CN110328655A - A kind of random puzzle device of robot for real training - Google Patents
A kind of random puzzle device of robot for real training Download PDFInfo
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- CN110328655A CN110328655A CN201910726446.5A CN201910726446A CN110328655A CN 110328655 A CN110328655 A CN 110328655A CN 201910726446 A CN201910726446 A CN 201910726446A CN 110328655 A CN110328655 A CN 110328655A
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- puzzle
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- 238000009434 installation Methods 0.000 claims abstract 2
- 238000007789 sealing Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/06—Patience; Other games for self-amusement
- A63F9/10—Two-dimensional jig-saw puzzles
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of real training robot, the random puzzle device of especially a kind of robot for real training, including manipulator, it further include self-gripping jaws, the self-gripping jaws installation is on a robotic arm；Conveying device, the conveying device are located at the side of manipulator；Picture mosaic platform, the picture mosaic platform are located at the side of manipulator；Puzzle piece, the puzzle piece are placed on picture mosaic platform, and the puzzle piece is equipped with multiple, and the shape of puzzle piece or specification are different；And camera, the camera are located at the top of conveying device, the camera is used to detect the puzzle piece in conveying device.Segment is placed in preset figure by the information that the random puzzle device of a kind of robot for real training provided by the invention is identified by visual component, to complete the real training task of random picture mosaic, real training requirement is provided to clear and definite to student, student is enable skillfully to grasp correlation machine people's technology.
Description
Technical field
The present invention relates to a kind of real training robot, the random puzzle device of especially a kind of robot for real training.
Background technique
Recently as the continuous development of sensor and intelligent control technology, robot is walked from the field of industrial application
Into our life.Amusement humanoid robot also also continuously emerges in daily life, have become in the world one it is popular
Research topic, wherein jigsaw puzzle robot belongs to one kind of amusement humanoid robot.With the research that deepens continuously of amusement humanoid robot
It is increasingly vigorous to the demand for talent for grasping robot technology with development.
Summary of the invention
To solve the above problems, the present invention provide it is a kind of can be used in picture mosaic training, improve students' skill one kind be used for
The random puzzle device of the robot of real training, the specific technical proposal is:
A kind of random puzzle device of robot for real training, including manipulator, further include self-gripping jaws, the automatic folder
Pawl is installed on a robotic arm；Conveying device, the conveying device are located at the side of manipulator；Picture mosaic platform, the picture mosaic platform are located at
The side of manipulator；Puzzle piece, the puzzle piece are placed on picture mosaic platform, and the puzzle piece is equipped with multiple, and the shape of puzzle piece
Shape or specification are different；And camera, the camera are located at the top of conveying device, the camera is for detecting conveying device
Puzzle piece.
By using above-mentioned technical proposal, manipulator grabs puzzle piece by self-gripping jaws, is then placed into puzzle piece defeated
It send on device, conveying device drives puzzle piece to pass through camera, and camera, which is taken pictures, differentiates puzzle piece, and then controller is according to the figure of setting
Puzzle piece after identification is placed on picture mosaic platform by shape, steps be repeated alternatively until figure assembly complete, for without using
Puzzle piece is replaced, and to be used need to be placed according to the graph position of setting.
Picture mosaic is realized in this way, can effectively improve the program capability of student, grasps camera identification and manipulator
Operation.
Preferably, the self-gripping jaws is electronic clamping jaw or Pneumatic clamping jaw, sets that there are two slide unit, institutes on the self-gripping jaws
It states and is respectively arranged with handgrip on slide unit, the handgrip is for grabbing puzzle piece.
By using above-mentioned technical proposal, electronic clamping jaw or Pneumatic clamping jaw structure are simple, easy to use, can grab a variety of
Article makes that puzzle piece can not only be grabbed, moreover it can be used to which the crawl of other articles is differentiated.
It preferably, further include vacuum chuck and suction cup carrier, the vacuum chuck is mounted in suction cup carrier, the suction cup carrier
Two sides are equipped with locating slot, and the locating slot is corresponding with handgrip.
By using above-mentioned technical proposal, it is more convenient that puzzle piece is picked up using vacuum chuck, and be hardly damaged picture mosaic
Block.
Preferably, the handgrip is equipped with venthole, and the venthole is through-hole, and fast quick access is housed on the venthole
Head；Sealing ring, the sealing ring and venthole coaxial line are also equipped on the handgrip, the sealing ring is fixed on the interior of handgrip
Side.
By using above-mentioned technical proposal, facilitate the connection of vacuum chuck gas circuit, at the same do not influence self-gripping jaws other
Purposes.
Preferably, the picture mosaic platform be equipped with placing groove, the placing groove be equipped with it is multiple, the placing groove respectively with picture mosaic
Block matches.
By using above-mentioned technical proposal, placing groove can accommodate puzzle piece, realize the positioning of puzzle piece, there is determining seat
Mark facilitates programming crawl puzzle piece, lowers programming difficulty, and can effectively prevent picture mosaic lost block.
Preferably, the conveying device includes conveyer belt；Carriage, the conveyer belt are located at the top of carriage；Actively
Belt wheel, the driving pulley are fixed on one end of carriage；Feeder motor, the feeder motor are fixed on carriage, and defeated
Power transmission machine is connect with driving pulley；Driven pulley, the driven pulley are fixed on the other end of carriage, the conveyer belt suit
On driving pulley and driven pulley；Striker plate, the striker plate are fixed on carriage, and are located at the two sides of conveyer belt；And it claps
According to sensor, the sensor of taking pictures is located at the side of conveyer belt.
By using above-mentioned technical proposal, conveyer belt facilitates camera to be shot, and without mobile camera, keeps structure simple,
Sensor of taking pictures is for detecting puzzle piece and issuing photographing signals to camera.
It preferably, further include encoder, the encoder is connect with driving pulley.
By using above-mentioned technical proposal, encoder is used cooperatively with sensor of taking pictures, and encoder is conveying puzzle piece
The position of band is accurately calculated, and obtains the coordinate of puzzle piece, or puzzle piece is made to stop at fixed position, to facilitate machine
Tool hand grabs puzzle piece.
It preferably, further include anti-lost baffle, the anti-lost baffle is fixed on the discharge end of carriage, on the anti-lost baffle
It is also equipped with anti-lost sensor.
By using above-mentioned technical proposal, anti-lost baffle can prevent puzzle piece from falling, and anti-lost sensor has detected whether
Puzzle piece enters at anti-lost baffle.
It preferably, further include backstand and tensioning screw, the backstand is fixed on the other end of carriage, the tensioning
Driven pulley is housed, the tensioning screw is mounted on backstand, and described tensioning screw one end is located at carriage on seat.
By using above-mentioned technical proposal, tensioning screw makes conveyer belt keep good operation shape for adjusting conveyer belt
State.
Preferably, the puzzle piece is seven-piece puzzle.
By using above-mentioned technical proposal, seven-piece puzzle is by seven pieces of board groups at and this seven blocks of plates can be combined into many figures up to
1600 kinds or more, such as: triangle, parallelogram, irregular polygon can also be combined into it various personages, image, move
Object, bridge, room, tower etc., it is simple, practical, it can sufficiently meet teaching request.
Compared with prior art the invention has the following advantages:
The random puzzle device of a kind of robot for real training provided by the invention will by the information that visual component identifies
Segment is placed in preset figure, to complete the real training task of random picture mosaic, is provided real training to student to clear and definite and is wanted
It asks, student is enable skillfully to grasp correlation machine people's technology.
Detailed description of the invention
Fig. 1 is a kind of axonometric drawing of random puzzle device of the robot for real training；
Fig. 2 is a kind of top view of random puzzle device of the robot for real training；
Fig. 3 is the front view that vacuum chuck is housed on self-gripping jaws；
Fig. 4 is the axis geodesic structure schematic diagram of Fig. 3；
Fig. 5 is the axis geodesic structure signal of self-gripping jaws；
Fig. 6 is the structural schematic diagram of vacuum chuck and suction cup carrier assembly；
Fig. 7 is the axis geodesic structure schematic diagram of conveying device；
Fig. 8 is the top view of conveying device.
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described.
As shown in Figures 1 to 8, the random puzzle device of a kind of robot for real training, including manipulator 11 further include certainly
Dynamic clamping jaw 21, self-gripping jaws 21 are mounted on manipulator 11；Conveying device, conveying device are located at the side of manipulator 11；Picture mosaic
Platform 51, picture mosaic platform 51 are located at the side of manipulator 11；Puzzle piece, puzzle piece are placed on picture mosaic platform 51, puzzle piece be equipped with it is multiple,
And the shape or specification of puzzle piece are different；And camera 61, camera 61 are located at the top of conveying device, camera 61 is mounted on phase
In rack 62, camera 61 is used to detect the puzzle piece in conveying device.
Manipulator 11 is six axis robot 11, and manipulator 11 grabs puzzle piece by self-gripping jaws 21, then puts puzzle piece
It sets in conveying device, conveying device drives puzzle piece to pass through camera 61, and camera 61, which is taken pictures, differentiates puzzle piece, then controller root
The puzzle piece after identification is placed on picture mosaic platform 51 according to the figure of setting, steps be repeated alternatively until that figure assembly is completed, it is right
In without using puzzle piece, replace, need to be used be placed according to the graph position of setting.It can effectively improve
The program capability of student grasps the operation of camera 61 identification and manipulator 11.
Puzzle piece is seven-piece puzzle, and seven-piece puzzle is by seven pieces of board groups at and this seven blocks of plates can be combined into up to 1600 kinds of many figures
More than, such as: triangle, parallelogram, irregular polygon, it can also be combined into various personages, image, animal, bridge,
Room, tower etc., it is simple, practical, it can sufficiently meet teaching request.
Picture mosaic platform 51 is equipped with placing groove 52, and placing groove 52 is arranged along the edge of picture mosaic platform 51, there is picture mosaic platform 51 enough
Space carry out picture mosaic, placing groove 52 be equipped with seven, seven placing grooves 52 place seven blocks of plates of seven-piece puzzle respectively, and seven-piece puzzle is complete
In placing groove 52, the gap between placing groove 52 and seven-piece puzzle is smaller, and only vacuum chuck 35 can easily just draw seven
Skilful plate.Placing groove 52 realizes the positioning of puzzle piece, and puzzle piece is made to have determining coordinate, facilitates programming crawl puzzle piece, lowers and compile
Journey difficulty, and can effectively prevent picture mosaic lost block.
Self-gripping jaws 21 is mounted on attachment base 23, and attachment base 23 is mounted on manipulator 11, and self-gripping jaws 21 is electronic
Clamping jaw or Pneumatic clamping jaw are set on self-gripping jaws 21 there are two slide unit, are respectively arranged with handgrip 22 on slide unit, handgrip 22 is for grabbing picture mosaic
Block.Electronic clamping jaw or Pneumatic clamping jaw structure are simple, easy to use, can grab various article, make that puzzle piece can not only be grabbed, also
The crawl that can be used for other articles is differentiated.In order to facilitate crawl seven-piece puzzle, seven-piece puzzle is not damaged, further includes 35 He of vacuum chuck
Suction cup carrier 31, vacuum chuck 35 are mounted in suction cup carrier 31, and the two sides of suction cup carrier 31 are equipped with locating slot 33, locating slot 33 and handgrip
22 is corresponding.
Positive stop lug boss 23 is additionally provided on handgrip 22, suction cup carrier 31 is equipped with limit hole 34, positive stop lug boss 23 and limit hole 34
Want to correspond to, positive stop lug boss 23 and limit hole 34 prevent suction cup carrier 31 from falling off.
Handgrip 22 is equipped with venthole 25, and venthole 25 is through-hole, and quick coupling is housed on venthole 25；On handgrip 22 also
Equipped with sealing ring 26, sealing ring 26 and 25 coaxial line of venthole, sealing ring 26 are fixed on the inside of handgrip 22.Facilitate vacuum chuck
The connection of 35 gas circuits, while other purposes of self-gripping jaws 21 are not influenced.
Conveying device includes conveyer belt 41；Carriage 43, conveyer belt 41 are located at the top of carriage 43；Driving pulley 54,
Driving pulley 54 is fixed on one end of carriage 43；Feeder motor 47, feeder motor 47 are fixed on carriage 43, and convey electricity
Machine 47 is connect with driving pulley 54；From belt wheel belt wheel 52, the other end of carriage 43, conveyer belt 41 are fixed on from belt wheel belt wheel 52
It is set with driving pulley 54 and from belt wheel belt wheel 52；Striker plate 42, striker plate 42 are fixed on carriage 43, and are located at conveyer belt
41 two sides；And sensor 44 of taking pictures, sensor 44 of taking pictures are located at the side of conveyer belt 41.Conveyer belt 41 facilitates camera 61 to carry out
Shooting keeps structure simple without mobile camera 61, and sensor 44 of taking pictures is for detecting puzzle piece and issuing letter of taking pictures to camera 61
Number, sensor 44 of taking pictures is photoelectric sensor.
It further include encoder 48, encoder 48 is connect with driving pulley 54.Encoder 48 makes with the cooperation of sensor 44 of taking pictures
With encoder 48 accurately calculates puzzle piece in the position of conveyer belt 41, obtains the coordinate of puzzle piece, or make puzzle piece
Fixed position is stopped at, so that manipulator 11 be facilitated to grab puzzle piece.
It further include anti-lost baffle 45, anti-lost baffle 45 is fixed on the discharge end of carriage 43, is also equipped on anti-lost baffle 45
Anti-lost sensor 46.
Anti-lost baffle 45 can prevent puzzle piece from falling, and anti-lost sensor 46 has detected whether that puzzle piece enters anti-lost gear
At plate 45.Anti-lost sensor 46 is photoelectric sensor.
It further include backstand 51 and tensioning screw 53, backstand 51 is fixed on the other end of carriage 43, on backstand 51
Equipped with from belt wheel belt wheel 52, tensioning screw 53 is mounted on backstand 51, and 53 one end of tensioning screw is located at carriage 43.It is tensioned spiral shell
Nail 53 makes conveyer belt 41 keep good operating status for adjusting conveyer belt 41.
Claims (10)
1. a kind of random puzzle device of robot for real training, including manipulator, which is characterized in that further include
Self-gripping jaws, the self-gripping jaws installation is on a robotic arm；
Conveying device, the conveying device are located at the side of manipulator；
Picture mosaic platform, the picture mosaic platform are located at the side of manipulator；
Puzzle piece, the puzzle piece are placed on picture mosaic platform, and the puzzle piece is equipped with multiple, and the shape of puzzle piece or specification are each
It is not identical；And
Camera, the camera are located at the top of conveying device, and the camera is used to detect the puzzle piece in conveying device.
2. the random puzzle device of a kind of robot for real training according to claim 1, which is characterized in that described automatic
Clamping jaw is electronic clamping jaw or Pneumatic clamping jaw, is set on the self-gripping jaws there are two slide unit, is respectively arranged with handgrip on the slide unit, described
Handgrip is for grabbing puzzle piece.
3. the random puzzle device of a kind of robot for real training according to claim 1, which is characterized in that further include true
Suction disk and suction cup carrier, the vacuum chuck are mounted in suction cup carrier, and the two sides of the suction cup carrier are equipped with locating slot, the positioning
Slot is corresponding with handgrip.
4. the random puzzle device of a kind of robot for real training according to claim 3, which is characterized in that the handgrip
It is equipped with venthole, the venthole is through-hole, and quick coupling is housed on the venthole；
Sealing ring, the sealing ring and venthole coaxial line are also equipped on the handgrip, the sealing ring is fixed on the interior of handgrip
Side.
5. the random puzzle device of a kind of robot for real training according to claim 3, which is characterized in that the picture mosaic
Platform be equipped with placing groove, the placing groove be equipped with it is multiple, the placing groove matches with puzzle piece respectively.
6. the random puzzle device of a kind of robot for real training according to claim 1, which is characterized in that
The conveying device includes
Conveyer belt；
Carriage, the conveyer belt are located at the top of carriage；
Driving pulley, the driving pulley are fixed on one end of carriage；
Feeder motor, the feeder motor is fixed on carriage, and feeder motor is connect with driving pulley；
Driven pulley, the driven pulley are fixed on the other end of carriage, the conveyer belt suit driving pulley and driven belt
On wheel；
Striker plate, the striker plate are fixed on carriage, and are located at the two sides of conveyer belt；And
It takes pictures sensor, the sensor of taking pictures is located at the side of conveyer belt.
7. the random puzzle device of a kind of robot for real training according to claim 6, which is characterized in that further include compiling
Code device, the encoder are connect with driving pulley.
8. the random puzzle device of a kind of robot for real training according to claim 6, which is characterized in that further include preventing
Fall baffle, the anti-lost baffle is fixed on the discharge end of carriage, is also equipped with anti-lost sensor on the anti-lost baffle.
9. the random puzzle device of a kind of robot for real training according to claim 1, which is characterized in that further include
Tight seat and tensioning screw, the backstand are fixed on the other end of carriage, and driven pulley is housed on the backstand, and described
Tight screw is mounted on backstand, and described tensioning screw one end is located at carriage.
10. the random puzzle device of a kind of robot for real training according to claim 1, which is characterized in that the spelling
Segment is seven-piece puzzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910726446.5A CN110328655A (en) | 2019-08-07 | 2019-08-07 | A kind of random puzzle device of robot for real training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910726446.5A CN110328655A (en) | 2019-08-07 | 2019-08-07 | A kind of random puzzle device of robot for real training |
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| Publication Number | Publication Date |
|---|---|
| CN110328655A true CN110328655A (en) | 2019-10-15 |
Family
ID=68148905
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910726446.5A Pending CN110328655A (en) | 2019-08-07 | 2019-08-07 | A kind of random puzzle device of robot for real training |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111583747A (en) * | 2020-05-20 | 2020-08-25 | 安徽海思达机器人有限公司 | Robot teaching training platform |
| CN112750343A (en) * | 2020-12-23 | 2021-05-04 | 苏州富纳智能科技有限公司 | Industrial vision high-grade practical training equipment |
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| DE102016111893A1 (en) * | 2016-06-29 | 2018-02-22 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Clamping or gripping device |
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