped and cleaned, which effectively ensures the cleanliness of the lens part and helps to ensure the positioning accuracy of the robotic arm during operation.

[0010] Preferably, a rectangular plate is fixedly connected to one side of the main body of the robotic arm, a motor is fixedly connected to the top of the rectangular plate, a first gear is fixedly connected to the motor through an output shaft, a gear ring is integrally formed on the inner side of the rotating ring, the first gear is disposed on the inner side of the gear ring, and the first gear meshes with the gear ring.

[0011] By adopting the above technical solution, the rotation of the first gear drives the rotation of the gear ring.

[0012] Preferably, two square plates are fixedly connected to the front side of the connecting plate, and a movable plate is provided between the two square plates. A rack is fixedly connected to the top of the movable plate, and a second gear is fixedly connected to the outside of one of the round rods. The rack is located at the bottom of the second gear and meshes with the second gear.

[0013] By adopting the above technical solution, the rack moves and drives the second gear to rotate.

[0014] Preferably, a second electric push rod is fixedly connected to the movable plate, and one end of the second electric push rod is fixedly connected to one of the square plates.

[0015] By adopting the above technical solution, the second electric push rod pushes and pulls the moving plate after it is working.

[0016] Preferably, a limiting plate is fixedly connected between the two square plates, and the limiting plate passes through the movable plate.

[0017] By adopting the above technical solution, the limiting plate guides and limits the moving plate.

[0018] Preferably, a slot is provided on the bottom wall of the mounting plate, and an insert plate is fixedly connected to the bottom of the positioning seat. The insert plate passes through the slot and matches the slot. A locking block is slidably connected inside the insert plate. The locking block extends out of the insert plate, and the top of the locking block contacts the bottom of the mounting plate.

[0019] By adopting the above technical solution, after the card block is removed from the insert plate and contacts the bottom of the mounting plate, the mounting plate is installed on the positioning seat.

[0020] Preferably, a spring is fixedly connected inside the insert plate, and the spring is fixedly connected to one side of the card block.

[0021] By adopting the above technical solution, the reed exerts an elastic force on the locking block.

[0022] In summary, this utility model has the following beneficial technical effects:

[0023] 1. A vision-guided high-precision positioning module, through the design of the vision guidance mechanism, when the main body of the robotic arm performs operations such as workpiece positioning and grasping, the camera captures and analyzes the workpiece for positioning. In order to avoid dust and other impurities adhering to the camera and affecting the shooting accuracy, after the first electric push rod is activated, it pushes and pulls the push plate, causing the cleaning layer to move directly below the camera. During the movement of the cleaning layer, the lens part of the camera can be wiped and cleaned, effectively ensuring the cleanliness of the lens part, which is conducive to ensuring the positioning accuracy of the robotic arm during operation.

[0024] 2. A visually guided high-precision positioning module, wherein after the motor works, the first gear drives the gear ring to rotate, at which time the camera can revolve around the mounting ring, thereby adjusting the shooting position accordingly. On this basis, after the second electric push rod works, the rack drives the second gear to rotate, at which time the camera swings around the circular rod as the axis, thereby flexibly adjusting the shooting angle and position. It can be flexibly adjusted according to the actual working conditions to ensure the shooting quality. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a cross-sectional view of the rotating ring in this utility model;

[0027] Figure 3 for Figure 2 Enlarged view of point A in the image;

[0028] Figure 4 This is a cross-sectional view of the middle frame plate of this utility model;

[0029] Figure 5 This is an exploded view of the positioning base and mounting plate in this utility model.

[0030] Explanation of reference numerals in the attached drawings: 1. Base; 2. Main body of the robotic arm; 3. Visual guidance mechanism; 31. Mounting ring; 32. Rotating ring; 33. Connecting plate; 34. Fixing ring; 35. Camera; 36. Frame plate; 37. Round rod; 38. Through groove; 39. Positioning seat; 391. Mounting plate; 392. Cleaning layer; 393. Push plate; 394. First electric push rod; 395. Rectangular plate; 396. Motor; 397. First gear; 398. Gear ring; 399. Moving plate; 381. Rack; 382. Second gear; 383. Second electric push rod; 384. Square plate; 385. Limiting plate; 386. Slot; 387. Insert plate; 388. Locking block; 389. Spring. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 The present invention will be described in further detail below.

[0032] This utility model discloses a vision-guided high-precision positioning module. (Refer to...) Figures 1-5 The system includes a base 1, a robotic arm body 2 fixedly connected to the top of the base 1, a visual guidance mechanism 3 provided on the outside of the robotic arm body 2, the visual guidance mechanism 3 including a mounting ring 31, the mounting ring 31 fixedly connected to the outside of the robotic arm body 2, a rotating ring 32 rotatably connected to the outside of the mounting ring 31, a connecting plate 33 fixedly connected to one side of the rotating ring 32, a fixing ring 34 and a camera 35 provided on the inner side of the connecting plate 33, the camera 35 passing through the fixing ring 34 and fixedly connected to the fixing ring 34;

[0033] A frame plate 36 is provided on the outer side of the connecting plate 33. Two round rods 37 are fixedly connected to the outer side of the fixing ring 34. The two round rods 37 pass through the side walls of the connecting plate 33 and the frame plate 36 respectively. The round rods 37 are rotatably connected to the connecting plate 33 and fixedly connected to the frame plate 36. A through groove 38 is opened at the bottom of the frame plate 36. The through groove 38 is located at the bottom of the camera 35. A positioning seat 39 is slidably connected inside the through groove 38. An mounting plate 391 is provided at the bottom of the positioning seat 39. The mounting plate 391 passes through the positioning seat 39 and matches the positioning seat 39.

[0034] A cleaning layer 392 is fixedly connected to the top of the mounting plate 391, and a push plate 393 is fixedly connected to one side of the positioning seat 39. The push plate 393 extends out of the frame plate 36, and a first electric push rod 394 is fixedly connected to the outside of the frame plate 36. One end of the first electric push rod 394 is fixedly connected to the inside of the push plate 393. When the robotic arm body 2 performs operations such as workpiece positioning and gripping, the workpiece is photographed and positioned by the camera 35. In order to avoid dust and other impurities adhering to the camera 35 and affecting the shooting accuracy, the first electric push rod 394 pushes and pulls the push plate 393 after it works, causing the cleaning layer 392 to move directly below the camera 35. During the movement of the cleaning layer 392, the lens part of the camera 35 can be wiped and cleaned, effectively ensuring the cleanliness of the lens part, which is conducive to ensuring the positioning accuracy of the robotic arm during operation.

[0035] A rectangular plate 395 is fixedly connected to one side of the main body 2 of the robotic arm. A motor 396 is fixedly connected to the top of the rectangular plate 395. A first gear 397 is fixedly connected to the motor 396 through an output shaft. A gear ring 398 is integrally formed on the inner side of the rotating ring 32. The first gear 397 is located inside the gear ring 398 and meshes with the gear ring 398. After the first gear 397 rotates, it drives the gear ring 398 to rotate. Two square plates 384 are fixedly connected to the front side of the connecting plate 33. A movable plate 399 is set between the two square plates 384. A rack 381 is fixedly connected to the top of the movable plate 399. A second gear 382 is fixedly connected to the outside of one of the round rods 37. The rack 381 is located at the bottom of the second gear 382 and meshes with the second gear 382. After the rack 381 moves, it drives the second gear 382 to rotate.

[0036] A second electric push rod 383 is fixedly connected to the movable plate 399. One end of the second electric push rod 383 is fixedly connected to one of the square plates 384. After the second electric push rod 383 is working, it pushes and pulls the movable plate 399. A limit plate 385 is fixedly connected between the two square plates 384. The limit plate 385 passes through the movable plate 399 and guides and limits the movable plate 399.

[0037] A slot 386 is provided on the bottom wall of the mounting plate 391. An insert plate 387 is fixedly connected to the bottom of the positioning seat 39. The insert plate 387 passes through the slot 386 and matches the slot 386. A locking block 388 is slidably connected inside the insert plate 387. The locking block 388 extends out of the insert plate 387. The top of the locking block 388 contacts the bottom of the mounting plate 391. After the locking block 388 moves out of the insert plate 387 and contacts the bottom of the mounting plate 391, the mounting plate 391 is installed on the positioning seat 39. A spring 389 is fixedly connected inside the insert plate 387. The spring 389 is fixedly connected to one side of the locking block 388. The spring 389 exerts an elastic force on the locking block 388.

[0038] In actual operation, the device is first connected to the power supply. The main body 2 of the robotic arm in this device is an existing robotic arm structure. The camera 35 takes pictures of the workpiece below to obtain the posture, size and coordinate position of the workpiece, so that the main body 2 of the robotic arm can perform positioning, grasping and assembly operations on the workpiece. All of the above are existing structures, so their specific working principles and structures will not be described in detail here.

[0039] During the use of camera 35, in order to avoid the existence of blind spots, motor 396 drives the first gear 397 to rotate after it starts working. The first gear 397 drives the gear ring 398 to rotate, the gear ring 398 drives the rotating ring 32 to rotate, and the rotating ring 32 drives the connecting plate 33 to rotate. Thus, through the above connection relationship, it can be seen that camera 35 can revolve around the mounting ring 31, thereby adjusting the shooting position accordingly.

[0040] In addition to the above adjustments, the second electric push rod 383 operates and pushes the moving plate 399. The moving plate 399 drives the rack 381 to move, the rack 381 drives the second gear 382 to rotate, the second gear 382 drives the connected round rod 37 to rotate, the round rod 37 drives the fixed ring 34 to rotate, and the fixed ring 34 drives the camera 35 to swing around the round rod 37 as the axis, thereby adjusting the shooting angle. It can be flexibly adjusted according to the actual working conditions.

[0041] When the above-mentioned round rod 37 rotates, it also drives the frame plate 36 to rotate, thereby ensuring that the through groove 38 is always on the lens side of the camera 35, so that cleaning can be carried out at any shooting position. When cleaning is required, the first electric push rod 394 works and pushes the push plate 393. The push plate 393 drives the positioning seat 39 to move, the positioning seat 39 drives the mounting plate 391 to move, and the mounting plate 391 drives the cleaning layer 392 to move. When the cleaning layer 392 moves to the lens area, it can wipe the lens, thereby ensuring the clarity of the lens position and ensuring high-precision shooting.

[0042] Finally, if the cleaning layer 392 itself needs to be cleaned, simply press the locking block 388 into the insert plate 387, then remove the mounting plate 391 from the positioning seat 39 and clean the cleaning layer 392. After cleaning, directly insert the mounting plate 391 into the positioning seat 39. The inclined surface on the locking block 388 will be squeezed and move into the insert plate 387 until the mounting plate 391 is installed. Then, the spring 389 will push the locking block 388 out by itself, thus completing the quick installation of the mounting plate 391. The installation and removal process is simple and convenient, which helps users to quickly get started and improves the ease of use of this device.

[0043] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape and principle of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A visual guidance high-precision positioning module, comprising a base (1), characterized in that: The base (1) top fixedly connected with mechanical arm body (2), the mechanical arm body (2) outside is provided with visual guidance mechanism (3); The visual guidance mechanism (3) includes a mounting ring (31), the mounting ring (31) is fixedly connected to the outside of the mechanical arm body (2), the mounting ring (31) is rotatably connected with a rotating ring (32), one side of the rotating ring (32) is fixedly connected with a connecting plate (33), the inner side of the connecting plate (33) is provided with a fixed ring (34) and a camera (35), the camera (35) penetrates through the fixed ring (34) and is fixedly connected with the fixed ring (34), the outer side of the connecting plate (33) is provided with a frame plate (36), the outer side of the fixed ring (34) is fixedly connected with two round rods (37), two round rods (37) penetrate through the side walls of the connecting plate (33) and the frame plate (36) respectively, the round rod (37) is rotatably connected with the connecting plate (33), the round rod (37) is fixedly connected with the frame plate (36), the bottom of the frame plate (36) is provided with a through slot (38), the through slot (38) is arranged at the bottom of the camera (35), the inside of the through slot (38) is slidably connected with a positioning seat (39), the bottom of the positioning seat (39) is provided with a mounting plate (391), the mounting plate (391) penetrates through the positioning seat (39) and matches with the positioning seat (39), the top of the mounting plate (391) is fixedly connected with a cleaning layer (392), one side of the positioning seat (39) is fixedly connected with a push plate (393), the push plate (393) extends out of the outside of the frame plate (36), the outer side of the frame plate (36) is fixedly connected with a first electric push rod (394), one end of the first electric push rod (394) is fixedly connected with the inner side of the push plate (393). 2.The visual guidance high-precision positioning module according to claim 1, characterized in that: The side of the mechanical arm body (2) is fixedly connected with a rectangular plate (395), the top of the rectangular plate (395) is fixedly connected with a motor (396), the motor (396) is fixedly connected with a first gear (397) through an output shaft, the inside of the rotating ring (32) is integrally formed with a gear ring (398), the first gear (397) is arranged inside the gear ring (398), and the first gear (397) is engaged with the gear ring (398). 3.The visual guidance high-precision positioning module according to claim 1, characterized in that: The front side of the connecting plate (33) is fixedly connected with two square plates (384), a moving plate (399) is arranged between the two square plates (384), the top of the moving plate (399) is fixedly connected with a rack (381), one of the round rods (37) is fixedly connected with a second gear (382) outside, the rack (381) is arranged at the bottom of the second gear (382), and the rack (381) is engaged with the second gear (382).

4. The visual guidance high-precision positioning module according to claim 3, characterized in that: The moving plate (399) is fixedly connected with a second electric push rod (383), one end of the second electric push rod (383) is fixedly connected with one of the square plates (384).

5. The visual guidance high-precision positioning module according to claim 3, characterized in that: The two square plates (384) are fixedly connected with a limiting plate (385), the limiting plate (385) penetrates through the moving plate (399). 6.The visual guidance high-precision positioning module according to claim 1, characterized in that: The bottom wall of the mounting plate (391) is provided with a slot (386), the bottom of the positioning seat (39) is fixedly connected with a plug plate (387), the plug plate (387) penetrates through the slot (386) and matches with the slot (386), the plug plate (387) is slidably connected with a clamping block (388) inside, the clamping block (388) extends out of the plug plate (387), and the top of the clamping block (388) is in contact with the bottom of the mounting plate (391).

7. The visual guidance high-precision positioning module according to claim 6, characterized in that: The plug plate (387) is fixedly connected with a reed (389) inside, and the reed (389) is fixedly connected with one side of the clamping block (388).

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