Binocular vision servo multi-axis cooperative positioning device

Abstract

The utility model discloses a kind of multi-axis collaborative positioning device of binocular vision servo in the technical field of robot positioning and precision detection, to solve the problem of insufficient freedom of movement, limited positioning range, lack of real-time feedback and weak environmental adaptability of existing "single-axis motion mechanism+fixed angle industrial camera" scheme. The device includes bottom, rotary layer, telescopic layer, execution layer and control module from bottom to top;Rotary layer contains rotary support, servo motor one and encoder, realize ±180 ° rotation by gear transmission;Telescopic layer contains ball screw, linear guide and servo motor two, realize ≥500mm horizontal telescopic;Execution layer support installs two industrial cameras, adjust field of view with multi-axis motion;Control module contains motion control board and image processing board with FPGA. The device can cover any point in circular space, without manual adjustment, improve positioning efficiency and accuracy, adapt to complex industrial environment, suitable for industrial detection, automation assembly.

Description

Technical Field

[0001] This utility model relates to the field of robot positioning and precision detection technology, specifically a binocular vision servo multi-axis collaborative positioning device. Background Technology

[0002] In the fields of robot positioning and precision inspection technology, especially in scenarios requiring sub-millimeter-level three-dimensional positioning accuracy such as industrial inspection and automated assembly, the spatial coverage, real-time adjustment capability, and environmental adaptability of positioning devices are core requirements. As industries move towards miniaturization and automation, existing positioning equipment can no longer meet these demands.

[0003] Current mainstream detection and positioning equipment mostly adopts a "single-axis motion mechanism + fixed-view industrial camera" solution: the motion mechanism only has a single degree of freedom in linear or rotational motion, and cannot achieve multi-dimensional coordinated motion; the industrial camera is fixedly installed, and once the shooting field of view and detection range are determined, they cannot be flexibly adjusted, and can only operate on a preset area. This type of solution has significant drawbacks: 1. Insufficient motion freedom, only covering linear or fan-shaped areas, unable to adapt to full-range positioning in complex spaces such as circles, requiring frequent manual adjustments, which easily introduces errors; 2. Limited positioning range, when the camera's field of view exceeds the preset range, the bracket needs to be disassembled and adjusted, increasing labor costs and easily leading to calibration failure; 3. Lack of real-time feedback capability, motion control and image detection are separated, requiring intermittent "motion-detection-re-motion" operations, resulting in low positioning efficiency and poor trajectory smoothness; 4. Weak environmental adaptability, ordinary lenses produce blurred images in low-light and dusty environments, reducing positioning calculation accuracy.

[0004] To address the aforementioned issues, this application provides a multi-axis collaborative positioning device with binocular vision servoing. Utility Model Content

[0005] The purpose of this invention is to provide a multi-axis collaborative positioning device with binocular vision servoing in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model specifically adopts the following technical solution: A binocular vision servo multi-axis cooperative positioning device includes, from bottom to top, a base, a rotating layer, a telescopic layer, an execution layer, and a control module electrically connected to the rotating layer, the telescopic layer, and the execution layer, wherein: The slewing layer is mounted on the base. The slewing layer includes a slewing bearing, a servo motor, and an encoder. The outer ring of the slewing bearing is fixed to the base by bolts. A flange is fixed on the inner ring of the slewing bearing. The servo motor is used to control the rotation of the flange on the inner ring of the slewing bearing. The encoder is mounted on the side of the inner ring of the slewing bearing to provide feedback on the rotation angle. The telescopic layer includes a guide rail seat, a ball screw, a linear guide rail, and a second servo motor. The bottom of the guide rail seat is fixed to the flange by bolts. Both ends of the ball screw are fixed inside the guide rail seat by angular contact ball bearings. The output end of the second servo motor is connected to one end of the ball screw by a coupling. The linear guide rail is slidably installed inside the guide rail seat and threaded onto the ball screw. The execution layer includes a bracket fixed on the linear guide rail, on which two industrial cameras are mounted vertically.

[0007] Furthermore, the servo motor is mounted on the base with its output shaft vertically oriented, and a hobbing gear is fixed to the output end of the servo motor, the hobbing gear meshing with the inner ring of the slewing bearing.

[0008] Furthermore, the slewing bearing is model THKRA3000, the flange is made of 45 steel with dimensions of 200mm in diameter and 10mm in thickness, the servo motor is a Panasonic A6 series 400W motor, the hobbing gear has a module of 2 and 20 teeth, and the encoder is an Omron E6B2-CWZ6C incremental encoder with a resolution of 10,000 lines, connected to the control module via an HRSHR10A-10P-12S waterproof aviation connector.

[0009] Furthermore, the ball screw is model TBISFU2005, with a diameter of 20mm and a lead of 5mm; the linear guide is model THKSR15W; the guide seat has dimensions of 600mm×120mm×80mm; a Keyence LS-7030 linear grating ruler is mounted on its side, with an accuracy of ±0.005mm; the reading head is fixed to the bracket; and the coupling is a plum blossom type LK20 coupling.

[0010] Furthermore, the control module includes a metal housing and an internal motion control board and image processing board. The motion control board and the image processing board are connected via a board-to-board connector. The image processing board integrates an FPGA chip, which is used to receive signals from the industrial camera and output coordinate data.

[0011] Furthermore, the transmission ratio between the hobbing gear and the internal gear ring of the slewing bearing is 1:10, which can drive the flange to achieve continuous rotation of ±180° with an angular accuracy of ≤0.01°.

[0012] Furthermore, TC-type dustproof sealing rings are installed at the connection points between the slewing bearing (21) and the base and the guide rail seat.

[0013] Furthermore, the interior of the guide rail base is provided with two symmetrically arranged guide rods along the length direction, and the linear guide rail is movably sleeved on the two guide rods.

[0014] Compared with the prior art, the beneficial effects of this utility model are: 1. This solution overcomes the limitations of existing single-axis motion by utilizing the multi-axis coordinated motion of the rotary and telescopic layers: The rotary layer employs a THKRA3000 slewing bearing in conjunction with a Panasonic A6 series 400W servo motor, leveraging a 1:10 transmission ratio between a 2-module, 20-tooth hobbing gear and the internal gear ring of the slewing bearing to drive the flange to achieve ±180° continuous rotation with an angular accuracy ≤0.01°; The telescopic layer, through a TBISFU2005 ball screw (20mm diameter, 5mm lead) in conjunction with a THKSR15W linear guide, achieves a horizontal telescopic stroke of ≥500mm under the drive of a second servo motor, with a positioning accuracy of ±0.05mm. The combined action of these two elements forms a circular detection range with a radius equal to the telescopic stroke, covering any target point within a circular or other complex space. This eliminates the need for frequent manual adjustments to the workpiece or equipment position, completely resolving the problems of existing solutions that can only cover linear / sectoral areas and are prone to errors due to manual intervention.

[0015] 2. In existing solutions, fixed camera installation requires disassembling and reassembling the bracket to adjust the field of view. In this application, the bracket on the execution layer is fixed to a linear guide rail and moves horizontally synchronously with the ball screw drive of the telescopic layer. Furthermore, the industrial cameras mounted vertically on the bracket can rotate with the rotating layer to adjust their shooting orientation, achieving flexible adaptation of the field of view to the target position. Simultaneously, symmetrically arranged guide rods inside the guide rail seat guide and limit the sliding of the linear guide rail, ensuring stability during the movement of the camera driven by the bracket and preventing camera calibration failure due to bracket disassembly and reassembly. This design eliminates the need for manual disassembly and adjustment of the camera bracket, reducing labor costs and ensuring the continuity of camera calibration accuracy.

[0016] 3. This solution constructs a real-time feedback closed loop through the collaboration of the control module and high-precision detection components: the Omron E6B2-CWZ6C incremental encoder (10,000 lines resolution) configured on the rotating layer provides real-time feedback on the rotation angle, while the Keyence LS-7030 linear grating ruler (accuracy ±0.005mm) mounted on the side of the telescopic layer guide rail provides real-time feedback on the telescopic position. Both signals are transmitted to the control module. The image processing board with an integrated FPGA chip within the control module receives industrial camera signals in real-time and calculates target coordinates. Through a board-to-board connector, it links with the motion control board to directly output fine-tuning commands to the rotating and telescopic layers, avoiding the intermittent "motion-detection-re-motion" operation of existing solutions. This closed-loop control can dynamically correct positioning deviations, significantly improving positioning efficiency while ensuring the smoothness of the motion trajectory, adapting to the cycle time requirements of high-speed automated production lines.

[0017] 4. This solution enhances environmental adaptability through structural protection design and high-precision component selection: TC-type dustproof sealing rings are installed at the connection points between the slewing bearing and the base and guide rail, effectively preventing workshop dust intrusion and avoiding jamming of moving parts; the encoder connects to the control module via an HRSHR10A-10P-12S type waterproof aviation plug, adapting to humid industrial environments; simultaneously, the industrial camera can flexibly align with the target with multi-axis movement, and combined with the efficient image processing capabilities of the control module's FPGA chip, it can calculate target coordinates through clear images even in low-light environments, solving the problems of blurred imaging and reduced positioning accuracy of existing ordinary lenses in low-light and dusty environments. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This utility model Figure 1 A three-dimensional sectional view; Figure 3 This utility model Figure 1 A three-dimensional schematic diagram of the middle section structure; Figure 4 This utility model Figure 3 A three-dimensional sectional view.

[0019] In the diagram: 1. Base; 2. Rotary layer; 21. Rotary bearing; 22. Servo motor one; 23. Flange; 24. Hobbing gear; 3. Telescopic layer; 31. Guide rail seat; 32. Ball screw; 33. Linear guide rail; 34. Servo motor two; 35. Guide rod; 4. Actuation layer; 41. Bracket; 42. Industrial camera. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0021] This application provides a binocular vision servo multi-axis collaborative positioning device. Current mainstream detection and positioning equipment mostly adopts a "single-axis motion mechanism + fixed-view industrial camera" solution: the motion mechanism only has a single degree of freedom in linear or rotational motion, unable to achieve multi-dimensional collaborative motion; the industrial camera is fixedly installed, and once the shooting field of view and detection range are determined, they cannot be flexibly adjusted, only able to operate on a preset area. This type of solution has significant drawbacks: 1. Insufficient motion freedom, only covering linear or fan-shaped areas, unable to adapt to full-range positioning in complex spaces such as circles, requiring frequent manual adjustments, easily introducing errors; 2. Limited positioning range, when the camera's field of view exceeds the preset range, the bracket needs to be disassembled and adjusted, increasing labor costs and easily leading to calibration failure; 3. Lack of real-time feedback capability, motion control and image detection are separated, requiring intermittent "motion-detection-re-motion" operations, resulting in low positioning efficiency and poor trajectory smoothness; 4. Weak environmental adaptability, ordinary lenses produce blurred images in low-light and dusty environments, leading to decreased positioning calculation accuracy. The following technical solution is provided, which will be discussed in conjunction with... Figures 1-4 Please provide a detailed explanation: This utility model discloses a multi-axis collaborative positioning device with binocular vision servoing. Its specific implementation adopts a modular layered assembly structure, with a base 1, a rotating layer 2, a telescopic layer 3, and an execution layer 4 arranged sequentially from bottom to top. The collaborative control of each layer is realized through a control module, which effectively solves the problems of insufficient motion freedom and limited positioning range of existing equipment.

[0022] The base 1 serves as the foundation for the entire device, providing stable support for the components above. The rotating layer 2 is mounted on the base 1. The outer ring of its core component, the slewing bearing 21, is rigidly fixed to the base 1 by bolts, while the inner ring is fixedly connected to the flange 23. The servo motor 22 controls the rotation of the inner ring of the slewing bearing 21 and the flange 23 through the drive structure. The encoder installed on the side of the inner ring of the slewing bearing 21 provides real-time feedback of the rotation angle, enabling the rotating layer 2 to achieve precise angle adjustment. This structural design breaks through the limitations of single-axis motion, covering a wider spatial range through multi-dimensional rotation, and avoiding errors caused by frequent manual adjustments. The bottom of the guide rail seat 31 of the telescopic layer 3 is fixed to the flange 23 by bolts, so that the telescopic layer 3 can rotate synchronously with the rotary layer 2. The two ends of the ball screw 32 are fixed in the guide rail seat 31 by angular contact ball bearings. The output end of the servo motor 34 is connected to the ball screw 32 via a coupling. The linear guide rail 33 is slidably installed in the guide rail seat 31 and threaded on the ball screw 32. When the servo motor 34 drives the ball screw 32 to rotate, the linear guide rail 33 moves horizontally along the guide rail seat 31. This structure not only realizes a large stroke telescopic movement of ≥500mm, but also ensures a positioning accuracy of ±0.05mm through precision transmission. Combined with the rotational movement of the rotary layer 2, a circular detection range is formed, which effectively expands the positioning coverage area and can be adapted to targets in different positions without disassembly and adjustment. The bracket 41 of the execution layer 4 is fixed on the linear guide rail 33 and moves synchronously with the extension and retraction of the linear guide rail 33. The two industrial cameras 42 mounted on the bracket 41, which are arranged vertically, can flexibly adjust their shooting angles with the rotation of the rotary layer 2 and the movement of the telescopic layer 3, avoiding the problem of limited field of view of traditional fixed cameras and ensuring clear imaging of the target area. The metal housing of the control module contains a motion control board and an image processing board. The two achieve efficient signal transmission through a board-to-board connector. The FPGA chip integrated in the image processing board can receive the image signals from the industrial camera 42 in real time and quickly calculate the target coordinate data. After feeding back to the motion control board, the motion control board accurately controls the movement of servo motor 22 and servo motor 34 according to the signals from the encoder and position detection component, forming a real-time closed-loop control. This solves the problem of low efficiency caused by the separation of motion and detection in existing equipment and significantly improves the positioning response speed and trajectory smoothness.

[0023] Through the coordinated operation of the above structures, the device can cover any target point in a circular space through multi-axis linkage during operation, and can complete the field of view adjustment without manual intervention. Combined with real-time closed-loop control and precision transmission components, it not only ensures sub-millimeter positioning accuracy, but also enhances the adaptability to complex industrial environments, making it suitable for high-precision positioning scenarios such as industrial inspection and automated assembly.

[0024] It should be noted that you should refer to [link / reference]. Figure 2 In this utility model, the installation and transmission structure of the servo motor 22 adopts a design that precisely adapts to the rotation requirements of the rotary layer 2. The specific implementation is as follows: the servo motor 22 is rigidly fixed to the preset installation position of the base 1 by bolts, and the output shaft of the servo motor 22 is set in the vertical direction. This installation direction is completely coincident with the rotation axis of the rotary bearing 21, ensuring that the subsequent power transmission direction is highly matched with the rotation requirements of the rotary bearing 21, avoiding power loss or rotation deviation caused by transmission direction deviation. In the power transmission structure, the output end of the servo motor 22 is rigidly fixed to the hobbing gear 24 by key connection, ensuring that the torque of the servo motor 22 can be transmitted to the hobbing gear 24 without slippage when it is running. At the same time, the hobbing gear 24 and the inner ring of the rotary bearing 21 form a meshing fit, forming a complete transmission link of "servo motor 22-hobbing gear 24-inner ring of rotary bearing 21". The module and number of teeth of the hobbing gear 24 are precisely matched and designed to be completely adapted to the tooth profile parameters of the inner ring of the rotary bearing 21, ensuring the smoothness of the meshing transmission. During operation, when the motion control board of the control module outputs a rotation control command according to the positioning requirements, the servo motor 22 receives the command and starts. Its vertically set output shaft drives the hobbing gear 24 to rotate synchronously around the vertical axis. The hobbing gear 24 transmits power to the inner ring of the slewing bearing 21 through meshing, driving the inner ring of the slewing bearing 21 to rotate around its own axis. Since the flange 23 is fixed on the inner ring of the slewing bearing 21, the flange 23 will rotate synchronously with the inner ring, thereby driving the expansion layer 3 bolted to the flange 23 and the execution layer 4 connected to the expansion layer 3 to rotate as a whole. Finally, the device can be adjusted at any angle within the range of ±180°. The entire rotation process can be fed back in real time by the encoder on the side of the inner ring of the slewing bearing 21 to ensure that the rotation angle is accurate and controllable.

[0025] In this embodiment, the selection and parameter design of each core component are all centered around high precision, high stability, and environmental adaptability, achieving optimal performance for multi-axis collaborative positioning through precise matching. Specifically, the slewing bearing 21 of the slewing layer 2 is a THKRA3000 model, which features a high-precision bearing structure and high load-bearing capacity. Its outer ring is fixed to the base 1 by bolts, and its inner ring is rigidly connected to the flange 23, providing stable support for overall rotation. The flange 23 is made of 45 steel, which, after heat treatment, combines rigidity and toughness. Its dimensions are designed to be 200mm in diameter and 10mm in thickness, ensuring both the connection strength with the inner ring of the slewing bearing 21 and providing sufficient installation area for the guide rail seat 31 of the upper telescopic layer 3, avoiding rotational swaying due to insufficient connection surface. The servo motor 22 driving the slewing bearing 21 is a Panasonic A6 series 400W motor. This model of motor has high response speed and precise speed control capability. The hobbing gear 24 fixed on its output shaft adopts a module of 2 and a tooth count of 20, forming a 1:10 transmission ratio with the inner gear ring of the slewing bearing 21. Through reduction transmission, the high-speed rotation of the servo motor 22 is converted into a smooth low-speed rotation of the inner ring of the slewing bearing 21. With the help of the Omron E6B2-CWZ6C incremental encoder (10000 lines resolution), the rotation angle can be fed back to the control module in real time, so that the flange 23 can achieve ±180° continuous rotation while ensuring an angular accuracy of ≤0.01°, which solves the problem of insufficient rotation accuracy of existing equipment. The connection between the encoder and the control module adopts the HRSHR10A-10P-12S waterproof aviation plug. This plug has an IP67 protection rating, which can effectively block moisture and dust in the workshop and ensure stable transmission of angle feedback signals.

[0026] The ball screw 32, model TBISFU2005, with a diameter of 20mm and a lead of 5mm, achieves smooth linear transmission under the drive of servo motor 34. Combined with the THKSR15W linear guide 33 (high-precision rolling slider structure), it reduces frictional resistance and improves positioning accuracy when sliding along the guide rail seat 31. The guide rail seat 31 is designed as a 600mm×120mm×80mm cuboid structure, with sufficient internal space to accommodate the ball screw 32 and linear guide 33. Its side is fitted with… The Keyence LS-7030 linear grating ruler (accuracy ±0.005mm) is installed. Its reading head is fixed to the bracket 41 of the execution layer 4. It can collect the extension and retraction position of the linear guide rail 33 in real time and feed it back to the control module, so that the positioning accuracy of the extension layer 3 reaches ±0.05mm. The servo motor 34 and the ball screw 32 are connected by a plum blossom type LK20 coupling. This coupling has a certain axial and angular compensation capability, which can alleviate the installation coaxiality error between the motor output shaft and the screw, avoid transmission jamming, and extend the service life of the components.

[0027] In addition, TC-type dustproof sealing rings are installed at the connection points between the slewing bearing 21 and the base 1 and guide rail seat 31. The sealing rings are made of polyurethane, which has good wear resistance and sealing performance. They can effectively prevent dust and oil in the industrial environment from entering the bearing clearance of the slewing bearing 21 and the interior of the guide rail seat 31, avoiding the decrease in accuracy of moving parts due to wear caused by contaminants, and significantly improving the environmental adaptability and service life of the device.

[0028] Further, please refer to Figure 4 The guide rail base 31 has two symmetrically arranged guide rods 35 arranged inside along its length. The linear guide rail 33 is movably fitted on the two guide rods 35. The guide rods 35 are made of 45 steel and have a diameter that matches the internal space of the guide rail base 31, which is designed to be 12mm. Their two ends are fixed to the end plates at both ends of the guide rail base 31 by interference fit, ensuring that the guide rods 35 and the ball screw 32 remain parallel and have a uniform axial distance, forming a double-sided guide support structure for the linear guide rail 33. Correspondingly, the slider body of the linear guide rail 33 has two guide holes that match the guide rods 35. The inner walls of the guide holes are precision ground and have a clearance fit of 0.01-0.02mm with the guide rods 35, so that the linear guide rail 33 can slide smoothly along the guide rods 35 while avoiding radial wobble. During device operation, when the servo motor 34 drives the ball screw 32 to rotate via the coupling, the ball screw 32 drives the linear guide rail 33 to perform horizontal telescopic movement along the guide rail seat 31. At this time, the two symmetrical guide rods 35 play a key role: on the one hand, they can restrict the degree of freedom of movement of the linear guide rail 33, preventing the linear guide rail 33 from rotating circumferentially around the ball screw 32 or deviating radially perpendicular to the telescopic direction due to the rotational torque of the ball screw 32 or the gravity of the execution layer 4, ensuring that the linear guide rail 33 always moves in a pure straight line along the length direction of the guide rail seat 31; on the other hand, the guide rods 35 can share the radial load of the linear guide rail 33 and the execution layer 4 (including the industrial camera 42), avoiding that this part of the load is completely borne by the ball screw 32, preventing the ball screw 32 from bending and deforming due to long-term radial force, and extending the service life of the ball screw 32.

[0029] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A binocular vision servo multi-axis cooperative positioning device, comprising a base (1), a rotating layer (2), a telescopic layer (3), an execution layer (4) assembled sequentially from bottom to top, and a control module electrically connected to the rotating layer (2), the telescopic layer (3), and the execution layer (4), characterized in that, in: The rotating layer (2) is installed on the base (1). The rotating layer (2) includes a rotating bearing (21), a servo motor (22) and an encoder. The outer ring of the rotating bearing (21) is fixed to the base (1) by bolts. A flange (23) is fixed on the inner ring of the rotating bearing (21). The servo motor (22) is used to control the rotation of the flange (23) on the inner ring of the rotating bearing (21). The encoder is installed on the side of the inner ring of the rotating bearing (21) to provide feedback on the rotation angle. The telescopic layer (3) includes a guide rail seat (31), a ball screw (32), a linear guide rail (33), and a second servo motor (34). The bottom of the guide rail seat (31) is fixed to the flange (23) by bolts. The two ends of the ball screw (32) are fixed inside the guide rail seat (31) by angular contact ball bearings. The output end of the second servo motor (34) is connected to one end of the ball screw (32) by a coupling. The linear guide rail (33) is slidably installed inside the guide rail seat (31) and threaded onto the ball screw (32). The execution layer (4) includes a bracket (41) fixed on the linear guide rail (33), on which two industrial cameras (42) are mounted vertically.

2. The multi-axis cooperative positioning device for binocular vision servoing according to claim 1, characterized in that: The servo motor (22) is mounted on the base (1) and its output shaft is vertically oriented. A hobbing gear (24) is fixed on the output end of the servo motor (22), and the hobbing gear (24) meshes with the inner ring of the slewing bearing (21).

3. The multi-axis cooperative positioning device for binocular vision servoing according to claim 1, characterized in that: The control module includes a metal housing and an internal motion control board and image processing board. The motion control board and the image processing board are connected by a board-to-board connector. The image processing board integrates an FPGA chip to receive signals from the industrial camera (42) and output coordinate data.

4. A multi-axis cooperative positioning device for binocular vision servoing according to claim 2, characterized in that: The transmission ratio between the hobbing gear (24) and the internal gear ring of the slewing bearing (21) is 1:10, which can drive the flange (23) to achieve ±180° continuous rotation with an angular accuracy of ≤0.01°.

5. A multi-axis cooperative positioning device for binocular vision servoing according to claim 1, characterized in that: The connection points between the slewing bearing (21) and the base (1) and the guide rail seat (31) are all equipped with TC-type dustproof sealing rings.

6. The multi-axis cooperative positioning device for binocular vision servoing according to claim 1, characterized in that: The guide rail base (31) has two symmetrically arranged guide rods (35) inside along the length direction, and the linear guide rail (33) is movably sleeved on the two guide rods (35).

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