CN108638034A - A kind of robotic gripping device - Google Patents
A kind of robotic gripping device Download PDFInfo
- Publication number
- CN108638034A CN108638034A CN201810564674.2A CN201810564674A CN108638034A CN 108638034 A CN108638034 A CN 108638034A CN 201810564674 A CN201810564674 A CN 201810564674A CN 108638034 A CN108638034 A CN 108638034A
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- CN
- China
- Prior art keywords
- module
- mechanical arm
- cylinder
- circuit board
- image
- 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- Withdrawn
Links
- 238000004805 robotic Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000002452 interceptive Effects 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of robotic gripping devices, including master controller, pedestal and placement plate, it is fixed with mechanical arm on the pedestal, it is connected by control line between pedestal and master controller, it is also equipped with identification device on the side wall of mechanical arm, is equipped at the tail end of mechanical arm for the cylinder assembly for being located at object in placement plate to be clamped；The identification device is by rear shell, front housing, first circuit board, second circuit board, tertiary circuit plate, imager and photographic device composition, after image capture module captures object, photographic device shoots picture, the pictorial information of multiple photographic device shootings is sent to image co-registration module, image co-registration module coordinates distance-measurement module, the picture that photographic device is shot is formed three-dimensional module by imager, digital independent summarizing module is summarized to application platform, instruction module assigns instruction to mechanical arm module and cylinder modules, so that object is clamped in mechanical arm and cylinder assembly movement.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of robotic gripping device.
Background technology
Currently, having begun applied robot in industrial circle, this kind of robot relies primarily on mechanical arm to complete flowing water
A certain procedure on line.But current robotic gripping device is complicated, in gripper components, there is the case where omission
When generation, can not timely it pinpoint the problems, and solve.
Application number：A kind of 201620142621.8 robotic gripping devices proposed, the position of encoder is obtained by pulse
It sets, camera shoots gripper components, and passes information to visual processing apparatus, and visual processing apparatus is sent to after converting signal
Robot, robot are captured by robot gripper, when breaking down, when gripper components being needed to miss, are fixed on robot
Video recording equipment on holder records a video and emits signal, alarm device alarm to alarm device.
Uncertain in the presence of the assurance to positional distance, the distance of object does not measure intuitively and the two dimension of picture
Processing causes the accuracy of clamping not high.
Invention content
The purpose of the present invention is to provide a kind of robotic gripping devices, after image capture module captures object,
Photographic device shoots picture, and the pictorial information of multiple photographic device shootings is sent to image co-registration module, and image co-registration module is matched
Distance-measurement module is closed, the picture that photographic device is shot is formed three-dimensional module by imager, and digital independent summarizing module carries out
Summarize to application platform, instruction module assigns instruction to mechanical arm module and cylinder modules so that mechanical arm and cylinder assembly move
It is dynamic that object is accurately clamped, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：A kind of robotic gripping device, including main control
Machine, pedestal and placement plate are fixed with mechanical arm on the pedestal, are connected by control line between pedestal and master controller, machine
It is also equipped with identification device on the side wall of tool arm, is equipped at the tail end of mechanical arm for the gas for being located at object in placement plate to be clamped
Cylinder component；
The identification device is by rear shell, front housing, first circuit board, second circuit board, tertiary circuit plate, imager and takes the photograph
As device composition, rear shell is fixed as the shell of hollow structure by screw and front housing, and it is flat that the first circuit board is equipped with observation
Platform, image co-registration module, image capture module, distance-measurement module, second circuit board be equipped with application platform, instruction module and
Imager, tertiary circuit plate are equipped with mechanical arm module, cylinder modules and digital independent summarizing module, first circuit board, the
The enclosure interior that two circuit boards and tertiary circuit plate are each attached to rear shell and front housing is constituted, the photographic device are fixed on front housing
On side wall, the probe of photographic device is towards placement plate；
The cylinder assembly is made of cylinder, cylinder rod, left intermediate plate and right clamping piece, and cylinder is fixed on the side wall of mechanical arm
On, one end of cylinder rod is fixed on the output end of cylinder, and the other end of cylinder rod connects across mechanical arm with left intermediate plate, right folder
Piece is fixed on the tail end of mechanical arm opposite with left intermediate plate position.
Preferably, the output end of described image capture module connects with photographic device, the output end and image of photographic device
Fusion Module connects, and the output end of image co-registration module connect with imager, the input terminal of observation platform respectively with imager and
Distance-measurement module connects, and the output end of observation platform is connect with digital independent summarizing module, the input terminal and number of application platform
According to summarizing module connection is read, the output end of application platform is connect with instruction module, output end and the mechanical arm mould of instruction module
Block is connected with cylinder modules.
Preferably, the observation platform is FPGA master control borads, and application platform is PC machine, and instruction mould is assigned for interactive information
Block.
Preferably, the digital independent summarizing module is two video cards, and one of video card is used to accelerate photographed images
Processing, another video card are used to handle image acceleration.
Compared with prior art, the beneficial effects of the invention are as follows：
Robot grabbing device, after image capture module captures object, photographic device shoots picture, multiple to take the photograph
As the pictorial information that device is shot is sent to image co-registration module, image co-registration module cooperation distance-measurement module, imager general
The picture of photographic device shooting forms three-dimensional module, and digital independent summarizing module is summarized to application platform, instruction module
Instruction is assigned to mechanical arm module and cylinder modules so that object is accurately clamped in mechanical arm and cylinder assembly movement.
Description of the drawings
Fig. 1 is the overall structure figure of the robotic gripping device of the present invention；
Fig. 2 is the identification device structure chart of the robotic gripping device of the present invention；
Fig. 3 is the A-A enlarged drawings of Fig. 1 of the present invention；
Fig. 4 is the module connection figure of the robotic gripping device of the present invention.
In figure：1, master controller；2, pedestal；21, mechanical arm；22, cylinder assembly；221, cylinder；222, cylinder rod；223、
Left intermediate plate；224, right clamping piece；3, placement plate；4, identification device；41, rear shell；42, front housing；43, first circuit board；431, it observes
Platform；432, image co-registration module；433, image capture module；434, distance-measurement module；44, second circuit board；441, it answers
Use platform；442, instruction module；45, tertiary circuit plate；451, mechanical arm module；452, cylinder modules；453, digital independent converges
Total module；46, imager；47, photographic device.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is solid on pedestal 2 referring to Fig. 1, a kind of robotic gripping device, including master controller 1, pedestal 2 and placement plate 3
Surely there is mechanical arm 21, connected by control line between pedestal 2 and master controller 1, master controller 1 is for control machinery arm 21 and knows
Other 4 device of device is also equipped with identification device 4 on the side wall of mechanical arm 21, is equipped at the tail end of mechanical arm 21 for being clamped
The cylinder assembly 22 of object in placement plate 3 places object in placement plate 3.
Referring to Fig. 2, identification device 4 is by rear shell 41, front housing 42, first circuit board 43, second circuit board 44, tertiary circuit
Plate 45, imager 46 and photographic device 47 form, and rear shell 41 is fixed as the shell of hollow structure by screw and front housing 42, the
One circuit board 43 is equipped with observation platform 431, image co-registration module 432, image capture module 433, distance-measurement module 434,
Second circuit board 44 is equipped with application platform 441, instruction module 442 and imager 46, and observation platform 431 is a FPGA master control
Plate, application platform 441 are a PC machine, assign instruction module 442 for interactive information, tertiary circuit plate 45 is equipped with mechanical arm mould
Block 451, cylinder modules 452 and digital independent summarizing module 453, first circuit board 43, second circuit board 44 and tertiary circuit
The enclosure interior that plate 45 is each attached to rear shell 41 and front housing 42 is constituted, photographic device 47 are fixed on the side wall of front housing 42, are imaged
The probe of device 47 is equipped with for the cylinder for being located at object in placement plate 3 to be clamped at the tail end of mechanical arm 21 towards placement plate 3
Component 22, photographic device 47 shoot object.
Referring to Fig. 3, cylinder assembly 22 is made of cylinder 221, cylinder rod 222, left intermediate plate 223 and right clamping piece 224, cylinder
221 are fixed on the side wall of mechanical arm 21, and one end of cylinder rod 222 is fixed on the output end of cylinder 221, cylinder rod 222
The other end connects across mechanical arm 21 with left intermediate plate 223, and right clamping piece 224 is fixed on the tail end of mechanical arm 21 and left intermediate plate 223
Position is opposite, and cylinder 221 controls cylinder rod 222 and slides, and left intermediate plate 223 also moves, is moved to and contacts reality with right clamping piece 224
Now it is clamped
Referring to Fig. 4, the output end of image capture module 433 connects with photographic device 47, the output end of photographic device 47
It is connect with image co-registration module 432, the output end of image co-registration module 432 is connect with imager 46, the input of observation platform 431
End connects with imager 46 and distance-measurement module 434 respectively, output end and the digital independent summarizing module of observation platform 431
453 connections, digital independent summarizing module 453 are two video cards, and one of video card is used to handle photographed images acceleration, another
A video card is used to handle image acceleration, and the input terminal of application platform 441 connect with digital independent summarizing module 453, answers
It is connect with instruction module 442 with the output end of platform 441, output end and mechanical arm module 451 and the cylinder mould of instruction module 442
Block 452 connects.
Operation principle：After image capture module 433 captures object, photographic device 47 shoots picture, multiple camera shootings
The pictorial information that device 47 is shot is sent to image co-registration module 432, and image co-registration module 432 coordinates distance-measurement module 434,
The picture that photographic device 47 is shot is formed three-dimensional module by imager 46, and digital independent summarizing module 453 is summarized to answering
With platform 441, instruction module 442 assigns instruction to mechanical arm module 451 and cylinder modules 452 so that mechanical arm 21 and cylinder
Object is accurately clamped in the movement of component 22.
To sum up：Robotic gripping device provided by the invention, after image capture module 433 captures object, camera shooting
Device 47 shoots picture, and the pictorial information that multiple photographic devices 47 are shot is sent to image co-registration module 432, image co-registration module
The picture that photographic device 47 is shot is formed three-dimensional module, digital independent by 432 cooperation distance-measurement modules 434, imager 46
Summarizing module 453 is summarized to application platform 441, and instruction module 442 assigns mechanical arm module 451 and cylinder modules 452
Instruction so that object is clamped in mechanical arm 21 and the movement of cylinder assembly 22.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of robotic gripping device, including master controller (1), pedestal (2) and placement plate (3), it is characterised in that：It is described
It is fixed with mechanical arm (21) on pedestal (2), is connect by control line between pedestal (2) and master controller (1), mechanical arm (21)
It is also equipped with identification device (4) on side wall, is equipped at the tail end of mechanical arm (21) and is located at object in placement plate (3) for being clamped
Cylinder assembly (22)；
The identification device (4) is by rear shell (41), front housing (42), first circuit board (43) and second circuit board (44), third electricity
Road plate (45), imager (46) and photographic device (47) composition, rear shell (41) is fixed as by screw with front housing (42) hollow
The shell of structure, the first circuit board (43) are equipped with observation platform (431), image co-registration module (432), picture catching mould
Block (433), distance-measurement module (434), second circuit board (44) be equipped with application platform (441), instruction module (442) and at
As device (46), tertiary circuit plate (45) summarizes mould equipped with mechanical arm module (451), cylinder modules (452) and digital independent
Block (453), first circuit board (43), second circuit board (44) and tertiary circuit plate (45) are each attached to rear shell (41) and front housing
(42) enclosure interior constituted, the photographic device (47) are fixed on the side wall of front housing (42), the probe of photographic device (47)
Towards placement plate (3)；
The cylinder assembly (22) is made of cylinder (221), cylinder rod (222), left intermediate plate (223) and right clamping piece (224), cylinder
(221) it is fixed on the side wall of mechanical arm (21), one end of cylinder rod (222) is fixed on the output end of cylinder (221), cylinder
The other end of bar (222) connects across mechanical arm (21) with left intermediate plate (223).
2. a kind of robotic gripping device as described in claim 1, it is characterised in that：Described image capture module (433)
Output end connects with photographic device (47), and the output end of photographic device (47) is connect with image co-registration module (432), image co-registration
The output end of module (432) is connect with imager (46), the input terminal of observation platform (431) respectively with imager (46) and distance
Measurement module (434) connects, and the output end of observation platform (431) is connect with digital independent summarizing module (453), application platform
(441) input terminal is connect with digital independent summarizing module (453), output end and the instruction module (442) of application platform (441)
Connection.
3. a kind of robotic gripping device as described in claim 1, it is characterised in that：The right clamping piece (224) is fixed on machine
It is opposite with left intermediate plate (223) position on the tail end of tool arm (21).
4. a kind of robotic gripping device as described in claim 1, it is characterised in that：The output of described instruction module (442)
End is connect with mechanical arm module (451) and cylinder modules (452).
5. a kind of robotic gripping device as described in claim 1, it is characterised in that：The observation platform (431) is FPGA
Master control borad, application platform (441) are PC machine, and instruction module (442) is assigned for interactive information.
6. a kind of robotic gripping device as described in claim 1, it is characterised in that：The digital independent summarizing module
(453) it is two video cards, one of video card is for handling photographed images acceleration, another video card is for adding image
Speed processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564674.2A CN108638034A (en) | 2018-06-04 | 2018-06-04 | A kind of robotic gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564674.2A CN108638034A (en) | 2018-06-04 | 2018-06-04 | A kind of robotic gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638034A true CN108638034A (en) | 2018-10-12 |
Family
ID=63759295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810564674.2A Withdrawn CN108638034A (en) | 2018-06-04 | 2018-06-04 | A kind of robotic gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108638034A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825254A (en) * | 1994-07-14 | 1996-01-30 | Nec Corp | Master-slave type robot arm device and arm positioning/ guiding method |
| JP2009012138A (en) * | 2007-07-06 | 2009-01-22 | Toyota Motor Corp | Workpiece gripping robot and method for gripping workpiece |
| CN105798894A (en) * | 2016-04-11 | 2016-07-27 | 哈尔滨理工大学 | Grabbing manipulator capable of turning over box body |
| CN205734904U (en) * | 2016-04-11 | 2016-11-30 | 哈尔滨理工大学 | A kind of casing catching robot |
| CN206136140U (en) * | 2016-10-20 | 2017-04-26 | 三峡大学 | Low light level pedestrian moves and discerns monitoring device |
| CN106625582A (en) * | 2016-11-25 | 2017-05-10 | 南陵县生产力促进中心有限公司 | Anti-pinching carrying mechanical arm |
| CN107243907A (en) * | 2017-07-24 | 2017-10-13 | 东莞市联洲知识产权运营管理有限公司 | A kind of circuit board captures robot automatically |
| CN206967472U (en) * | 2017-05-03 | 2018-02-06 | 天津市誓成祥科技有限公司 | Antiskid, shock-absorbing rotary type mechanical arm |
-
2018
- 2018-06-04 CN CN201810564674.2A patent/CN108638034A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825254A (en) * | 1994-07-14 | 1996-01-30 | Nec Corp | Master-slave type robot arm device and arm positioning/ guiding method |
| JP2009012138A (en) * | 2007-07-06 | 2009-01-22 | Toyota Motor Corp | Workpiece gripping robot and method for gripping workpiece |
| CN105798894A (en) * | 2016-04-11 | 2016-07-27 | 哈尔滨理工大学 | Grabbing manipulator capable of turning over box body |
| CN205734904U (en) * | 2016-04-11 | 2016-11-30 | 哈尔滨理工大学 | A kind of casing catching robot |
| CN206136140U (en) * | 2016-10-20 | 2017-04-26 | 三峡大学 | Low light level pedestrian moves and discerns monitoring device |
| CN106625582A (en) * | 2016-11-25 | 2017-05-10 | 南陵县生产力促进中心有限公司 | Anti-pinching carrying mechanical arm |
| CN206967472U (en) * | 2017-05-03 | 2018-02-06 | 天津市誓成祥科技有限公司 | Antiskid, shock-absorbing rotary type mechanical arm |
| CN107243907A (en) * | 2017-07-24 | 2017-10-13 | 东莞市联洲知识产权运营管理有限公司 | A kind of circuit board captures robot automatically |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20181012 |