CN107351072A - Mechanical arm with work monitoring function - Google Patents
Mechanical arm with work monitoring function Download PDFInfo
- Publication number
- CN107351072A CN107351072A CN201710844111.4A CN201710844111A CN107351072A CN 107351072 A CN107351072 A CN 107351072A CN 201710844111 A CN201710844111 A CN 201710844111A CN 107351072 A CN107351072 A CN 107351072A
- Authority
- CN
- China
- Prior art keywords
- arm
- mechanical
- work
- monitoring function
- underarm
- 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.)
- Withdrawn
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Classifications
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses the mechanical arm with work monitoring function,Including mechanical upper arm and mechanical underarm,Connected between the mechanical upper arm and mechanical underarm using swivel head,The front end of the mechanical upper arm is provided with filing appliance,The filing appliance includes upper clip and lower clamping piece,The upper clip and lower clamping piece are separately positioned on the upper and lower ends of mechanical upper arm front end,Image acquisition device is provided between the upper clip and lower clamping piece,Described image collector fixes the front end of mechanically arm,This mechanical arm when work is operated by filing appliance,Swivel head between mechanical upper arm and mechanical underarm is capable of the position of adjustment work folder,Image acquisition device between filing appliance more carries out IMAQ when work,Solves the order that traditional mechanical arm can only perform operation,The course of work can not be monitored,Cause not knowing about working condition,Discovery to error of performance not in time the problem of.
Description
Technical field
The present invention relates to a kind of mechanical arm, and in particular to has the mechanical arm of work monitoring function.
Background technology
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the arm maximum area for having the mankind
Flexibility ratio and resistance to dynamics are not that.The sharpest edges of namely manipulator are recursive to do same action in the positive reason of machinery
It will not always feel under condition tired！The application of mechanical arm also will be more and more extensive, and manipulator is that recent decades grow up
A kind of high-tech automatic producing device, the ability to fulfil assignment in the accuracy and environment of operation.Industry mechanical arm robot
An important branch.Species, fluid pressure type, pneumatic type, electrodynamic type, mechanical can be divided into by type of drive.Feature is to lead to
Programming is crossed to complete various expected operations, the advantages of construction with people and robotics are had concurrently each in performance, mechanical arm
Be it is a kind of can by set program or requirement, be automatically performed object (such as material, workpiece, part or instrument) transmission or operation make
The mechanical device of industry, it can partly replace the hand labour of people.The manipulator of higher form can also simulate the arm action of people,
More complicated operation is completed, mechanical arm is widely used in the neck such as semiconductor manufacturing, industry, medical treatment, military affairs and space probation
Domain.
Mechanical arm needs to be stretched over that some we can not contact or can not to mechanical arm in actual applications
The position seen is operated, and needs that the engineering of work is monitored and understood during work, traditional manipulator
Arm can only perform the order of operation, and the course of work can not be monitored, and cause not knowing about working condition, wrong to work
Discovery not in time by mistake.
The content of the invention
Present invention aims at the mechanical arm with work monitoring function is provided, solving traditional mechanical arm can only hold
The order of row operation, can not be monitored to the course of work, cause not knowing about working condition, the discovery to error of performance
Not in time the problem of.
The present invention is achieved through the following technical solutions：
Mechanical arm with work monitoring function, including mechanical upper arm and mechanical underarm, the mechanical upper arm and machinery
Connected between underarm using swivel head, the front end of the mechanical upper arm is provided with filing appliance, the filing appliance include upper clip and
Lower clamping piece, the upper clip and lower clamping piece are separately positioned on the upper and lower ends of mechanical upper arm front end, the upper clip and lower clamping piece
Between be provided with image acquisition device, described image collector fixes the front end of mechanically arm.
This mechanical arm when work is operated by filing appliance, between mechanical upper arm and mechanical underarm
Swivel head is capable of the position of adjustment work folder, and the image acquisition device between filing appliance more carries out IMAQ when work,
Solve the order that traditional mechanical arm can only perform operation, the course of work can not be monitored, caused to working condition
Do not know about, the discovery to error of performance not in time the problem of.
Further, the mechanical upper arm includes forearm and postbrachium, and arm set, arm set are provided between the forearm and postbrachium
It is arranged in forearm, postbrachium is arranged in arm set.Forearm and postbrachium can be shunk and upheld by arm set, can change machine
The length of tool arm so that the working range of mechanical arm is more extensive.
Further, the lower end of the mechanical underarm is connected with fixed arm, and the fixed arm is used to fix mechanical arm
In operating position.The installation of mechanical arm can be completed by fixed arm and changed, change tradition machinery arm and control machine one
The defects of,
Further, in addition to linking arm, one end of the linking arm connect the rear end of mechanically arm, and one end is connected to
The rear end of mechanical underarm.The effect of the linking arm makes the stabilization of the structure of the whole mechanical arm of holding, avoids mechanical upper arm mistake
Degree is rotated and come off, and also corresponds to the stopping means rotated.
Further, in addition to host computer, the host computer connect image acquisition device, for collecting and storage image collection
The image information that device collects.The image of collection is stored using host computer, visual and clear sees the image collected,
The convenient analysis to image, the searching to error of performance are found.
The present invention compared with prior art, has the following advantages and advantages：
1st, the present invention has the mechanical arm of work monitoring function, solves the life that traditional mechanical arm can only perform operation
Order, can not be monitored to the course of work, cause not knowing about working condition, discovery the asking not in time to error of performance
Topic；
2nd, the present invention has the mechanical arm of work monitoring function, and working range is extensive, and stretching, extension is shunk convenient；
3rd, mechanical arm of the present invention with work monitoring function, Stability Analysis of Structures, IMAQ are clear.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention.
Mark and corresponding parts title in accompanying drawing：
1- machinery upper arm, 2- machinery underarms, 3- upper clips, 4- lower clamping pieces, 5- image acquisition devices, 6- forearms, 7- postbrachiums, 8-
Arm set, 9- fixed arms, 10- linking arms.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment
As shown in figure 1, the present invention has the mechanical arm of work monitoring function, including mechanical upper arm 1 and mechanical underarm 2,
Connected between the mechanical upper arm 1 and mechanical underarm 2 using swivel head, the front end of the mechanical upper arm 1 is provided with filing appliance, institute
Stating filing appliance includes upper clip 3 and lower clamping piece 4, and the upper clip 3 and lower clamping piece 4 are separately positioned on the upper of the mechanical front end of upper arm 1
Lower both ends, image acquisition device 5 is provided between the upper clip 3 and lower clamping piece 4, described image collector 5 is fixed mechanically
The front end of arm 1, the mechanical upper arm 1 include forearm 6 and postbrachium 7, and arm set 8, arm set 8 are provided between the forearm 6 and postbrachium 7
It is arranged in forearm 6, postbrachium 7 is arranged in arm set 8, and the lower end of the mechanical underarm 2 is connected with fixed arm 9, the fixed arm 9
For mechanical arm to be fixed on into operating position, in addition to linking arm 10, one end of the linking arm 10 connects mechanically arm 1
Rear end, one end is connected to the rear end of mechanical underarm 2, in addition to host computer, and the host computer connects image acquisition device 5, is used for
Collect the image information collected with storage image collector 5.
When using this mechanical arm, mechanical arm is fixed on to the position for needing work using fixed arm 9, and will
Mechanical arm connects host computer, and host computer is controlled to mechanical arm, and image collecting device 5 is camera, camera it is defeated
Go out end connection host computer, for mechanical arm when work, the position of its work is filing appliance, and the upper clip 3 of filing appliance is with
Intermediate plate 4 completes work, and during work, image during camera collecting work is sent to host computer, the also controllable manipulator of host computer
The forearm 6 and postbrachium 7 of arm are adjusted to the length of mechanical arm, reach the requirement of work, solve traditional mechanical arm only
The order of operation can be performed, the course of work can not be monitored, cause not knowing about working condition, to error of performance
It was found that not in time the problem of.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (5)
1. the mechanical arm with work monitoring function, it is characterised in that described including mechanical upper arm (1) and mechanical underarm (2)
It is connected between mechanical upper arm (1) and mechanical underarm (2) using swivel head, the front end of the mechanical upper arm (1) is provided with filing appliance,
The filing appliance includes upper clip (3) and lower clamping piece (4), and the upper clip (3) and lower clamping piece (4) are separately positioned on mechanical upper arm
(1) upper and lower ends of front end, image acquisition device (5) is provided between the upper clip (3) and lower clamping piece (4), described image is adopted
The front end of the fixed mechanically arm (1) of storage (5).
2. the mechanical arm according to claim 1 with work monitoring function, it is characterised in that the mechanical upper arm
(1) include forearm (6) and postbrachium (7), arm set (8) is provided between the forearm (6) and postbrachium (7), before arm set (8) is arranged on
In arm (6), postbrachium (7) is arranged in arm set (8).
3. the mechanical arm according to claim 1 with work monitoring function, it is characterised in that the mechanical underarm
(2) lower end is connected with fixed arm (9), and the fixed arm (9) is used to mechanical arm being fixed on operating position.
4. the mechanical arm according to claim 1 with work monitoring function, it is characterised in that also including linking arm
(10), one end of the linking arm (10) connects the rear end of mechanically arm (1), after the other end is connected to mechanical underarm (2)
End.
5. the mechanical arm according to claim 1 with work monitoring function, it is characterised in that also including host computer,
The host computer connection image acquisition device (5), for the image information collected and storage image collector (5) collects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710844111.4A CN107351072A (en) | 2017-09-19 | 2017-09-19 | Mechanical arm with work monitoring function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710844111.4A CN107351072A (en) | 2017-09-19 | 2017-09-19 | Mechanical arm with work monitoring function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351072A true CN107351072A (en) | 2017-11-17 |
Family
ID=60291564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710844111.4A Withdrawn CN107351072A (en) | 2017-09-19 | 2017-09-19 | Mechanical arm with work monitoring function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351072A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079742A (en) * | 2018-09-10 | 2018-12-25 | 广东宏穗晶科技服务有限公司 | A kind of robot for machining |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1585658A (en) * | 1977-06-24 | 1981-03-11 | Univ Surrey | Robotic arm |
| CN106181985A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of books pick and place robot |
| CN205889176U (en) * | 2016-08-23 | 2017-01-18 | 湖南生物机电职业技术学院 | Novel oranges and tangerines picking manipulator's control device |
| CN106585904A (en) * | 2016-12-15 | 2017-04-26 | 南京理工大学 | Water surface cleaning robot |
| CN106695831A (en) * | 2017-01-20 | 2017-05-24 | 南宁职业技术学院 | Smart meal taking robot |
| CN206383132U (en) * | 2017-01-20 | 2017-08-08 | 鞍山市庆隆机电有限公司 | Crawl type mechanical arm |
| CN107081743A (en) * | 2017-05-31 | 2017-08-22 | 太仓市微贯机电有限公司 | A kind of riveting robot with real-time monitoring and control |
-
2017
- 2017-09-19 CN CN201710844111.4A patent/CN107351072A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1585658A (en) * | 1977-06-24 | 1981-03-11 | Univ Surrey | Robotic arm |
| CN106181985A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of books pick and place robot |
| CN205889176U (en) * | 2016-08-23 | 2017-01-18 | 湖南生物机电职业技术学院 | Novel oranges and tangerines picking manipulator's control device |
| CN106585904A (en) * | 2016-12-15 | 2017-04-26 | 南京理工大学 | Water surface cleaning robot |
| CN106695831A (en) * | 2017-01-20 | 2017-05-24 | 南宁职业技术学院 | Smart meal taking robot |
| CN206383132U (en) * | 2017-01-20 | 2017-08-08 | 鞍山市庆隆机电有限公司 | Crawl type mechanical arm |
| CN107081743A (en) * | 2017-05-31 | 2017-08-22 | 太仓市微贯机电有限公司 | A kind of riveting robot with real-time monitoring and control |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079742A (en) * | 2018-09-10 | 2018-12-25 | 广东宏穗晶科技服务有限公司 | A kind of robot for machining |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171117 |