Adjustable vision acquisition device for an industrial robot

Abstract

The utility model discloses an adjustable visual collection device for industrial robot relates to industrial robot technical field, including stand and base. The utility model discloses adjustable visual collection device for industrial robot, when visual collection camera moves up and causes equipment gravity center to move up, support plate and support seat will synchronous stretch out, increase the support span of equipment bottom, and then produce greater stable moment, to offset the overturning moment that increases because of gravity center heightening, thereby reduced the risk that equipment shakes even tips over, and visual collection camera moves down and returns to zero and stops working, and support seat moves to the direction of being close to base, and then reduce the space occupied, and then reduced the possibility of interference with surrounding other equipment, personnel or material, need not repeatedly rotate multiple sets of bolts, can take down visual collection camera and other components and maintain, thereby save time and reduce downtime.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to an adjustable vision acquisition device for industrial robots. Background Technology

[0002] An industrial robot is an automatically controlled, reprogrammable, multi-purpose mechanical system used in industrial environments. It typically has three or more axes and can be fixed in one position or used on a moving platform for industrial automation applications to perform tasks such as welding, painting, assembly, handling, and processing. Industrial robots use vision acquisition devices, which capture images through vision sensors such as cameras, and these images are processed and analyzed by software algorithms, enabling the robot to perceive its environment, recognize objects, and guide itself to complete various complex tasks.

[0003] Application No. 202120293729.8 discloses an adjustable vision acquisition device for an industrial robot sorting system. This patent includes a vision acquisition mechanism for identification, comprising a base, a hollow column fixed to one side of the top surface of the base, a motor cover integrally formed on the column, a motor installed inside the motor cover, a first bevel gear keyed to the output shaft of the motor, the first bevel gear meshing with a second bevel gear, a longitudinally fixed rotating rod coaxially with the second bevel gear, an external thread on the upper part of the rotating rod, and a lifting rod screwed to the rotating rod. The inner cross-section of the column and the cross-section of the lifting rod are both polygonal. A sliding sleeve is fixedly connected to the top of the lifting rod, a base slides within the sliding sleeve, and a locking bolt is screwed to the top of the sliding sleeve. The vision acquisition mechanism is fixedly installed on the bottom surface of the base. This utility model allows the height and lateral recognition position of the vision acquisition mechanism to be adjusted to suit sorting devices in different environments, and has a simple and practical structure.

[0004] While the above comparison documents allow for height and lateral adjustment of the visual acquisition mechanism, increasing the height of the visual acquisition mechanism will cause the overall center of gravity of the equipment to shift upward, which in turn will reduce the static stability of the visual acquisition device. When subjected to external interference, the equipment with a higher center of gravity is more likely to sway, thus affecting the use of the visual acquisition device. Utility Model Content

[0005] The purpose of this invention is to provide an adjustable vision acquisition device for industrial robots to solve the problems mentioned in the background art.

[0006] To achieve the above objective, the utility model provides the following technical solution: an adjustable visual acquisition device for an industrial robot, comprising a vertical column and a base, wherein the bottom end of the vertical column is welded with the base, a sliding seat is slidably connected to the middle part of the outer wall of the vertical column, one side of the outer wall of the sliding seat is connected with a mounting plate, a mounting seat is slidably connected inside the mounting plate, a visual acquisition camera is mounted on the outer wall of the mounting seat, an electric pushing column is mounted at the bottom end of the inner wall of the vertical column, the output end of the electric pushing column is connected with a base, sliding grooves corresponding to the base are formed on both sides of the outer wall of the vertical column, and the electric pushing column is configured to drive the base to move vertically, so as to adjust the height of the visual acquisition camera; One side of the bottom end of the base is fixedly connected with a transmission seat, both sides of the bottom end of the transmission seat are rotatably connected with rotating rods, the bottom of the transmission seat presents a "U"-shaped structure, the bottom end of the rotating rod is rotatably connected with a guide seat, the bottom end of the guide seat is fixedly connected with a support plate, one side of the outer wall of the support plate is fixedly connected with a support seat, and universal wheels are mounted on both the support seat and the two bottom ends of the base; When the base moves vertically, the support plate will synchronously move horizontally, which is used to balance the center of gravity of the equipment and improve the stability of the equipment.

[0007] By increasing the support span at the bottom of the equipment, a larger stabilizing moment is generated, so as to counteract the overturning moment increased due to the rise of the center of gravity.

[0008] Preferably, the sliding seat presents a "square-frame-shaped" structure, the cross-section of the transmission seat presents an "L"-shaped structure, the guide seat presents a "T"-shaped structure, the support plate presents a "T"-shaped structure, movable cavities are formed on both sides of the top end of the base, and the guide seat extends into the movable cavities.

[0009] Preferably, a first spring is fixedly connected to both sides of the outer wall of the support plate, one side of the outer wall of the first spring is fixedly connected with the inner wall of the base, and an elastic telescopic mechanism is formed among the base, the first spring and the support seat.

[0010] When the base moves downward, the transmission seat will move downward together, at this time the rotating rod will generate a thrust on the guide seat, so that the guide seat moves in a direction away from the vertical column, and then the movement of the support plate will squeeze the first spring to cause deformation thereof.

[0011] Preferably, reinforcing rods are welded on both sides of the outer wall of the mounting seat, supporting cavities are formed on both sides inside the sliding seat, the reinforcing rods extend into the supporting cavities, and a protective box is fixedly connected to one side of the top end of the sliding seat.

[0012] By moving the mounting plate horizontally until the reinforcing rods are disconnected from the sliding seat, the disassembly of the mounting plate can be completed.

[0013] Preferably, a base plate is slidably connected to the inner wall of the protective box, fixing pins are welded on both sides of the bottom end of the base plate, fixing holes are formed inside the reinforcing rods, and the fixing pins extend into the fixing holes.

[0014] The mounting plate is thus freed from its limiting function by disengaging the fixing pin from the reinforcing rod via the base plate.

[0015] Preferably, a sliding rod is fixedly connected to the center of the top of the substrate, and the sliding rod is slidably connected to the protective box. The substrate and the sliding rod have a "T" shape, and the substrate and the fixing pin have a "U" shape.

[0016] Pulling the lever moves the slide bar upward, causing the base plate inside the protective box to move upward.

[0017] Preferably, a second spring is sleeved in the middle of the outer wall of the slide rod, and a handle is fixedly connected to the top of the slide rod, the handle having a "Z" shaped structure.

[0018] During subsequent installation, first move the mounting plate so that the reinforcing rod is inserted into the slide. Then, the elastic force generated by the second spring causes the base plate to move down until the fixing pin passes through the reinforcing rod, thereby fixing the mounting plate and resetting it.

[0019] As can be seen from the above, the adjustable vision acquisition device for industrial robots provided by this utility model has the following beneficial effects.

[0020] 1. When the visual acquisition camera moves upward, causing the center of gravity of the equipment to shift upward, the support plate and support base will extend synchronously, increasing the support span at the bottom of the equipment and generating a larger stabilizing torque to counteract the increased overturning torque caused by the rising center of gravity, thereby reducing the risk of the equipment shaking or even tipping over. Furthermore, when the visual acquisition camera moves downward and returns to its original position to stop working, the support base moves towards the base, thereby reducing the space occupied and reducing the possibility of interference with other surrounding equipment, personnel, or materials.

[0021] 2. Components such as the vision acquisition camera can be removed for maintenance without repeatedly turning multiple sets of bolts, thus saving time and reducing downtime. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the main structure of this utility model; Figure 3 This is a schematic diagram of the main sectional view of the present invention; Figure 4 This is a schematic diagram of the main sectional view of the base of this utility model; Figure 5 This is a three-dimensional structural diagram of the base of this utility model; Figure 6 This is a three-dimensional structural diagram of the support base of this utility model; Figure 7 This is a three-dimensional structural diagram of the transmission seat of this utility model; Figure 8 This is a schematic diagram of the main sectional view of the base structure of this utility model; Figure 9 This is a schematic diagram of the three-dimensional structure of the reinforcing rod of this utility model; Figure 10 This is a three-dimensional structural diagram of the protective box of this utility model; Figure 11 This is a three-dimensional structural diagram of the grip bar of this utility model.

[0023] In the diagram: 1. Column; 2. Base; 3. Slide; 4. Electric push column; 5. Base; 6. Mounting plate; 7. Mounting seat; 8. Vision acquisition camera; 9. Transmission seat; 10. Rotating rod; 11. Guide seat; 12. Support plate; 13. Spring No. 1; 14. Support seat; 15. Reinforcing rod; 16. Protective box; 17. Base plate; 18. Fixing pin; 19. Slide rod; 20. Spring No. 2; 21. Handle. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1-11 This utility model provides a technical solution: an adjustable vision acquisition device for industrial robots, including a column 1 and a base 2. The base 2 is welded to the bottom end of the column 1, and a slide block 3 is slidably connected to the middle of the outer wall of the column 1. A mounting plate 6 is connected to one side of the outer wall of the slide block 3, and a mounting seat 7 is slidably connected inside the mounting plate 6. A vision acquisition camera 8 is mounted on the outer wall of the mounting seat 7. An electric push column 4 is mounted at the bottom end of the inner wall of the column 1, and the output end of the electric push column 4 is connected to a base 5. Slide grooves corresponding to the base 5 are opened on both sides of the outer wall of the column 1. The electric push column 4 is used to drive the base 5 to move vertically and adjust the height of the vision acquisition camera 8. A transmission seat 9 is fixedly connected to one side of the bottom end of the base 5, and a rotating rod 10 is rotatably connected to both sides of the bottom end of the transmission seat 9. The bottom of the transmission seat 9 has a "U" shaped structure. A guide seat 11 is rotatably connected to the bottom end of the rotating rod 10, and a support plate 12 is fixedly connected to the bottom end of the guide seat 11. A support seat 14 is fixedly connected to one side of the outer wall of the support plate 12. Universal wheels are installed on both sides of the bottom end of the support seat 14 and the base 2. The base 5 vertically moves and the support plate 12 will synchronously move horizontally, which is used to balance the center of gravity of the equipment and improve the stability of the equipment; the sliding seat 3 has a "mouth"-shaped structure, the cross-section of the transmission seat 9 is an "L"-shaped structure, the guide seat 11 has a "T"-shaped structure, the support plate 12 has a "T"-shaped structure, movable cavities are provided on both sides of the top end of the base 2, and the guide seat 11 extends into the movable cavities; a first spring 13 is fixedly connected to both sides of the outer wall of the support plate 12, and one side of the outer wall of the first spring 13 is fixedly connected with the inner wall of the base 2, and the base 2, the first spring 13 and the support seat 14 form an elastic telescopic mechanism.

[0026] In specific implementation, the column 1 is first moved to a specified position through the base 2, then the bolt is rotated upward to cancel the limit on the mounting seat 7, and at this time the mounting seat 7 is moved horizontally until the mounting seat 7 drives the vision acquisition camera 8 to move horizontally to the specified position, then the bolt is rotated downward to fix the mounting seat 7, thereby adjusting the horizontal position of the vision acquisition camera 8; the electric push column 4 is started to extend and drive the base 5 to move upward, the upward movement of the base 5 drives the sliding seat 3 to slide along the column 1, then the movement of the column 1 drives the mounting plate 6 to move upward together, so that the vision acquisition camera 8 moves vertically, adjusting the height of the vision acquisition camera 8; then the vision acquisition camera 8 is started, which is based on optical imaging and sensor technology. Light is focused and imaged on the image sensor inside the camera through an industrial lens, and the sensor converts the optical signal into a digital image signal; then the software processes the collected original image to improve the image quality, so as to identify objects and guide the equipment to complete various complex tasks.

[0027] Refer to Figure 3 , Figure 4 and Figure 5 , when the base 5 moves vertically, it drives the transmission seat 9 to move together. Since the transmission seat 9 and the rotating rod 10 are in rotational connection, the movement of the transmission seat 9 drives the rotating rod 10 to rotate, and at this time the included angle between the rotating rod 10 and the transmission seat 9 changes; When the base 5 moves upward causing the center of gravity of the equipment to shift upward, the transmission seat 9 moves upward together, at this time the rotation of the rotating rod 10 pulls the guide seat 11, so that the guide seat 11 moves in the direction close to the column 1, the movement of the guide seat 11 drives the support seat 14 to move together, and at this time the first spring 13 resets to assist the support plate 12 to move horizontally, so that when the base 5 moves vertically upward, the support plate 12 drives the support seat 14 to extend horizontally, which improves the stability of the equipment and prevents the stability of the equipment from being affected by the upward shift of the center of gravity.

[0028] When the equipment stops working, the transmission seat 9 will also move down when the base 5 moves down. At this time, the rotating rod 10 will push the guide seat 11, causing the guide seat 11 to move away from the column 1. Then the support plate 12 will move and squeeze the first spring 13, causing it to deform, so that the support seat 14 moves closer to the base 2, thereby reducing the space occupied and reducing the possibility of interference with other equipment, personnel or materials in the surrounding area. When the center of gravity of the equipment rises, causing the overturning moment to increase, the support plate 12 and the support base 14 will extend synchronously, increasing the support span at the bottom of the equipment, thereby generating a larger stabilizing moment to counteract the overturning moment caused by the rise in the center of gravity, thus reducing the risk of the equipment shaking or even tipping over.

[0029] See Figures 7-11 The mounting base 7 has reinforcing rods 15 welded to both sides of its outer wall. The slide base 3 has support cavities on both sides inside, into which the reinforcing rods 15 extend. A protective box 16 is fixedly connected to one side of the top of the slide base 3. A base plate 17 is slidably connected to the inner wall of the protective box 16, and fixing pins 18 are welded to both sides of the bottom end of the base plate 17. The reinforcing rod 15 has fixing holes inside, into which the fixing pins 18 extend. A slide rod 19 is fixedly connected to the middle of the top of the base plate 17, and the slide rod 19 is slidably connected to the protective box 16. The base plate 17 and the slide rod 19 have a "T" shaped structure, and the base plate 17 and the fixing pin 18 have a "U" shaped structure. A second spring 20 is sleeved on the middle of the outer wall of the slide rod 19, and a handle 21 is fixedly connected to the top of the slide rod 19. The handle 21 has a "Z" shaped structure.

[0030] In practice, by pulling the lever 21, the slide bar 19 is moved upward. The upward movement of the slide bar 19 causes the base plate 17 inside the protective box 16 to move upward. The upward movement of the base plate 17 will compress the second spring 20, causing it to deform. This continues until the base plate 17 causes the fixing pin 18 to disengage from the reinforcing rod 15, thereby removing the limit on the mounting plate 6. At this point, the mounting plate 6 is moved horizontally until the reinforcing rod 15 disengages from the slide block 3, thus completing the disassembly of the mounting plate 6. This eliminates the need to repeatedly turn multiple sets of bolts, allowing components such as the visual acquisition camera 8 to be removed for maintenance, thereby saving time and reducing downtime.

[0031] During subsequent installation, first move the mounting plate 6 so that the reinforcing rod 15 is inserted into the slide block 3. Then, the elastic force generated by the reset of the second spring 20 causes the base plate 17 to move down until the fixing pin 18 passes through the reinforcing rod 15, thereby fixing the mounting plate 6 and resetting it.

[0032] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made based on the technical solution and inventive concept of this utility model should all be covered within the protection scope of this utility model.

Claims

1. An adjustable visual acquisition device for an industrial robot, comprising a column (1) and a base (2), wherein the bottom end of the column (1) is welded with the base (2), the middle part of the outer wall of the column (1) is slidably connected with a sliding seat (3), one side of the outer wall of the sliding seat (3) is connected with a mounting plate (6), the interior of the mounting plate (6) is slidably connected with a mounting base (7), and a visual acquisition camera (8) is mounted on the outer wall of the mounting base (7), characterized in that: An electric pushing column (4) is mounted at the bottom end of the inner wall of the column (1), the output end of the electric pushing column (4) is connected with a base block (5), sliding grooves corresponding to the base block (5) are formed on both sides of the outer wall of the column (1), and the electric pushing column (4) is configured to drive the base block (5) to move vertically to adjust the height of the visual acquisition camera (8); A transmission seat (9) is fixedly connected to one side of the bottom end of the base block (5), rotating rods (10) are rotatably connected to both sides of the bottom end of the transmission seat (9), the bottom of the transmission seat (9) is in a "U"-shaped structure, the bottom ends of the rotating rods (10) are rotatably connected with a guide seat (11), the bottom end of the guide seat (11) is fixedly connected with a support plate (12), one side of the outer wall of the support plate (12) is fixedly connected with a support seat (14), and universal wheels are mounted on both the support seat (14) and both sides of the bottom end of the base (2); When the base block (5) moves vertically, the support plate (12) moves horizontally synchronously, so as to balance the center of gravity of the device and improve the stability of the device.

2. The adjustable vision acquisition device for industrial robots according to claim 1, characterized in that: The sliding seat (3) is in a "口"-shaped structure, the cross section of the transmission seat (9) is in an "L"-shaped structure, the guide seat (11) is in a "T"-shaped structure, the support plate (12) is in a "T"-shaped structure, movable cavities are formed on both sides of the top end of the base (2), and the guide seat (11) extends into the movable cavities.

3. The adjustable vision acquisition device for industrial robots according to claim 2, characterized in that: No.1 springs (13) are fixedly connected to both sides of the outer wall of the support plate (12), one side of the outer wall of each No.1 spring (13) is fixedly connected with the inner wall of the base (2), and an elastic telescopic mechanism is formed among the base (2), the No.1 springs (13) and the support seat (14).

4. The adjustable vision acquisition device for industrial robots according to claim 3, characterized in that: Reinforcing rods (15) are welded to both sides of the outer wall of the mounting base (7), support cavities are formed on both sides of the interior of the sliding seat (3), the reinforcing rods (15) extend into the support cavities, and a protection box (16) is fixedly connected to one side of the top end of the sliding seat (3).

5. The adjustable vision acquisition device for industrial robots according to claim 4, characterized in that: A base plate (17) is slidably connected to the inner wall of the protection box (16), fixing pins (18) are welded to both sides of the bottom end of the base plate (17), fixing holes are formed inside the reinforcing rods (15), and the fixing pins (18) extend into the fixing holes.

6. The adjustable vision acquisition device for industrial robots according to claim 5, characterized in that: A sliding rod (19) is fixedly connected to the middle of the top end of the base plate (17), the sliding rod (19) is slidably connected with the protection box (16), the base plate (17) and the sliding rod (19) form a "T"-shaped structure, and the base plate (17) and the fixing pins (18) form a "U"-shaped structure.

7. The adjustable vision acquisition device for industrial robots according to claim 6, characterized in that: A No.2 spring (20) is sleeved on the middle part of the outer wall of the sliding rod (19), a holding rod (21) is fixedly connected to the top end of the sliding rod (19), and the holding rod (21) is in a "Z"-shaped structure.

Images