The utility model relates to the technical

The utility model relates to the technical field of robot and intelligent equipment, in particular to a measuring device based on the depth vision sensor of industrial robot. Background technology: at present, in the industrial field, the depth vision sensor is mounted on the industrial robot for measuring device, which is usually simply fixed with a fixed mounting bracket to fix the depth vision sensor and the robot flange. The requirements of pose detection are realized by the attitude change of industrial robot. If it is necessary to measure the space in the container, it is usually realized by hanging the industrial robot upside down or by selecting the industrial robot with an extended arm. If the internal structure of the container is complex, the industrial robot with more axes is used. From the point of view of thinking, the problem is solved by changing the industrial robot body system. To solve the problem of attitude measurement by changing the industrial robot body system will bring the following defects: 1. The cost is high. Whether the robot is hung upside down or the industrial robot system with extended arm or 7-axis is selected, the price of the conventional industrial robot system is 1.5-2.5 times higher than that of the conventional industrial robot system. 2. Each axis of the industrial robot is driven by servo, and its volume cannot be reduced. If it encounters a container with a small entrance, it cannot be detected. 3. The industrial robot can stop the machine when the motor is overloaded, but it does not have the fine anti-collision function. The depth vision sensor belongs to the precision optical and electronic equipmentIt is easy to be damaged in case of collision. Based on this, the utility model designs a measuring device based on the depth vision sensor of industrial robot to solve the above problems. Technical realization elements: the purpose of the utility model is to provide a measuring device based on the depth vision sensor of industrial robot, so as to solve the problems raised in the above background technology. In order to achieve the above purpose, the utility model provides the following technical scheme: a measuring device based on the depth vision sensor of the industrial robot, including an industrial robot. The top end of the industrial robot is fixed with an insulating block through bolts, the outer wall of the insulating block is uniformly installed with an anti-collision sensor, and the top end of the anti-collision sensor is fixed with a T-shaped rotation through bolts The top end of the T-shaped adapter plate is fixed with a fixed connecting rod through bolts, the top end of the fixed connecting rod is fixed with a steering gear mounting bracket a through bolts, the inner cavity of the steering gear mounting bracket a is fixed with a steering gear a through bolts, the output shaft end of the steering gear A is fixed with a movable connecting rod through bolts, the top end of the movable connecting rod is provided with a steering gear mounting bracket B, and the steering gear is installed The inner cavity of the Types Of Food Packaging Machines bracket B is fixed with a steering gear B through bolts, and the output shaft end of the steering gear B is fixedly connected with the top end of the movable connecting rod through the bolt. The bottom of the steering gear mounting bracket B is fixed with a sensor adapter plate through bolts, and the bottom of the sensor adapter plate is fixed with a depth vision sensor through bolts. Preferably, the right end of the Multihead Combination Weigher insulating block is provided with a connecting flange a matching with the industrial robot, and the left end of the insulating block is provided with a T-shaped rotary jointThe connecting flange B matched with the connecting plate. Preferably, the T-shaped adapter plate is a 7075 aluminum T-shaped plate, and the bottom and side plates of the T-shaped adapter plate are provided with fixed sockets matched with bolts. Preferably, the fixed connecting rod comprises a fixed top plate connected with the steering gear mounting bracket in a direction, a connecting rod is welded in the middle of the bottom of the fixed roof plate, a fixed slot is symmetrically arranged at the bottom of the fixed roof plate with respect to the center of the connecting rod, the side wall of the connecting rod is provided with a hollow groove a and Multiweigh Packaging Machinery a connecting jack, and the connecting jack is arranged at the top of the connecting rod. It is preferred that both ends of the movable connecting rod are provided with connecting circular plates matched with the transmission ends of the steering gear A and the steering gear B, and the side wall of the movable connecting rod is provided with a hollow groove B. It is preferred that both the steering gear A and the steering gear B are 30 ° indexing steering gears, and the output shaft ends of the steering gear A and the steering gear B are sheathed with a steering wheel. Compared with the prior art, the utility model has the following beneficial effects: the utility model combines the steering gear, linkage mechanism and anti-collision sensor, and designs an industrial robot measuring device which can flexibly change the attitude of depth vision sensor. It can be measured in a container with a diameter greater than 60mm, and can realize 121 kinds of attitude transformation in 11 * 12 under the condition of the industrial robot's position and posture unchanged, which fully meets the requirements of depth vision sensor for measuring distance and measuring angle. The device is equipped with anti-collision sensor to fully protect the depth vision sensor. In the design, the weight reduction design is adopted to make the device The overall weight is less than 5kg, which can match most of the 6Axis industrial robot. Of course, any product implementing the utility model does not necessarily need to achieve all the advantages mentioned above at the same time. Description of the drawings in order to explain the technical scheme of the embodiment of the utility model more clearly, the drawings needed for the description of the embodiment will be briefly introduced. It is obvious that the drawings described below are only some embodiments of the utility model. For ordinary technical personnel in the art, without paying creative labor, they can also Other figures are obtained from these figures. Fig. 1 is the structural diagram of the utility model; Fig. 2 is the structural diagram of the insulating block and anti-collision sensor of the utility model; Fig. 3 is the structural diagram of the T-type adapter plate of the utility model; Fig. 4 is the structural diagram of the fixed connecting rod of the utility model; Fig. 5 is the structural diagram of the movable connecting rod of the utility model. In the attached drawings, the parts represented by each label are listed as follows: 1-Industrial robot, 2-insulating block, 21 connecting flange a, 22 connecting flange B, 3-anti-collision sensor, 4-t-type adapter plate, 41-fixed jack, 5-fixed connecting rod, 51 fixed roof plate, 52 connecting rod, 53 fixed slot, 54 hollow slot a, 6-steering gear mounting bracket a, 7-steering gear A, 8-movable connecting rod, 81 connection Circular plate, 82 hollow slot B, 9 steering gear mounting bracket B, 10 steering gear B, 11 sensor adapter plate, 12 depth vision sensor. The specific implementation mode the following will combine the attached drawings in the embodiment of the utility model to verify the actual applicationIt is clearly and completely described by the technical scheme in the new embodiment. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in the field without creative labor belong to the scope of protection of the utility model. Refer to Fig. 1-5, the utility model provides a technical scheme: a measuring device based on the depth vision sensor of industrial robot, including industrial robot 1, the top end of industrial robot 1 is fixed with insulating block 2 through bolts, the outer wall of insulating block 2 is evenly installed with anti-collision sensor 3, and the top end of anti-collision sensor 3 is fixed with T-type adapter plate 4 through bolts, and the T-type rotating plate is fixed on the top end of the anti-collision sensor 3 The top end of the connecting plate 4 is fixed with a fixed connecting rod 5 by bolts, the top end of the fixed connecting rod 5 is fixed with a steering gear mounting bracket A6, the inner cavity of the steering gear mounting bracket A6 is fixed with a steering gear A7 by bolts, the output shaft end of the steering gear A7 is fixed with a movable connecting rod 8 through bolts, the top end of the movable connecting rod 8 is provided with a steering gear mounting bracket B9, and the inner cavity of the steering gear mounting bracket B9 is fixed with a rudder through bolts The output shaft end of the steering gear B10 is fixedly connected with the top end of the movable connecting rod 8 through bolts, the bottom of the steering gear mounting bracket B9 is fixed with a sensor adapter plate 11 through bolts, and the bottom of the sensor adapter plate 11 is fixed with a depth vision sensor 12 through bolts. The right end of the insulating block 2 is provided with a connecting flange A21 which is matched with the industrial robot 1, and the left end of the insulating block 2 is provided with a connecting flange A21A connecting flange B22 matched with the T-type adapter plate 4 is arranged to facilitate the fixed connection between the insulating block 2 and the industrial robot 1 and the T-type adapter plate 4, and the T-type adapter plate 4 is a 7075 aluminum T-shaped plate, and the bottom and side plates of the T-type adapter plate 4 are provided with fixed sockets 41 matched with the bolts, so as to facilitate the connection between the insulating block 2 and the fixed connecting rod 5, and fix 5 packages of connecting rods The fixed top plate 51 is connected with the steering gear mounting bracket A6. A connecting rod 52 is welded in the middle of the bottom of the fixed top plate 51. A fixed slot 53 is symmetrically arranged at the bottom of the fixed top plate 51 with respect to the center of the connecting rod 52. The side wall of the connecting rod 52 is provided with a hollow slot a54 and a connecting jack, and the connecting jack is arranged at the top of the connecting rod 52, so as to facilitate the fixation of the connecting rod 5, the T-shaped adapter plate 4 and the steering gear mounting bracket a A hollow groove B82 is arranged on the side wall of the movable connecting rod 8, which is convenient for the fixed connection between the movable connecting rod 8 and the steering gear A7 and the steering wheel B10. The hollow groove B82 is arranged on the side wall of the movable connecting rod 8. The hollow design is adopted. The steering gear A7 and the steering gear B10 are both 30 ° indexing steering gear The output shaft ends of the actuator A7 and the steering gear B10 are all jacketed with a steering wheel, which facilitates the fixed connection between the steering gear A7 and the steering gear B10 and the movable connecting rod 8, reduces the damage of the output shaft of the steering gear A7 and the steering gear B10, and reduces the maintenance cost of the steering gear A7 and the steering gear B10 in the later stage. A specific application of the embodiment is as follows:When the utility model is in use, the insulating block 2 is installed on the flange of the industrial robot 1, the anti-collision sensor 3 is installed on the insulating block 2, the T-type adapter plate 4 is installed on the insulating block 2, the steering gear mounting bracket A6 is connected with the fixed connecting rod 5, the steering gear A7 is installed on the steering gear mounting bracket A6, the movable connecting rod 8 is installed on the steering gear A7, the steering gear B10 is installed on the movable connecting rod 8, and the steering gear is installed on the steering gear The mounting bracket B9 is installed on the steering gear B10, the sensor adapter plate 11 is installed on the steering gear mounting bracket B9, the fixed connecting rod 5, the steering gear mounting bracket A6, the steering gear A7, the steering gear mounting bracket B9, the steering gear B10, and the sensor adapter plate 11 are installed on the T-type adapter plate 4. Finally, the depth vision sensor 12 is installed on the sensor adapter plate 11, and the steering gear A7 and steering gear B10 make the depth vision sensor 12 on the sensor adapter plate 11 Two additional degrees of freedom are added to the industrial robot 1. When the steering gear A7 is 0 degrees, the depth vision sensor 12 and the anti-collision sensor 3 will interfere. In addition, the 11 angles of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, 180 degrees, 210 degrees, 240 degrees, 270 degrees, 300 degrees and 330 degrees can be used. For B10, including 0 degrees Some 12 angles can be used. With six axis industrial robot 1, it is especially suitable for measuring large-scale parts and small-diameter containers. In this scheme, all metal parts are made of 7075 aluminum to ensure the rigidity of parts, and the hollow design is adoptedIt can reduce the weight; the steering gear with 30 ° indexing is small in structure, not easy to interfere with the measured object, and is simpler than the control of stepper motor and servo motor; the anti-collision sensor 3 is added to effectively protect the depth vision sensor 12 from damage in case of collision. In the description of the specification, the description of the reference terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or features described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, a schematic description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or features described may be combined in an appropriate manner in any one or more embodiments or examples. The preferred embodiment of the utility model disclosed above is only used to help explain the utility model. The preferred embodiment does not describe all the details in detail, and does not limit the utility model to only the specific embodiment described. Obviously, many modifications and changes can be made according to the contents of this specification. The specification selects and specifically describes these embodiments in order to better explain the principle and practical application of the utility model, so that the technical personnel in the technical field can well understand and use the utility model. The utility model is only limited by the claims and their full scope and equivalents. Technical features: 1. A measuring device based on the depth vision sensor of industrial robot includes an industrial robot (1), which is characterized in that the top end of the industrial robot (1) is fixed with an insulating block (2) through a bolt, the outer wall of the insulating block (2) is uniformly installed with an anti-collision sensor (3), and the top end of the anti-collision sensor (3) is fixed with a T-shaped adapter plate (4) through bolts The top end of the T-shaped adapter plate (4) is fixed with a fixed connecting rod (5) by bolts, the top end of the fixed connecting rod (5) is fixed with a steering gear mounting bracket a (6), the inner cavity of the steering gear mounting bracket a (6) is fixed with a steering gear a (7) by bolts, the output shaft end of the steering gear a (7) is fixed with a movable connecting rod (8) through a bolt, and the top end of the movable connecting rod (8) is provided with a steering gear mounting bracket B（ 9) The inner cavity of the steering gear mounting bracket B (9) is fixed with the steering gear B (10) by bolts, and the output shaft end of the steering gear B (10) is fixedly connected with the top end of the movable connecting rod (8) through the bolt, the bottom of the steering gear mounting bracket B (9) is fixed with a sensor adapter plate (11) through a bolt, and the bottom of the sensor adapter plate (11) is fixed with a depth vision sensor (12) through bolts. 2. The depth vision sensing based on industrial robot according to claim 1The device is characterized in that: the right end of the insulating block (2) is provided with a connecting flange a (21) matching with the industrial robot (1), and the left end of the insulating block (2) is provided with a connecting flange B (22) matching with the T-type adapter plate (4). 3. The measuring device based on the depth vision sensor of industrial robot according to claim 1, which is characterized in that the T-shaped adapter plate (4) is a 7075 aluminum T-shaped plate, and the bottom and side plates of the T-shaped adapter plate (4) are provided with fixed sockets (41) matched with bolts. 4. The measuring device based on the depth vision sensor of industrial robot according to claim 1, which is characterized in that the fixed connecting rod (5) comprises a fixed top plate (51) connected with the steering gear mounting bracket a (6), a connecting rod (52) is welded in the middle of the bottom of the fixed top plate (51), and a fixed plug is symmetrically arranged at the bottom of the fixed top plate (51) with respect to the center of the connecting rod (52) The side wall of the connecting rod (52) is provided with a hollow groove a (54) and a connecting jack, and the connecting jack is arranged at the top of the connecting rod (52). 5. The measuring device based on the depth vision sensor of industrial robot according to claim 1, which is characterized in that both ends of the movable connecting rod (8) are provided with connecting circular plates (81) matching with the transmission ends of the steering gear a (7) and the steering gear B (10), and the side wall of the movable connecting rod (8) is provided with a hollow groove B (82). 6. According to claim 1A measuring device based on the depth vision sensor of industrial robot is characterized in that the steering gear a (7) and steering gear B (10) are 30 ° indexing steering gears, and the output shaft ends of the steering gear a (7) and steering gear B (10) are both jacketed with steering wheel. Technical summary the utility model discloses a measuring device based on the depth vision sensor of industrial robot in the field of robot and intelligent equipment technology, which includes an industrial robot. The top end of the industrial robot is fixed with an insulating block through a bolt, and the outer wall of the insulating block is uniformly installed with an anti-collision sensor, and the top end of the anti-collision sensor is fixed with a T-type adapter plate and a T-type adapter plate through bolts The top end of the adapter plate is fixed with a fixed connecting rod through bolts, and the top end of the fixed connecting rod is fixed with a steering gear mounting bracket a. the utility model combines the steering gear, the connecting rod mechanism and the anti-collision sensor, and designs an industrial robot measuring device which can flexibly change the attitude of the depth vision sensor. The measurement can be carried out in a vessel with a diameter greater than 60mmAnd in the case of the industrial robot's pose unchanged, 121 kinds of 11 * 12 posture transformation are realized, which fully meets the requirements of depth vision sensor for measuring distance and angle. Technical R & D personnel: Zhang Rui protected technical users: Chengdu steam giant robot technology Co., Ltd. technology R & D date: 2019.01.16 technology announcement date: 2019.11.22 technical user