CN106041993A - Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm - Google Patents
Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm Download PDFInfo
- Publication number
- CN106041993A CN106041993A CN201610590181.7A CN201610590181A CN106041993A CN 106041993 A CN106041993 A CN 106041993A CN 201610590181 A CN201610590181 A CN 201610590181A CN 106041993 A CN106041993 A CN 106041993A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- photographic head
- light path
- visible light
- laser emitter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims description 7
- 230000004807 localization Effects 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 abstract 1
- 238000003384 imaging method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm capable of conducting accurate positioning and a positioning method of the mechanical arm. The mechanical arm capable of conducting accurate positioning comprises a mechanical arm body, a video system installed on the mechanical arm body and a visible light laser transmitter. The video system comprises a camera, a video transmission mechanism and a display device. A light path center axis of the camera is coaxial with the a clamping center line, in the direction of the mechanical arm body, of two clamping claws of the mechanical arm body; and the visible light laser transmitter is installed outside the light path center axis of the camera and is installed on the mechanical arm body through a rotating shaft perpendicular to the mechanical arm body, and the rotating shaft can conduct rotating and positioning according to needs. By means of the mechanical arm and the positioning method of the mechanical arm, a single-video accurate positioning system is installed on the mechanical arm of a robot to achieve accurate positioning clamping, a target object can be accurately positioned, in addition, operation is simple, and use is easy.
Description
Technical field
The invention belongs to robot remote control field, a kind of mechanical arm being accurately positioned and location thereof
Method.
Background technology
In the application of teleoperator, it is frequently encountered remote control robot to carry out the situation of a certain operation,
Such as control explosive-removal robot by long-distance video image and carry out the process work of dud.In this works, need behaviour
The mechanical arm making personnel's remote control robot the most accurately clamps dud, is moved to home the most again.Make
During mechanical arm clamping dud, the wireless video shooting transmission system that operator are mainly carried by robot obtains
The positional information of dud.In prior art, need multiple video system is installed in robot, thus different angles are provided
Photographing information, operator need to watch these video informations simultaneously and come the relative position of comprehensive descision mechanical arm and dud, ability
Complete this operation.This not only makes this body structure of system complicated, also requires higher to the space structuring capacity of operator, and first
Scholar generally requires the longer training time and just can accomplish.
Summary of the invention
It is an object of the invention to provide a kind of easy and simple to handle mechanical arm being accurately positioned and localization method thereof, to solve
Existing machinery arm requires higher problem to operator.
The present invention is achieved in that
A kind of mechanical arm being accurately positioned, the video system and the visible light lasers that including mechanical arm, are installed on mechanical arm are sent out
Emitter；Described video system includes described photographic head, transmission of video mechanism and display, the light path central shaft of described photographic head with
The Clamping Center line along mechanical arm direction of two jaws of mechanical arm is coaxial；Described visible light laser emitter device is taken the photograph described in being installed on
As being installed on mechanical arm beyond head light path central shaft and by being perpendicular to the rotating shaft of mechanical arm, this rotating shaft can be revolved as required
Turn and location.
Under technique scheme, the present invention this can be implemented so that
Described visible light laser emitter device is adjusted as required with the vertical dimension of described photographic head light path central shaft.
The laser that described visible light laser emitter device is launched is positioned at the joining of the light path central shaft of described photographic head
In the jaws of jaw, and this joining be positioned at object to be held held after end face foremost on.
Described mechanical arm is telescopic mechanical arm.
Described telescopic mechanical arm uses hydraulic stem telescoping mechanism.
Mechanical arm localization method comprises the following steps:
Video system is installed the most on the robotic arm；Described video system includes described photographic head, transmission of video mechanism and display,
The light path central shaft of described photographic head is coaxial with the Clamping Center line along mechanical arm direction of the jaw of mechanical arm；
Visible light laser emitter device is installed the most on the robotic arm；Described visible light laser emitter device is installed on described photographic head light path
Beyond central shaft；
C. adjust the installation site of visible light laser emitter device and direction, make laser and institute that visible light laser emitter device launched
The joining of the light path central shaft stating photographic head is positioned at the jaws of the jaw of mechanical arm, and this joining is positioned at object to be held
On end face foremost after held；
D. according to the image captured by photographic head, it is judged that the approximate location of target object, operating robotic arm, target object is made to be positioned at
On the center of display i.e. photographic head light path central axis；
E. operating robotic arm moves along a straight line along photographic head light path central axis direction, gradually convergence target object.Enter to target object
When entering in the jaws of jaw, it is seen that the laser that ray laser emitter is launched can produce in target object surface foremost and swash
Light hot spot；Direction according to this laser facula deviation target object center and departure degree, continue to adjust the position of mechanical arm, make
Laser facula is positioned at the center of display；
F. jaw is driven to carry out clamping.
In the method for the present invention, mechanical arm also can use telescopic mechanical arm, the most on the robotic arm fitting machine mechanical arm
Expansion link, to carry out the operation of straight line convergence target object easily.
The present invention realizes being accurately positioned clamping, no by being provided with single video Exact Location System on robot arm
Only target object accurate positioning, and simple to operate, it is easy to use.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the structural representation of mechanical arm expansion link in the present invention.
In figure: 1, mechanical arm, 2, video system, 3, visible light laser emitter device, 4, jaw, 5, photographic head, transmission of video
Mechanism 6,7, display, 8, rotating shaft, 9, target object, 10, expansion link, 11, hydraulic cylinder, 12, hydraulic stem, 13, oil inlet and outlet.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings, but this explanation not mechanical arm and localization method to the present invention
Constitute any restriction.
Installation video system and visible light laser emitter device the most on the robotic arm:
The end of mechanical arm 1 is provided with jaw 4, optionally may also include mechanical arm expansion link 10.Video system 2 includes photographic head
5, transmission of video mechanism 6 and display 7.Transmission of video mechanism 6 in figure is line transmission system, and for simplifying structure, video passes
Transfer mechanism is preferably used wireless transmitting system.Photographic head 5 is arranged on mechanical arm 1, the light path central shaft of photographic head 5 and mechanical arm
The Clamping Center line along mechanical arm direction of jaw coaxial.After photographic head 5 both can be installed on mechanical arm as shown in Figure 1
Portion, it is also possible to be installed on the front portion of mechanical arm, the advantage being installed on front portion is, close together with target object, shelter is relatively
Few, be more convenient for capture and imaging.Visible light laser emitter device 3 is also mounted on mechanical arm 1, but its installation site is positioned at photographic head
Beyond light path central shaft, so that launched laser can after camera imaging in the display after correct position produces hot spot
Display.Visible light laser emitter device 3 is installed on mechanical arm by being perpendicular to the rotating shaft 8 of mechanical arm, and this rotating shaft 8 can be entered as required
Row rotates and location.Visible light laser emitter device 3 rotates along rotating shaft 8, the laser launched to visible light laser emitter device 3 and institute
The joining of the light path central shaft stating photographic head is positioned at the jaws of jaw, and this joining be positioned at object to be held held after
End face foremost on time, by rotating shaft position.Angle α between visible light laser emitter device 3 and photographic head light path central shaft
Size relevant to the visible light laser emitter device 3 vertical dimension away from described photographic head light path central shaft, when the timing of this distance one,
The size of this angle α determines substantially, it is only necessary to be positioned at jaws according to its front end face determined by the length of target object different
Position be finely adjusted.
In the present invention, can be that installation site is adjustable by the installation settings of visible light laser emitter device, thus, can be as required
It is adjusted the vertical dimension between visible light laser emitter device and photographic head light path central shaft.In the present invention, also can be by machinery
Arm is set to telescopic mechanical arm, in order to carry out the operation of straight line convergence target.Telescopic mechanical arm can use existing
The various structures that can realize in technology, a kind of attainable embodiment is as in figure 2 it is shown, telescopic mechanical arm uses liquid
Depression bar telescoping mechanism.As in figure 2 it is shown, telescopic mechanical arm is to install expansion link 10 on the robotic arm additional.Expansion link 10 is by hydraulic pressure
Cylinder 11, hydraulic stem 12, oil inlet and outlet 13 form.
Operation the most according to the following steps:
According to the image captured by photographic head, it is judged that the approximate location of target object 9, operating robotic arm 1, make target object be positioned at
On the center of display 7 i.e. photographic head 5 light path central axis.Operating robotic arm 1 is transported along photographic head light path central axis direction straight line
Dynamic, gradually convergence target object 9.Time to the jaws of target object entrance jaw, it is seen that what ray laser emitter 3 was launched swashs
Light can produce laser facula in target object 9 surface foremost；Side according to this laser facula deviation target object center
To and departure degree, continue adjust mechanical arm position, make laser facula be positioned at the center of display 7.Driving jaw is carried out
Clamping can realize the accurate clamping to target object 9.
Claims (6)
1. the mechanical arm that can be accurately positioned, it is characterised in that include mechanical arm, be installed on mechanical arm video system and
Visible light laser emitter device；Described video system includes described photographic head, transmission of video mechanism and display, described photographic head
Light path central shaft is coaxial with the Clamping Center line along mechanical arm direction of two jaws of mechanical arm；Described visible light laser emitter device
Being installed on beyond described photographic head light path central shaft and be installed on mechanical arm by being perpendicular to the rotating shaft of mechanical arm, this rotating shaft can root
Carry out rotating and positioning according to needs.
The mechanical arm being accurately positioned the most according to claim 1, it is characterised in that described visible light laser emitter device with
The vertical dimension of described photographic head light path central shaft is adjusted as required.
The mechanical arm being accurately positioned the most according to claim 1, it is characterised in that described visible light laser emitter device institute
The laser launched and the joining of the light path central shaft of described photographic head are positioned at the jaws of jaw, and this joining is positioned at and waits to press from both sides
Hold object held after end face foremost on.
The mechanical arm being accurately positioned the most according to claim 1, it is characterised in that described mechanical arm is telescopic machine
Mechanical arm.
The robot arm being carried out by single video system being accurately positioned the most according to claim 5, it is characterised in that
Described telescopic mechanical arm uses hydraulic stem telescoping mechanism.
6. a mechanical arm localization method, it is characterised in that comprise the following steps:
A, on the robotic arm video system is installed；Described video system includes described photographic head, transmission of video mechanism and display,
The light path central shaft of described photographic head is coaxial with the Clamping Center line along mechanical arm direction of the jaw of mechanical arm；
B, on the robotic arm installation visible light laser emitter device；Described visible light laser emitter device is installed on described photographic head light path
Beyond central shaft；
C, adjust the installation site of visible light laser emitter device and direction, make laser and institute that visible light laser emitter device launched
The joining of the light path central shaft stating photographic head is positioned at the jaws of the jaw of mechanical arm, and this joining is positioned at object to be held
On end face foremost after held；
D, according to the image captured by photographic head, it is judged that the approximate location of target object, operating robotic arm, make target object be positioned at
On the center of display i.e. photographic head light path central axis；
E, operating robotic arm move along a straight line along photographic head light path central axis direction, and gradually convergence target object enters to target object
When entering in the jaws of jaw, it is seen that the laser that ray laser emitter is launched can produce in target object surface foremost and swash
Light hot spot；Direction according to this laser facula deviation target object center and departure degree, continue to adjust the position of mechanical arm, make
Laser facula is positioned at the center of display；
F, driving jaw carry out clamping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590181.7A CN106041993B (en) | 2016-07-26 | 2016-07-26 | A kind of mechanical arm and its localization method being accurately positioned |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590181.7A CN106041993B (en) | 2016-07-26 | 2016-07-26 | A kind of mechanical arm and its localization method being accurately positioned |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041993A true CN106041993A (en) | 2016-10-26 |
| CN106041993B CN106041993B (en) | 2018-08-31 |
Family
ID=57418208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610590181.7A Expired - Fee Related CN106041993B (en) | 2016-07-26 | 2016-07-26 | A kind of mechanical arm and its localization method being accurately positioned |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041993B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393072A (en) * | 2016-11-16 | 2017-02-15 | 安曼博珠宝控股有限公司 | Jewelry chain bead automatic-grabbing and reverse-rotating manipulator |
| CN109454661A (en) * | 2018-11-28 | 2019-03-12 | 昆山源博信予智能装备有限公司 | A kind of clamping device and its application method for truss |
| CN109666969A (en) * | 2019-03-01 | 2019-04-23 | 洛阳德晶智能科技有限公司 | Centralising device and application method when a kind of clamping crystal bar for single crystal growing furnace |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60231208A (en) * | 1984-05-01 | 1985-11-16 | Nippon Telegr & Teleph Corp <Ntt> | Control method of automatic machine |
| CN1630806A (en) * | 2002-02-14 | 2005-06-22 | Faro科技有限公司 | Portable coordinate measurement machine with integrated line laser scanner |
| CN103250023A (en) * | 2010-08-31 | 2013-08-14 | 海克斯康计量学有限公司 | Mounting apparatus for articulated arm laser scanner |
| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN204414117U (en) * | 2014-12-08 | 2015-06-24 | 湖北汽车工业学院 | A kind of vision positioning welding machine people |
| CN104858869A (en) * | 2015-05-05 | 2015-08-26 | 上海大学 | Portable mechanical arm with function of accurately positioning object |
-
2016
- 2016-07-26 CN CN201610590181.7A patent/CN106041993B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60231208A (en) * | 1984-05-01 | 1985-11-16 | Nippon Telegr & Teleph Corp <Ntt> | Control method of automatic machine |
| CN1630806A (en) * | 2002-02-14 | 2005-06-22 | Faro科技有限公司 | Portable coordinate measurement machine with integrated line laser scanner |
| CN103250023A (en) * | 2010-08-31 | 2013-08-14 | 海克斯康计量学有限公司 | Mounting apparatus for articulated arm laser scanner |
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN204414117U (en) * | 2014-12-08 | 2015-06-24 | 湖北汽车工业学院 | A kind of vision positioning welding machine people |
| CN104858869A (en) * | 2015-05-05 | 2015-08-26 | 上海大学 | Portable mechanical arm with function of accurately positioning object |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393072A (en) * | 2016-11-16 | 2017-02-15 | 安曼博珠宝控股有限公司 | Jewelry chain bead automatic-grabbing and reverse-rotating manipulator |
| CN109454661A (en) * | 2018-11-28 | 2019-03-12 | 昆山源博信予智能装备有限公司 | A kind of clamping device and its application method for truss |
| CN109666969A (en) * | 2019-03-01 | 2019-04-23 | 洛阳德晶智能科技有限公司 | Centralising device and application method when a kind of clamping crystal bar for single crystal growing furnace |
| CN109666969B (en) * | 2019-03-01 | 2023-09-19 | 洛阳德晶智能科技有限公司 | Centering device for single crystal furnace during clamping of crystal bars and use method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041993B (en) | 2018-08-31 |
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Granted publication date: 20180831 |
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