CN108789386A - The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision - Google Patents

The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision Download PDF

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Publication number
CN108789386A
CN108789386A CN201810547168.2A CN201810547168A CN108789386A CN 108789386 A CN108789386 A CN 108789386A CN 201810547168 A CN201810547168 A CN 201810547168A CN 108789386 A CN108789386 A CN 108789386A
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CN
China
Prior art keywords
bar
manipulator
parallel connection
doublejointed
composite
Prior art date
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Pending
Application number
CN201810547168.2A
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Chinese (zh)
Inventor
邹湘军
李慧
陈明猷
王杰
王成琳
刘梓鑫
黄矿裕
张坡
林桂潮
曾泽钦
曹晓曼
李锦慧
冯昊
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South China Agricultural University
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South China Agricultural University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by South China Agricultural University filed Critical South China Agricultural University
Priority to CN201810547168.2A priority Critical patent/CN108789386A/en
Publication of CN108789386A publication Critical patent/CN108789386A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme 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
    • B25J9/1697Vision controlled systems

Abstract

The manipulator of the invention discloses a kind of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision, including doublejointed composite structure, flexible parallel connection grasping mechanism;The junction of first armed lever and the second armed lever is equipped with entity crescent rotating member;The both ends of first bar are separately connected the holder of entity crescent rotating member and flexible parallel connection grasping mechanism;The both ends of second bar are separately connected entity crescent rotating member and mechanical arm hydraulic system;The flexible parallel connection grasping mechanism includes the dynamic palm, the fixed palm, combined shunt part and mechanical hand hydraulic pump, and mechanical hand hydraulic pump is fixed on the second armed lever.The present invention uses doublejointed composite structure, flexible parallel connection grasping mechanism and entity crescent rotating member, the use of motor can be effectively reduced, whole device is light-weight, control system is simple, stability is strong, reduces energy consumption, using flexible, the crawl operation especially suitable for field work and flexible body.

Description

The machine of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision Tool hand
Technical field
The present invention relates to machinery field, more particularly to a kind of doublejointed composite structure and flexible parallel connection based on monocular vision The manipulator of grasping mechanism.
Background technology
Arm robot is most common industrial robot, is suitable for the mechanical automation operation of numerous industrial circles, Such as automatic assembling, spray painting, carrying, welding.But this kind of robot, each joint of one side mechanical arm is by motor band Dynamic, wiring and control device are complicated so that the weight of mechanical arm is big, volume is big, and control electric cabinet is larger;On the other hand, end is held Row device needs motor and retarder to drive in each joint, does not have the ability of crawl flexible body, therefore, it is difficult to adapt to field Light and handy operation and flexible body operation.
Invention content
It is an object of the invention to overcome disadvantage existing in the prior art, a kind of stable, side simple in structure, mobile is provided Just it is light and handy to be suitable for field for the manipulator of the doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision of operation Operation and flexible body operation.
The purpose of the invention is achieved by the following technical solution:
A kind of manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision, including doublejointed Composite structure, flexible parallel connection grasping mechanism;The doublejointed composite structure includes the first armed lever 5 and the second armed lever 9, the second armed lever 9 are hinged with the holder of flexible parallel connection grasping mechanism;The junction of first armed lever 5 and the second armed lever 9 is provided with joint motor 7, It swings around junction for controlling the second armed lever 9;The junction of first armed lever 5 and the second armed lever 9 is equipped with entity crescent moon Shape rotating member 6;The both ends of first bar 8 are separately connected the holder of entity crescent rotating member 6 and flexible parallel connection grasping mechanism, the A piece bar 8 is parallel with the second armed lever 9;The both ends of second bar 4 are separately connected entity crescent rotating member 6 and mechanical arm hydraulic pressure system System 3, second bar 4 is parallel with the first armed lever 5;The flexible parallel connection grasping mechanism includes the dynamic palm 14, the surely palm 16, combined shunt part With mechanical hand hydraulic pump 10, mechanical hand hydraulic pump 10 is fixed on the second armed lever 9.
The combined shunt part is made of four bars, and the first bar of manipulator 18 and the second bar of manipulator 11 have one end hinged respectively On the holder of flexible parallel connection grasping mechanism, the other end of the first bar of manipulator 18 and the second bar of manipulator 11 is all hinged on rotation On part 17, rotating member 17 is hinged with manipulator third bar 13, the 4th bar 12 of manipulator respectively, manipulator third bar 13 and manipulator 4th bar 12 is connected by rod piece, and the connection of the first bar of manipulator 18 slaps 16 surely, and the connection of the 4th bar 12 of manipulator is dynamic to slap 14;Manipulator A steel wire 19 is fixed on third bar 13, steel wire 19 is around the first bar of manipulator 18 and one end that the palm 16 is connected surely, then Around one end that the second bar of manipulator 11 is connected with holder, then pumps 10 with mechanical hand hydraulic and be connected.
Doublejointed composite structure is fixed on workbench 2, and workbench 2 is mounted on motion platform 1;Have two on workbench 2 A motor, a motor make entire manipulator be rotated around z-axis, another motor makes entire manipulator swing.
The motion platform 1 can be moved freely and freely stretched on the ground, with expand the use scope of manipulator with Flexibility ratio;It is provided with master controller on motion platform 1, the movement for controlled motion platform and flexible and control machinery arm Two joint motors up and down of hydraulic system 3, mechanical hand hydraulic pump 10 and the first armed lever 5;Motion platform 1 has vision system, figure As information processing system and information feedback processor, it is used for the traveling of controlled motion platform 1 and stretches, avoid collision.
By the netted stepped construction of 3D printing as skeleton, outside has flexible made of silica gel material for the dynamic palm 14 and the surely palm 16 Layer protective case.The shape of putting the palms together before one of the dynamic palm 14 and the surely palm 16 is olive shape, plays round-sharp head incision, utmostly reduces obstacle and resistance Power does not hinder software or organism, plays guiding role.The dynamic palm 14 and the surely palm 16 use foldable structure, similar tortoise neck, length It can be made to become larger or reduce according to requirement, until suitable size.
Surely single camera vision system 15 is installed on the palm 16;The single camera vision system 15 includes monocular camera, control System and laser, for determining crawl object location and cognitive disorders object.
Resetting spring is housed in the first bar of the manipulator 18 and the second bar of manipulator 11 on the position of steel wire 19, is used for The dynamic palm 14 and the surely reset of the palm 16.
First armed lever 5, the second armed lever 9 and entity crescent rotating member 6 are plastic material.
The entity crescent rotating member 6 is symmetrical structure, and centre has a macropore, both sides symmetrically respectively to have three groups of apertures, is made For the mounting hole being hinged with first bar, 8, second bars 4;The holder of flexible parallel connection grasping mechanism, mechanical arm hydraulic system 3 On also there are three corresponding position hole hinged place.The effect of three groups of apertures is:On the one hand, rod piece is connected on different groups of aperture Rotatable angle is different;On the other hand, after the hole used is seriously worn, other two groups of holes can be adjusted according to use demand As mounting hole.
The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision, whole device are formed One parallel institution drives second bar 4 to move up and down, is then rotated by entity crescent by mechanical arm hydraulic system 3 The power direction of part 6 shifts, and first bar 8 is made to be moved horizontally, and then drives the precise angle of flexible parallel connection grasping mechanism It is mobile.When work, mechanical hand hydraulic pump 10 provides power, and steel wire 19 is pulled to drive the second bar of manipulator 11 and rotating member 17 to the right Rotation, at the same time, the first bar of manipulator 18 drives slaps 16 to right rotation, the 4th bar 12 of manipulator third bar 13 and manipulator surely The dynamic palm 14 is driven to move downward simultaneously, the dynamic palm 14 slaps 16 and puted the palms together before one together as olive shape with fixed, captures successfully.Mechanical hand hydraulic pump 10 When discharging power, resetted by the elastic force of resetting spring and the pulling force of steel wire, each bar returns to initial position.
The operating process of single camera vision system, includes the following steps:
(1) Image Acquisition:Target object location is positioned using monocular camera and laser, to monocular camera area of visual field The image collected information is changed into number format and is passed in control system by the acquisition for carrying out image information;
(2) image procossing and feature extraction:Image processor in control system is extracted with different algorithms to inspection Influential image factor, the key feature of quantized image are surveyed, while identifying object and barrier;
(3) path planning:Manipulator is solved to the relevant location information of object and the size of power, plans robot movement Path;
(4) it captures:Manipulator is moved to suitable position and is captured.
The present invention has the following advantages that compared with prior art and effect:
(1) present invention replaces the motor on mechanical arm using doublejointed composite structure, realizes the function of motor, reduces each The use of a joint motor, without complicated motor, coiling and corresponding control system, whole device is light-weight, control system Simply, stability is strong, reduces energy consumption, using flexible, especially suitable for field work.
(2) present invention uses entity crescent rotating member, can undergo abrasion three times and use, the face of crescent exposing device Product is smaller, and hole is more, it is possible to reduce resistance when field work (for example distinguished and admirable influence entity crescent rotating member compared with conference Stablize, bring the unstable of whole device, influence whole device running), keep its running steady;Meanwhile because its is flat round and smooth The crescent of radian, can avoid picking fruit when up and down barrier influence, the operation is stable, have controllability, be used for multiple times, The advantages of resistance is small, stable working.
(3) present invention uses the flexible parallel connection grasping mechanism based on monocular vision, with machine vision technique to capturing object It is positioned, realizes reliability crawl, operation is light and handy and energy control dynamics size, crawl process do not destroy flexible article.
(4) present invention realizes that under without mechanical flashlight machine, whole device can reach the rotation of 6 degree of freedom, can be accurately real The angle of crawl rotation is applied, crawl is accurate, does not destroy flexible article structure;It is applicable not only to field work such as earthquake rescue, doctor Treatment rehabilitation, fruit are won, and the fields such as food industry packaging crawl are also applied for.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of entity crescent rotating member.
Fig. 3 is the structural schematic diagram of the dynamic palm.
Fig. 4 is the foldable structure schematic diagram of the dynamic palm.
Fig. 5 is the structural schematic diagram of flexible parallel connection grasping mechanism.
Fig. 6 is the structural schematic diagram of doublejointed composite structure.
Fig. 7 is the work flow diagram of the present invention.
Wherein:1, motion platform;2, workbench;3, mechanical arm hydraulic system;4, second bar;5, the first armed lever;6, real Body crescent rotating member;7, joint motor;8, first bar;9, the second armed lever;10, mechanical hand hydraulic pumps;11, manipulator second Bar;12, the 4th bar of manipulator;13, manipulator third bar;14, the palm is moved;15, single camera vision system;16, the fixed palm;17, rotating member; 18, the first bar of manipulator;19, steel wire.
Specific implementation mode
Further detailed description is done to the present invention with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1
As shown in Figure 1, a kind of manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision, Including doublejointed composite structure, flexible parallel connection grasping mechanism;As shown in fig. 6, the doublejointed composite structure includes the first armed lever 5 It is hinged with the holder of the second armed lever 9, the second armed lever 9 and flexible parallel connection grasping mechanism;The friendship of first armed lever 5 and the second armed lever 9 The place of connecing is provided with joint motor 7, swings around junction for controlling the second armed lever 9;First armed lever 5 and the second armed lever 9 Junction is equipped with entity crescent rotating member 6;The both ends of first bar 8 are separately connected entity crescent rotating member 6 and flexibility The holder of grasping mechanism in parallel, first bar 8 are parallel with the second armed lever 9;The both ends of second bar 4 are separately connected entity crescent Rotating member 6 and mechanical arm hydraulic system 3, second bar 4 are parallel with the first armed lever 5;As shown in figure 5, the flexible parallel connection crawl Mechanism includes the dynamic palm 14, the palm 16, combined shunt part and mechanical hand hydraulic pump 10, mechanical hand hydraulic pump 10 are fixed on the second armed lever surely On 9.The combined shunt part is made of four bars, and it is soft that the first bar of manipulator 18 and the second bar of manipulator 11 have one end to be hinged on respectively On the holder of property parallel connection grasping mechanism, the other end of the first bar of manipulator 18 and the second bar of manipulator 11 is all hinged on rotating member 17 On, rotating member 17 is hinged with manipulator third bar 13, the 4th bar 12 of manipulator respectively, manipulator third bar 13 and manipulator the 4th Bar 12 is connected by rod piece, and the connection of the first bar of manipulator 18 slaps 16 surely, and the connection of the 4th bar 12 of manipulator is dynamic to slap 14;Manipulator third A steel wire 19 is fixed on bar 13, steel wire 19 then passes around around the first bar of manipulator 18 and one end that the palm 16 is connected surely One end that the second bar of manipulator 11 is connected with holder, then be connected with mechanical hand hydraulic pump 10.
As shown in Fig. 2, the entity crescent rotating member 6 is symmetrical structure, centre has a macropore, both sides symmetrically respectively to have three Group aperture, as the mounting hole being hinged with first bar, 8, second bars 4.
As shown in Figure 3, Figure 4, it moves the palm 14 and the shape of putting the palms together before one of the palm 16 is olive shape surely, using foldable structure, similar tortoise Neck, length can make it become larger or reduce according to requirement, until suitable size.Surely monocular vision system is installed on the palm 16 System 15, including monocular camera, control system and laser, for determining crawl object location and cognitive disorders object.
For capturing Kiwi berry, the machine of doublejointed composite construction and flexible parallel connection grasping mechanism based on monocular vision Tool hand, as shown in fig. 7, operating procedure is as follows:
(1) image information is acquired:The position of kiwifruit fruit is positioned using monocular camera and laser, in monocular phase Machine area of visual field carries out the acquisition of the image informations such as kiwifruit fruit, Kiwi berry fruit tree, barrier, by the image collected information Number format is changed into be passed in control system;
(2) image procossing, feature extraction and path planning:Image processor in control system comes with different algorithms Extraction is on the influential image factor of detection, the key feature of quantized image, identification kiwifruit fruit, Kiwi berry fruit tree and obstacle Object confirms the Kiwi berry quantity in the visual field, extracts the features such as spatial position and the shape size of Kiwi berry, solve relevant position The size of information and power determines the driving path of picking sequence and motion platform, avoiding obstacles;
(3) it moves by path:The master controller of motion platform starts the horizontal and vertical direction movement of controlled motion platform, Control associated motor is started simultaneously at, the first armed lever 5 is moved, then control machinery arm hydraulic system 3 is pulled double by second bar 4 Joint composite structure makes flexible parallel connection grasping mechanism be moved to suitable position, and single camera vision system revises relative position again, fortune The master controller of moving platform adjusts the position of flexible parallel connection grasping mechanism, while control machinery hand hydraulic pump, then manipulator liquid Press pump control flexible parallel connection grasping mechanism starts to be captured with tip incision, and the first armed lever 5 and the movement of the second armed lever 9 will crawls Kiwifruit fruit be moved to above collecting fruit case, and then mechanical hand hydraulic pump control flexible parallel connection grasping mechanism decontrols macaque In peach to collecting box;
(4) repeat the above action, until by monocular camera within sweep of the eye in kiwifruit fruit all picking finishes;
(5) motion platform is moved to next picking fruit area, above four steps is repeated, until the fruit in Fruit-Picking Area All picking finishes.

Claims (10)

1. a kind of manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision, it is characterised in that: Including doublejointed composite structure, flexible parallel connection grasping mechanism;The doublejointed composite structure includes the first armed lever and the second armed lever, The holder of second armed lever and flexible parallel connection grasping mechanism is hinged;The junction of first armed lever and the second armed lever is provided with joint electricity Machine swings for controlling the second armed lever around junction;The junction of first armed lever and the second armed lever is equipped with entity crescent moon Shape rotating member;The both ends of first bar are separately connected the holder of entity crescent rotating member and flexible parallel connection grasping mechanism, and first Root bar is parallel with the second armed lever;The both ends of second bar are separately connected entity crescent rotating member and mechanical arm hydraulic system, the Two bars are parallel with the first armed lever;The flexible parallel connection grasping mechanism includes the dynamic palm, the fixed palm, combined shunt part and mechanical hand hydraulic Pump, mechanical hand hydraulic pump are fixed on the second armed lever.
2. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:The combined shunt part is made of four bars, and the first bar of manipulator and the second bar of manipulator have one end hinge respectively It is connected on the holder of flexible parallel connection grasping mechanism, the other end of the second bar of the first bar of manipulator and manipulator is all hinged on rotating member On, rotating member is hinged with manipulator third bar, the 4th bar of manipulator respectively, and manipulator third bar passes through bar with the 4th bar of manipulator Part connects, the fixed palm of the first bar of manipulator connection, the dynamic palm of the 4th bar of manipulator connection;A steel is fixed on manipulator third bar Silk, steel wire bypass the first bar of manipulator and slap the one end being connected calmly, then pass around what the second bar of manipulator was connected with holder One end, then be connected with mechanical hand hydraulic pump.
3. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:Doublejointed composite structure is fixed on the table, and workbench is installed on the moving platform;Have on workbench Two motors, a motor make entire manipulator be rotated around z-axis, another motor makes entire manipulator swing.
4. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 3 based on monocular vision Hand, it is characterised in that:The motion platform can be moved freely and freely be stretched on the ground, to expand the use model of manipulator It encloses and flexibility ratio;Master controller is provided on motion platform, the movement for controlled motion platform and flexible and control machinery Two joint motors up and down of arm hydraulic system, mechanical hand hydraulic pump and the first armed lever;Motion platform has vision system, image letter Processing system and information feedback processor are ceased, the traveling of controlled motion platform is used for and is stretched, is avoided collision.
5. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:By the netted stepped construction of 3D printing as skeleton, outside has soft made of silica gel material for the dynamic palm and the calmly palm Property layer protective case;The dynamic palm and the shape of putting the palms together before one slapped surely are olive shape, using foldable structure.
6. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:It is described to determine palm single camera vision system is installed;The single camera vision system includes monocular camera, control System and laser, for determining crawl object location and cognitive disorders object.
7. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:Resetting spring is housed in the second bar of the first bar of the manipulator and manipulator on the position of steel wire, is used for The dynamic palm and the reset slapped surely.
8. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:First armed lever, the second armed lever and entity crescent rotating member are plastic material.
9. the machinery of doublejointed composite structure and flexible parallel connection grasping mechanism according to claim 1 based on monocular vision Hand, it is characterised in that:The entity crescent rotating member is symmetrical structure, and centre has a macropore, both sides symmetrically respectively to have three groups small Hole, as the mounting hole being hinged with first bar, second bar.
10. a kind of doublejointed composite structure and flexible parallel connection according to any one of claims 1 to 9 based on monocular vision are grabbed Take the application method of the manipulator of mechanism, it is characterised in that:Doublejointed composite structure and flexible parallel connection based on monocular vision are grabbed It takes the manipulator of mechanism, whole device to form a parallel institution, second bar or more is driven by mechanical arm hydraulic system It is mobile, it is then shifted by the power direction of entity crescent rotating member, first bar is made to be moved horizontally, and then driven soft Property parallel connection grasping mechanism precise angle movement;Then, mechanical hand hydraulic pump provides power, and pierce tap is pulled to move manipulator second Bar and rotating member are to right rotation, and at the same time, the drive of the first bar of manipulator is slapped to right rotation, manipulator third bar and manipulator calmly 4th bar drives the dynamic palm to move downward simultaneously, and the dynamic palm is puted the palms together before one together with fixed slap as olive shape, is captured successfully.
CN201810547168.2A 2018-05-31 2018-05-31 The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision Pending CN108789386A (en)

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Publication number Priority date Publication date Assignee Title
CN110026964A (en) * 2019-04-24 2019-07-19 北京轩宇智能科技有限公司 A kind of automobile chassis maintaining robot
CN110370293A (en) * 2019-06-13 2019-10-25 苏州吉成智能科技有限公司 The drug distribution method and device of double-manipulator pharmacy control system

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CN103538070A (en) * 2013-09-27 2014-01-29 杭州电子科技大学 Five-freedom-degree hydraulic servo manipulator
JP5762758B2 (en) * 2011-01-20 2015-08-12 山本 元司 Robot hand device
CN107139182A (en) * 2017-06-05 2017-09-08 重庆理工大学 A kind of citrus picking robot system and its control method
CN107414832A (en) * 2017-08-08 2017-12-01 华南理工大学 A kind of mobile mechanical arm crawl control system and method based on machine vision

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Publication number Priority date Publication date Assignee Title
CN201633019U (en) * 2010-01-13 2010-11-17 段富银 Beacon deposit eliminating mechanical hand
CN102092046A (en) * 2010-12-09 2011-06-15 江南大学 Pneumatic single tow rope multi-joint flexible manipulator with damping
JP5762758B2 (en) * 2011-01-20 2015-08-12 山本 元司 Robot hand device
CN103538070A (en) * 2013-09-27 2014-01-29 杭州电子科技大学 Five-freedom-degree hydraulic servo manipulator
CN107139182A (en) * 2017-06-05 2017-09-08 重庆理工大学 A kind of citrus picking robot system and its control method
CN107414832A (en) * 2017-08-08 2017-12-01 华南理工大学 A kind of mobile mechanical arm crawl control system and method based on machine vision

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110026964A (en) * 2019-04-24 2019-07-19 北京轩宇智能科技有限公司 A kind of automobile chassis maintaining robot
CN110370293A (en) * 2019-06-13 2019-10-25 苏州吉成智能科技有限公司 The drug distribution method and device of double-manipulator pharmacy control system
CN110370293B (en) * 2019-06-13 2021-03-23 苏州吉成智能科技有限公司 Medicine dispensing method and device for double-manipulator pharmacy control system

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