CN106181981A - A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate - Google Patents
A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate Download PDFInfo
- Publication number
- CN106181981A CN106181981A CN201610860203.7A CN201610860203A CN106181981A CN 106181981 A CN106181981 A CN 106181981A CN 201610860203 A CN201610860203 A CN 201610860203A CN 106181981 A CN106181981 A CN 106181981A
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- CN
- China
- Prior art keywords
- mechanical arm
- slide rail
- base
- dimension
- arm
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The present invention devises a kind of three-dimensional machinery arm configuration measured for camera scanning steel plate, including arm body, base.Base is the cuboid support with 8 pulleys, is used for supporting and being moved easily.Support both sides have slide rail, it is available for arm body and slides (the first dimension), arm body bottom has support, is used for fixing array light source, and arm body itself is as slide rail (the second dimension), longitudinal forearm body is installed on it; forearm body, as slide rail (third dimension), it installs link, can move up and down; line-scan digital camera is then fixed on link, height can be adjusted according to the size of visual field.Coordinate the control of photoelectric sensor, it is achieved electromechanical integration simultaneously, reach device scan and adopt the steady, reliable, safe and efficient of figure operation.
Description
Technical field
The present invention relates to a kind of three-dimensional machinery arm configuration measured for camera scanning steel plate, this structure achieves one
Kind in three dimensions equal adjustable, large scale steel plate is scanned the function of measurement.Coordinate the control of photoelectric sensor simultaneously
System, it is achieved electromechanical integration, reaches device scan and adopts the steady, reliable, safe and efficient of figure operation.
Background technology
Along with rise and the development of Digital Image Processing and machine vision, large scale steel plate fields of measurement intelligence the most therewith
Change, use the mode of machine vision, the complexion of monoblock steel plate is scanned into image by line-scan digital camera, use the side of image procossing
The dimension information of steel plate is calculated by method, has significantly overturned the mode of traditional measurement, improve the precision of measurement, accuracy with
Efficiency.
For large-sized measurement of the steel plate, in order to improve the efficiency of Scanning Detction and reduce the cost of exploitation, develop a set of
Effective three-dimensional machinery arm equipment is most important.Use line-scan digital camera to replace area array cameras, increase detectable length
Scope, can be adjusted improving the accuracy of detection according to the size of plate size in three dimensions.
Summary of the invention
The invention aims to improve large scale steel plate carry out the efficiency of vision-based detection and reduce development cost, for
This, the technical solution used in the present invention:
A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate, including base support, mechanical arm, driving
Device, harvester；It is characterized in that:
Described base support includes good fortune horse wheel, good fortune horse wheel keyset, drag chain support plate, wire casing, 135 degree of connecting plates, right angles
Connecting plate, optical axis, alloy bracket.Described alloy bracket totally 18, is divided into long alloy bracket and short alloy bracket by horizontal 8, long
Alloy bracket length 4 meters, short alloy bracket length 2 meters.Respectively two root length alloy brackets and two short alloy brackets are spaced, two
Two first places connect and form one a length of 4 meters, and the rectangle frame support of a width of 2 meters is as the ground floor of base, use right angle, junction
Support, remains 4 horizontal alloy brackets according to the second layer with this rule composition base.Longitudinal alloy bracket totally 10, length is equal
It is 50 centimetres, is used for connecting ground floor and the second layer.Totally 8, described good fortune horse wheel, is placed in base by good fortune horse wheel keyset respectively
Both sides, are used for supporting, moving.Described drag chain support plate is placed on chassis outer side, and wire casing is placed on it, to prevent kinking.
Described mechanical arm has three, for mechanical arm 1, mechanical arm 2, mechanical arm 3, the respectively motion of three different dimensions
Direction.Described mechanical arm 1 is the mechanical arm in first dimension direction, and base is respectively with slide rail on both sides, is available for mechanical arm 1 and exists
It slides over.Described mechanical arm 1 itself also serves as slide rail, and mechanical arm 2 is placed on it, can transport on second dimension direction
Dynamic.Described mechanical arm 2, as the sliding rail of mechanical arm 3, is available for mechanical arm 3 and moves upward the 3rd dimension side.Described
It is provided with connector on mechanical arm 3, is used for camera is installed.
Described driving means includes servomechanism, Delta 750W, optical axis, shaft coupling, actively slide rail, driven slide rail.Described watch
Taking device and include 3, the motion on respectively three dimension directions provides power.Described Delta is DC source 750w, is available for three
Platform servomechanism works simultaneously.Described active slide rail and driven slide rail are respectively placed in base both sides, are positioned in base and mechanical arm 1
Between.Described servomechanism is connected with actively slide rail, and optical axis two is connected with driven slide rail with active slide rail simultaneously, the motion of servomechanism
Being converted into the motion of actively slide rail belt, optical axis ensures the concordance that actively slide rail moves with driven slide rail simultaneously.At mechanical arm 2
Contain servomechanism respectively with the inside of mechanical arm 3, driven the motion of whole arm body by connecting rod.
Described harvester includes camera connector and light source coupler.Described camera connector is fixed on mechanical arm 3,
Height can be adjusted with the up and down motion of mechanical arm 3, adjustment left and right view field can be moved left and right with mechanical arm 2.Described light source connects
Part is installed on the low side of mechanical arm 2, adjustable angle, and light source is mounted thereon.
The present invention has the following technical effect that:
1. use good fortune horse wheel to support as base, can be moved easily, and there is when static locking function, it is ensured that mechanical arm
The stability of work, thus ensure to gather the quality of image.
2. use line-scan digital camera to replace area array cameras, add the kind that can measure plate size, reduce development cost.
3. use servomechanism as driving means, can at a high speed, rotate exactly, it is ensured that the seriality of collected by camera, with
Step property, reduces the distortion of image.
4. use array light source that tested steel plate is carried out polishing, coordinate with camera and adopt figure, can increase and gather the clear of image
Degree.
5. initial end and the end of mechanical arm is designed with photoelectric sensor, can realize the judgement of mechanical arm position is carried out urgency
Stop, reduce the collision between arm body and base, protection device.
Accompanying drawing explanation
Fig. 1: mechanical arm structure overall schematic of the present invention.
Fig. 2: chassis supporting stand structure schematic diagram.
Fig. 3: mechanical arm structural representation.
Fig. 4: driving device structure schematic diagram.
Fig. 5: harvester structural representation.
Detailed description of the invention
The present invention is further described below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of three-dimensional machinery arm configuration measured for camera scanning steel plate, including base support,
Mechanical arm, driving means, harvester.Described base support includes that good fortune horse wheel (101), good fortune horse wheel keyset (102), drag chain prop up
Fagging (103), wire casing (104), 135 degree of connecting plates (105), right-angle connecting plate (106), optical axis (107), alloy brackets (108).
Described alloy bracket totally 18, is divided into long alloy bracket (109) and short alloy bracket (110), long alloy bracket by horizontal 8
(109) long 4 meters, long 2 meters of short alloy bracket (110).Respectively two root length alloy brackets and two short alloy brackets are spaced,
First place connects and forms one a length of 4 meters two-by-two, and the rectangle frame support of a width of 2 meters uses straight as the ground floor of base, junction
Angle support, remains 4 horizontal alloy brackets according to the second layer with this rule composition base.Longitudinal alloy bracket totally 10, length
It is 50 centimetres, is used for connecting ground floor and the second layer.Described good fortune horse wheel (101) totally 8, is turned by good fortune horse wheel (101) respectively
Fishplate bar is placed in base both sides, is used for supporting, moving.Described drag chain support plate (103) is placed on chassis outer side, and wire casing (104) is placed in
On it, to prevent kinking.
Described mechanical arm has three, for mechanical arm 1 (201), mechanical arm 2 (202), mechanical arm 3 (203), and respectively three
The direction of motion of individual different dimensions.Described mechanical arm 1 (201) is the mechanical arm in first dimension direction, on base both sides respectively
With slide rail (204), it is available for mechanical arm 1 (201) and slides in the above.Described mechanical arm 1 (201) itself also serves as slide rail, machine
Mechanical arm 2 (202) is placed on it, can move upward second dimension side.Described mechanical arm 2 (202) is as mechanical arm 3 (203)
Sliding rail, be available for mechanical arm 3 (203) and move upward the 3rd dimension side.It is provided with on described mechanical arm 3 (203)
Connector (205), is used for installing camera.
Described driving means includes servomechanism (301), Delta 750W (302), optical axis (107), shaft coupling (303), actively
Slide rail (304), driven slide rail (305).Described servomechanism includes 3, and the motion on respectively three dimension directions provides power.
Described Delta is DC source 750w, is available for three servomechanisms and works simultaneously.Described active slide rail (304) and driven slide rail
(305) it is respectively placed in base both sides, is positioned at base middle with mechanical arm 1 (201).Described servomechanism (301) and actively slide rail
(304) connecting, optical axis (107) two is connected with driven slide rail (305) with active slide rail (304) simultaneously, the fortune of servomechanism (301)
The dynamic motion being converted into actively slide rail (304) belt, optical axis (107) ensures actively slide rail (304) and driven slide rail (305) simultaneously
The concordance of motion.Contain servomechanism (301) respectively in the inside of mechanical arm 2 (202) and mechanical arm 3 (203), pass through connecting rod
Drive the motion of whole arm body.
Described harvester includes camera connector (205) and light source coupler (401).Described camera connector is fixed on
On mechanical arm 3 (203), height can be adjusted with the up and down motion of mechanical arm 3 (203), can moving left and right with mechanical arm 2 (202)
Adjust left and right view field.Described light source coupler (401) is installed on the low side of mechanical arm 2 (202), adjustable angle, and light source is installed
Thereon.
When starting working, tested steel plate is laid on the ground immediately below base, and tested steel plate is carried out beating by array light source
Light, now, the sheet steel sections of the scanning area of camera, polishing region and light area is in approximately the same plane, i.e. light area is
Scanning area.Adjusting the height of mechanical arm 3, coordinate the focal length of camera, adjusting mechanical arm 2 carries out left and right adjustment to camera simultaneously,
Make steel plate in pickup area.Regulation servomechanism 1, is placed in initial position by mechanical arm 1, ready after, according to camera
Scanning speed adjusts the translational speed of mechanical arm 1 so that camera scanning speed reaches Tong Bu with the speed of mechanical arm 1, subtracts as far as possible
Gather the distortion of image less.
The initial end of every mechanical arm and end all set with positive and negative position limitation protection mechanism, i.e. photoelectric sensor.For avoid because of
Mechanical arm clashes into base when arriving end, and when manipulator motion to end, photoelectric sensor detection can detect automatically
And carry out jerk, can effectively protect whole device.
The main feature of the present invention: the position of camera can be adjusted in three dimensions, according to the picking rate of camera
Carry out mating the translational speed of each mechanical arm, it is achieved definition image acquisition higher.Floor installation has 8 good fortune horse wheels, can be square
Just moving and firm, slide rail end at the whole story has photoelectric sensor, cross the border can jerk, effective self-protection, in sum, can efficiently,
Accurately, safely large scale steel plate is measured.
The invention is not restricted to the above description to embodiment, those skilled in the art according to disclosure of the present invention,
The improvement that need not be carried out through creative work on the basis of the present invention and amendment, all should protection scope of the present invention it
In.
Claims (1)
1. the three-dimensional machinery arm configuration measured for camera scanning steel plate, including base support, mechanical arm, driving dress
Put, harvester；It is characterized in that:
Described base support include good fortune horse wheel (101), good fortune horse wheel keyset (102), drag chain support plate (103), wire casing (104),
135 degree of connecting plates (105), right-angle connecting plate (106), optical axis (107), alloy brackets (108), described alloy bracket totally 18,
Horizontal 8, it is divided into long alloy bracket (109) and short alloy bracket (110), long 4 meters of long alloy bracket (109), short alloy bracket
(110) long 2 meters, two root length alloy brackets and two short alloy brackets being spaced respectively, first place connects and forms one two-by-two
A length of 4 meters, the rectangle frame support of a width of 2 meters uses right angle rack as the ground floor of base, junction, remains 4 horizontal conjunctions
Gold support is according to the second layer with this rule composition base, longitudinal alloy bracket totally 10, and length is 50 centimetres, for connection the
One layer and the second layer.Described good fortune horse wheel (101) totally 8, is placed in base both sides by good fortune horse wheel (101) keyset respectively, is used for
Supporting, move, described drag chain support plate (103) is placed on chassis outer side, and wire casing (104) is placed on it, to prevent kinking；
Described mechanical arm has three, and for mechanical arm 1 (201), mechanical arm 2 (202), mechanical arm 3 (203), respectively three are not
With the direction of motion of dimension, described mechanical arm 1 (201) is the mechanical arm in first dimension direction, and base is respectively with on both sides
Slide rail (204), is available for mechanical arm 1 (201) and slides in the above, and described mechanical arm 1 (201) itself also serves as slide rail, mechanical arm 2
(202) placed on it, can move upward second dimension side, described mechanical arm 2 (202) is as the slip of mechanical arm 3 (203)
Track, is available for mechanical arm 3 (203) and moves upward the 3rd dimension side, described mechanical arm 3 (203) is provided with connector
(205), it is used for camera is installed；
Described driving means includes servomechanism (301), Delta 750W (302), optical axis (107), shaft coupling (303), actively slide rail
(304), driven slide rail (305), described servomechanism includes 3, and motion on respectively three dimension directions provides power, described
Delta is DC source 750w, is available for three servomechanisms and works simultaneously, described active slide rail (304) and driven slide rail (305) point
Not being placed in base both sides, be positioned at base middle with mechanical arm 1 (201), described servomechanism (301) is connected with actively slide rail (304),
Optical axis (107) two is connected with driven slide rail (305) with active slide rail (304) simultaneously, and the conversion of motion of servomechanism (301) is main
The motion of dynamic slide rail (304) belt, optical axis (107) ensures that actively slide rail (304) is consistent with what driven slide rail (305) moved simultaneously
Property, contain servomechanism (301) in the inside of mechanical arm 2 (202) and mechanical arm 3 (203) respectively, drive whole arm by connecting rod
The motion of body；
Described harvester includes camera connector (205) and light source coupler (401), and described camera connector is fixed on machinery
On arm 3 (203), height can be adjusted with the up and down motion of mechanical arm 3 (203), adjustment can be moved left and right with mechanical arm 2 (202)
Left and right view field, described light source coupler (401) is installed on the low side of mechanical arm 2 (202), adjustable angle, and light source is installed on it
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610860203.7A CN106181981B (en) | 2016-09-28 | 2016-09-28 | A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610860203.7A CN106181981B (en) | 2016-09-28 | 2016-09-28 | A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106181981A true CN106181981A (en) | 2016-12-07 |
| CN106181981B CN106181981B (en) | 2018-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610860203.7A Active CN106181981B (en) | 2016-09-28 | 2016-09-28 | A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107504905A (en) * | 2017-08-08 | 2017-12-22 | 江苏大学 | A kind of reticulated mesh size deviation ratio detecting system based on machine vision |
| CN107907063A (en) * | 2017-11-14 | 2018-04-13 | 湖南文理学院 | A kind of the steel band punching processing detecting system and method for view-based access control model measurement |
| CN110953986A (en) * | 2019-11-27 | 2020-04-03 | 武汉科技大学 | Non-contact type automatic plate size measuring equipment |
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| WO2008058077A2 (en) * | 2006-11-03 | 2008-05-15 | University Of Southern California | Gantry robotics system and related material transport for contour crafting |
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
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| CN204700440U (en) * | 2015-05-11 | 2015-10-14 | 上海工程技术大学 | A kind of laser engraving system being furnished with line-scan digital camera |
| CN105203633A (en) * | 2015-10-26 | 2015-12-30 | 南昌航空大学 | Water spray type automatic scanning device for ultrasonic TOFD nondestructive testing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080064543A1 (en) * | 2006-09-07 | 2008-03-13 | Nsk Ltd. | Three axis drive apparatus |
| WO2008058077A2 (en) * | 2006-11-03 | 2008-05-15 | University Of Southern California | Gantry robotics system and related material transport for contour crafting |
| CN202862210U (en) * | 2012-11-08 | 2013-04-10 | 山东省科学院自动化研究所 | Stacking manipulator for solar glass tube |
| CN104002293A (en) * | 2014-06-12 | 2014-08-27 | 苏州乔岳软件有限公司 | Attachment mechanical arm mechanism |
| CN204700440U (en) * | 2015-05-11 | 2015-10-14 | 上海工程技术大学 | A kind of laser engraving system being furnished with line-scan digital camera |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107504905A (en) * | 2017-08-08 | 2017-12-22 | 江苏大学 | A kind of reticulated mesh size deviation ratio detecting system based on machine vision |
| CN107907063A (en) * | 2017-11-14 | 2018-04-13 | 湖南文理学院 | A kind of the steel band punching processing detecting system and method for view-based access control model measurement |
| CN110953986A (en) * | 2019-11-27 | 2020-04-03 | 武汉科技大学 | Non-contact type automatic plate size measuring equipment |
| CN110953986B (en) * | 2019-11-27 | 2021-07-13 | 武汉科技大学 | Non-contact type automatic plate size measuring equipment |
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| Publication number | Publication date |
|---|---|
| CN106181981B (en) | 2018-06-05 |
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Effective date of registration: 20210524 Address after: Room 712, 7th floor, Tongyuan building, 2755 Yingxiu Road, Jinan area, China (Shandong) pilot Free Trade Zone, 250101 Patentee after: Shandong Huashi Digital Technology Co.,Ltd. Address before: No. 399 Bingshui Road, Xiqing District, Tianjin, Tianjin Patentee before: TIANJIN POLYTECHNIC University |