CN110480684A

CN110480684A - A kind of manipulator without dead angle identifier

Info

Publication number: CN110480684A
Application number: CN201810747601.7A
Authority: CN
Inventors: 张紫婷
Original assignee: Zhaoqing Hi Tech Zone Xiaojing Technology Co Ltd
Current assignee: Zhaoqing Hi Tech Zone Xiaojing Technology Co Ltd
Priority date: 2018-07-10
Filing date: 2018-07-10
Publication date: 2019-11-22

Abstract

The invention discloses a kind of manipulators without dead angle identifier, belongs to identifier field, its key points of the technical solution are that, including can source plate, CCD camera, information transmitter, image processor and programmable logic controller (PLC).This kind of manipulator without dead angle identifier, the device for solving to propose in background technique can not carry out no dead angle identification work, so that device accurately can not carry out data analysis to irregularly shaped object, so that manipulator can not it is efficient carry out different size object crawl operation, existing apparatus can not effectively determine the information degree of transitivity carried out in robot work, so that staff can not effective monitoring device working efficiency, it not can avoid manipulator control device is impacted and damaged when carrying out clamping work, reduce the safety of device at work, in night operation, the device accurately can not carry out positioning work to object, so that the problem that the Work Limitations of device are larger.

Description

A kind of manipulator without dead angle identifier

Technical field

The present invention relates to identifier field, in particular to a kind of manipulator without dead angle identifier.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently, but the control outside the typically cooperation of existing manipulator control identifier is flat Platform works, and not only cost is larger in this way, but also is inconvenient to carry out periodic maintenance, so that the job costs of device are excessively high, it is existing Some manipulator identifiers can not carry out no dead angle identification work at work, so that device can not be accurately to irregularly shaped object Carry out data analysis so that manipulator can not it is efficient carry out different size object crawl operation, existing dress To set can not effectively determine the information degree of transitivity carried out in robot work, so that staff can not effective monitoring device Working efficiency.

Authorization Notice No. is that the Chinese patent of CN201720626708.7 discloses a kind of Manipulator Controller, including shell Body, and the main control board being set in the housing, integration degree is high for the invention, and the parameter that all devices are used can be led to It crosses push-button unit to be set, while controlling the customized degree height of program, can be modified, be set by push-button unit, finally It realizes non-standard equipment standardization, layman can design in a short time and debugs out a securely and reliably stable machine Tool hand controls, when the device in the patent not can avoid manipulator control device is impacted when carrying out clamping work and Damage, reduces the safety of device at work, in night operation, which accurately can not carry out positioning work to object Make, so that the Work Limitations of device are larger.

Summary of the invention

In view of the deficienciess of the prior art, the object of the present invention is to provide a kind of manipulators without dead angle identifier, with No dead angle identification work can not be carried out by solving device mentioned above in the background art, so that device can not be accurately to irregular Object carries out data analysis so that manipulator can not the efficient crawl operation for carrying out different size object, it is existing There is device that can not effectively determine the information degree of transitivity carried out in robot work, so that staff can not effective monitoring dress The working efficiency set not can avoid manipulator and control device impacted and damaged when carrying out clamping work, reduces dress Safety at work is set, in night operation, which accurately can not carry out positioning work to object, so that device The larger problem of Work Limitations.

Above-mentioned technical purpose of the invention has the technical scheme that

A kind of manipulator without dead angle identifier, including can source plate, CCD camera, information transmitter, image processor and programmable Logic controller, the top middle portion insertion of the energy source plate are provided with the CCD camera, the top two sides setting of the energy source plate There are two symmetrical gradient slot, inside one end of the gradient slot is closely fitted with RF transmitter, the gradient slot it is interior Portion's other end is closely fitted with infrared receiver, and there are four headlamps for the top corner insert setting of the energy source plate, described Energy source plate is connected with luminous lamp switch close to one end of the CCD camera, and the bottom end of the energy source plate is fixedly connected Information transmitter is stated, the front end face insertion of the information transmitter is provided with image pick-up card, the bottom end of the information transmitter It is fixedly connected with described image processor, described image processor extends to the other end and is fixedly connected with the programmable logic control Device processed.

Further, the two sides of the energy source plate are fixedly connected there are two positioning plate, and two positioning plates divide in symmetrical Cloth, two positioning plates are in " cuboid " shape, the thickness of two positioning plates be less than it is described can source plate thickness, two The top of the positioning plate is fastened by screw thread to be connect there are four bolt, and four bolts are in uniformly to be equally spaced.

Further, the bottom end of the programmable logic controller (PLC) is closely fitted with information board, and the information board extends to Other end insertion is provided with display screen.

Further, the information board is fixedly connected with alarm device close to one end of the display screen, the alarm device with The infrared receiver is electrically connected by conducting wire.

Further, the inside of the programmable logic controller (PLC) is fixedly connected with partition, the two sides clamping of the partition There are two symmetrical spring, two springs extend to the other end and fit closely there are two slide plate, and two slide plates run through It is connected in the programmable logic controller (PLC), two slide plates are located at the lower section of two positioning plates.

Further, the front end face insertion of described image processor is provided with slot data, the slot data and described image Processor is electrically connected by circuit board.

Further, close to the side of the infrared receiver, insertion is provided with interior delivery of energy source line, institute to the positioning plate The side end face insertion for stating programmable logic controller (PLC) is provided with outer defeated information wire, and the outer defeated information wire is located at the interior delivery of energy source The underface of line.

Further, the eyeglass on the CCD camera top is in " semicircle " shape, and the CCD camera and the energy source plate are electrical Connection.

In conclusion the invention has the following advantages:

1, this kind of manipulator without dead angle identifier, can the top middle portion insertion of source plate is provided with CCD camera, CCD camera top Eyeglass be in " semicircle " shape, image identification is carried out by the convenient object in the visual field of CCD camera, wherein eyeglass is in " semicircle " shape Setting carry out the identification work without dead angle convenient for CCD camera, so that device be facilitated to carry out the analysis work of comprehensive image so that Manipulator can more accurately grab identification object, avoid the problem of existing apparatus can not carry out no dead angle identification work.

2, this kind of manipulator without dead angle identifier, inside one end of gradient slot is closely fitted with RF transmitter, slope The inside other end of degree slot is closely fitted with infrared receiver, and information board is fixedly connected with alarm close to one end of display screen Device, alarm device and infrared receiver are electrically connected by conducting wire, red when the object distance energy source plate of manipulator aid is closer The light of outside line transmitter transmitting can reflect on object, and can enter light refraction in infrared receiver, infrared ray Signal can be passed to alarm device by conducting wire after being connected to refracted light by receiver, so that alarm device can issue hydropac, It has been more than the safe distance with energy source plate to remind staff to accommodate object, has avoided manipulator when carrying out clamping work The problem of control device is impacted and damaged improves the safety of device at work.

3, this kind of manipulator without dead angle identifier, can the two sides of source plate be fixedly connected with that there are two positioning plate, two positioning The top of plate is fastened by screw thread to be connect there are four bolt, by four locking two positioning plates of bolts energy, so that whole device It can be connected to the inside of manipulator, not only reduce device cost cost, also facilitate the installation and dismounting of device, thus side Civilian dress sets carry out periodic maintenance operation.

4, this kind of manipulator without dead angle identifier, can the top corner insert setting of source plate there are four headlamp, the energy Plate is connected with luminous lamp switch close to one end of CCD camera, in night operation, can open four by luminous lamp switch A headlamp, facilitating device at night also can be carried out the identification work of no dead angle, avoid device because can not in night operation Positioning work accurately is carried out to object, so that the problem that the Work Limitations of device are larger.

5, this kind of manipulator without dead angle identifier, information board extends to other end insertion and is provided with display screen, by aobvious Display screen can observe the number that device carries out identification work, consequently facilitating staff can be right when device works in the production line The working efficiency of device is monitored and adjusts, and improves the monitoring property of device at work, avoids device because that can not have The number for determining and carrying out information transmitting in robot work is imitated, and makes staff can not effective monitoring device working efficiency The problem of.

Detailed description of the invention

Fig. 1 is overall structure figure of the invention；

Fig. 2 is the partial structural diagram of programmable logic controller (PLC) of the invention；

Fig. 3 is energy source plate longitudinal profile structure schematic of the invention；

Fig. 4 is the longitudinal profile structure schematic of programmable logic controller (PLC) of the invention.

In figure, 1, energy source plate；101, RF transmitter；102, gradient slot；103, headlamp；104, CCD camera；105, Luminous lamp switch；106, infrared receiver；107, interior delivery of energy source line；2, positioning plate；201, bolt；3, information transmitter； 301, image pick-up card；4, image processor；401, slot data；5, programmable logic controller (PLC)；501, outer defeated information wire；502, Slide plate；503, information board；5031, display screen；5032, alarm device；504, partition；505, spring.

Specific embodiment

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 description, 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.

Please refer to Fig. 1-4, the present invention provides a kind of technical solution: a kind of manipulator without dead angle identifier, including the energy The top middle portion of plate 1, CCD camera 104, information transmitter 3, image processor 4 and programmable logic controller (PLC) 5, energy source plate 1 is embedding Enter to be provided with CCD camera 104, there are two symmetrical gradient slot 102, the inside of gradient slot 102 for the top two sides setting of energy source plate 1 One end is closely fitted with RF transmitter 101, and the inside other end of gradient slot 102 is closely fitted with infrared receiver 106, There are four headlamp 103, energy source plate 1 is flexibly connected close to one end of CCD camera 104 for the top corner insert setting of energy source plate 1 There is luminous lamp switch 105, the bottom end of energy source plate 1 is fixedly connected with information transmitter 3, and the front end face insertion of information transmitter 3 is set It is equipped with image pick-up card 301, the bottom end of information transmitter 3 is fixedly connected with image processor 4, and image processor 4 extends to separately One end is fixedly connected with programmable logic controller (PLC) 5, and target can be converted to screen letter by the CCD camera 104 on energy source plate 1 Number and be transported on information transmitter 3, screen signal can be parsed by the image pick-up card 301 on information transmitter 3, It is conveyed to after digitlization on dedicated image processor 4, various operations can be applied to picture signal by image processor 4 to mention Clarification of objective is taken, is finally made decision according to preset condition, and will determine that the information come passes to programmable patrol It collects in controller 5, decision information is executed by programmable logic controller (PLC) 5, so that the Intelligent control of device is realized, if Device can be opened four headlamps 103 by luminous lamp switch 105, facilitate device and also can at night in night operation It carries out identifying work without dead angle.

Further, the two sides of energy source plate 1 are fixedly connected there are two positioning plate 2, and two positioning plates 2 are symmetric, and two A positioning plate 2 is in " cuboid " shape, and the thickness of two positioning plates 2 is less than the thickness of energy source plate 1, the top of two positioning plates 2 It is fastened and is connect there are four bolt 201 by screw thread, four bolts 201, can be by two by four bolts 201 in being uniformly equally spaced Positioning plate 2 fastens on a robotic arm, and two of them positioning plate 2 is facilitated in the setting of " cuboid " shape can the insertion setting of source plate 1 In manipulator, work to facilitate device stabilization.

Further, the bottom end of programmable logic controller (PLC) 5 is closely fitted with information board 503, and information board 5 extends to another End insertion is provided with display screen 5031, can observe the number that device carries out identification work by display screen 5031, consequently facilitating When device works in the production line, staff can be monitored and adjust to the working efficiency of device, improve device in work Monitoring property in work.

Further, information board 503 is fixedly connected with alarm device 5032, alarm device 5032 close to one end of display screen 5031 It is electrically connected with infrared receiver 106 by conducting wire, when the object distance energy source plate 1 of manipulator aid is closer, infrared ray The light that transmitter 101 emits can reflect on object, and can enter light refraction in infrared receiver 106, infrared Signal can be passed to alarm device 5032 by conducting wire, thus 5032 meeting of alarm device after being connected to refracted light by line receiver 106 Hydropac is issued, so that reminding staff to accommodate object has been more than the safe distance with energy source plate 1, avoids device because of meaning Impaired risk outside.

Further, the inside of programmable logic controller (PLC) 5 is fixedly connected with partition 504, and the two sides of partition 504 are connected with Two symmetrical springs 505, two springs 505 extend to the other end and fit closely there are two slide plate 502, and two slide plates 502 pass through It wears and is connected in programmable logic controller (PLC) 5, two slide plates 502 are located at the lower section of two positioning plates 2, pass through two springs 505 It is flexible that two slide plates 502 can be driven to slide in programmable logic controller (PLC) 5, to facilitate two clampings of slide plate 502 programmable Logic controller 5 and manipulator, to improve the stability of device at work.

Further, the front end face insertion of image processor 4 is provided with slot data 401, slot data 401 and image processor 4 are electrically connected by circuit board, operational formula programming can be carried out to image processor 4 by slot data 401, consequently facilitating control Imaged processor 4 carries out the different outputs for determining information, reduces the limitation of device at work.

Further, close to the side of infrared receiver 106, insertion is provided with interior delivery of energy source line 107 to positioning plate 2, can compile The side end face insertion of journey logic controller 5 is provided with outer defeated information wire 501, and outer defeated information wire 501 is located at interior delivery of energy source line 107 Underface is convenient for carrying out foreign aid's power supply to device by interior delivery of energy source line 107, will be held by outer defeated information wire 501 convenient for device Row information passes to the motor in manipulator, facilitates device and carries out intelligentized work.

Further, the eyeglass on 104 top of CCD camera is in " semicircle " shape, and CCD camera 104 and energy source plate 1 are electrically connected, Image identification is carried out by the convenient object in the visual field of CCD camera 104, wherein eyeglass is convenient for CCD in the setting of " semicircle " shape Camera 104 carries out the identification work without dead angle, so that device be facilitated to carry out the analysis work of comprehensive image, enable manipulator more Add accurately crawl identification object.

Working principle: firstly, by interior delivery of energy source line 107 will source plate 1 connect external power supply, pass through outer defeated information wire 501 connect programmable logic controller (PLC) 5 in the control motor inside manipulator, are carried out by slot data 401 to image processor 4 Device insertion is placed on manipulator, makes it possible to the working face of 1 lamination machinery hand of source plate, pass through fastening by operational formula programming Four bolts 201 carry out fixed sources of energy plate 1, so that the other end of 5 lamination machinery hand of programmable logic controller (PLC), passes through slide plate 502 locking programmable logic controller (PLC)s 5, device can start to work after installation is fixed, in the course of work, pass through energy source plate Target can be converted to screen signal and is transported on information transmitter 3 by the CCD camera 104 on 1, by information transmitter 3 Image pick-up card 301 screen signal can be parsed, digitize after be conveyed on dedicated image processor 4, pass through figure Clarification of objective is extracted as processor 4 can apply various operations to picture signal, is finally made according to preset condition It determines, and will determine that the information come passes in programmable logic controller (PLC) 5, executed by programmable logic controller (PLC) 5 Determine information, to realize the Intelligent control of device, if device in night operation, can by luminous lamp switch 105 come Open four headlamps 103, facilitating device at night also can be carried out the identification work of no dead angle, when manipulator aid object away from When closer from energy source plate 1, the light that RF transmitter 101 emits can reflect on object, and can enter light refraction In infrared receiver 106, signal can be passed to alarm by conducting wire after being connected to refracted light by infrared receiver 106 Device 5032, so that alarm device 5032 can issue hydropac, to remind staff to accommodate object to be more than and can source plate 1 Safe distance avoids device because of surprisingly impaired risk, improves the job security of device.

This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this All by the protection of Patent Law in the scope of the claims of invention.

Claims

1. a kind of manipulator without dead angle identifier, including can source plate (1), CCD camera (104), information transmitter (3), image Processor (4) and programmable logic controller (PLC) (5), it is characterised in that: the top middle portion insertion setting of the energy source plate (1) is It states CCD camera (104), there are two symmetrical gradient slot (102), the gradient slots for the top two sides setting of the energy source plate (1) (102) inside one end is closely fitted with RF transmitter (101), the closely connected conjunction of the inside other end of the gradient slot (102) Have infrared receiver (106), there are four headlamp (103), the energy for the top corner insert setting of the energy source plate (1) Plate (1) is connected with luminous lamp switch (105) close to the one end of the CCD camera (104), the bottom end of the energy source plate (1) It is fixedly connected with the information transmitter (3), the front end face insertion of the information transmitter (3) is provided with image pick-up card (301), the bottom end of the information transmitter (3) is fixedly connected with described image processor (4), and described image processor (4) prolongs It extends to the other end and is fixedly connected with the programmable logic controller (PLC) (5).

2. a kind of manipulator according to claim 1 without dead angle identifier, it is characterised in that: it is described can source plate (1) Two sides are fixedly connected there are two positioning plate (2), and two positioning plates (2) are symmetric, and two positioning plates (2) are in " cuboid " shape, the thickness of two positioning plates (2) be less than it is described can source plate (1) thickness, two positioning plates (2) Top is fastened by screw thread to be connect there are four bolt (201), and four bolts (201) are in uniformly to be equally spaced.

3. a kind of manipulator according to claim 1 without dead angle identifier, it is characterised in that: the programmable logic control The bottom end of device (5) processed is closely fitted with information board (503), and the information board (5) extends to other end insertion and is provided with display screen (5031).

4. a kind of manipulator according to claim 1 or 3 without dead angle identifier, it is characterised in that: the information board (503) be fixedly connected with alarm device (5032) close to the one end of the display screen (5031), the alarm device (5032) with it is described Infrared receiver (106) is electrically connected by conducting wire.

5. a kind of manipulator according to claim 1 without dead angle identifier, it is characterised in that: the programmable logic control The inside of device (5) processed is fixedly connected with partition (504), and there are two symmetrical springs for the two sides clamping of the partition (504) (505), two springs (505) extend to the other end and fit closely there are two slide plate (502), two slide plates (502) Through being connected in the programmable logic controller (PLC) (5), two slide plates (502) are located at two positioning plates (2) Lower section.

6. a kind of manipulator according to claim 1 without dead angle identifier, it is characterised in that: described image processor (4) front end face insertion is provided with slot data (401), and the slot data (401) and described image processor (4) pass through circuit board It is electrically connected.

7. a kind of manipulator according to claim 1 without dead angle identifier, it is characterised in that: the positioning plate (2) is leaned on The side insertion of the nearly infrared receiver (106) is provided with interior delivery of energy source line (107), the programmable logic controller (PLC) (5) side end face insertion is provided with outer defeated information wire (501), and the outer defeated information wire (501) is located at the interior delivery of energy source line (107) underface.

8. a kind of manipulator according to claim 1 without dead angle identifier, it is characterised in that: the CCD camera (104) The eyeglass on top is in " semicircle " shape, and the CCD camera (104) and the energy source plate (1) are electrically connected.