CN110900637A - Intelligent mechanical manufacturing grabbing equipment - Google Patents
Intelligent mechanical manufacturing grabbing equipment Download PDFInfo
- Publication number
- CN110900637A CN110900637A CN201811075345.8A CN201811075345A CN110900637A CN 110900637 A CN110900637 A CN 110900637A CN 201811075345 A CN201811075345 A CN 201811075345A CN 110900637 A CN110900637 A CN 110900637A
- Authority
- CN
- China
- Prior art keywords
- personal computer
- manipulator
- industrial personal
- arm
- mechanical
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- 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.)
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Classifications
-
- 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
- B25J13/081—Touching devices, e.g. pressure-sensitive
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- 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
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses intelligent mechanical manufacturing grabbing equipment which comprises a base, a rotary table, a rotary piece, mechanical arms, mechanical joints, mechanical arms, clamping jaws, an external power line, a switching power supply, a low-voltage power transmission line, a signal line, an industrial personal computer, a binocular camera, a camera lens, a telescopic rod, a connecting rod, a pressing plate and a pressure sensor. According to the invention, the distance between the workpiece to be grabbed and the manipulator is determined through the shooting of the binocular camera and the operation of the industrial personal computer, the manipulator is moved through the movement of the mechanical arm, the grabbing of the workpiece to be grabbed is finally completed, and the purpose of accurately and efficiently grabbing the workpiece can be achieved.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to intelligent mechanical manufacturing grabbing equipment.
Background
Since the first mechanical arm with modern significance was born in the fifties of the last century, the mechanical arm has been developed to be a precise and reliable mechanical device with redundant degrees of freedom and plays an important role in various industrial productions, and the mechanical arm can mechanically complete a fixed motion or precisely move according to a fixed track.
Similar mechanical arm grabbing systems on the market at present mainly measure and calculate the coordinates of an object to be grabbed, and the posture of a gripper is basically tried through experience, so that the system is difficult to accurately and efficiently complete a task. Therefore, a mechanical arm system with an automatic grabbing function is needed to be designed by combining visual servo and a mechanical arm, a target object can be automatically identified through a camera by the aid of the system, then the mechanical arm is guided to grab the target object, related tasks can be completed under the condition that some human beings cannot control the target object in real time or cannot predict the target object in time, a similar system is available in the market at present, but the system of the visual servo and the mechanical arm is in an open-loop state, so that the grabbing accuracy has high requirements on hardware, is based on closed-loop design, has independent correction capability, and greatly improves grabbing accuracy and grabbing efficiency.
Disclosure of Invention
The present invention aims to overcome the above-mentioned shortcomings and provide a technical solution to solve the above-mentioned problems.
The utility model provides an intelligence machine-building snatchs equipment, includes base, revolving stage, rotating member, arm, mechanical joint, manipulator, clamping jaw, external power cord, switching power supply, low voltage power transmission line, signal line, industrial computer, two mesh camera, camera lens, telescopic link, connecting rod, clamp plate and pressure sensor, install the revolving stage on the base, revolving stage drive rotating member is fixed with the arm on the rotating member, the arm passes through mechanical joint and is connected with the arm of different specifications, the arm is in the same direction as connecing with this with mechanical joint, and the central point that the bolt was installed in the manipulator bottom surface is passed through to the one end of terminal arm puts, the clamping jaw is all installed to four sides of manipulator.
As a further scheme of the invention: the switch power supply is connected with the industrial personal computer through a low-voltage power transmission line, and the industrial personal computer is connected with a controlled element outside the base through a signal line.
As a further scheme of the invention: a rotary hydraulic cylinder is installed in the rotary table, a rotary shaft of the rotary hydraulic cylinder is connected with the rotary piece, and the rotary hydraulic cylinder is further connected with an industrial personal computer through a signal line.
As a further scheme of the invention: and a steering engine is arranged in the mechanical joint and is connected with an industrial personal computer through a signal line.
As a further scheme of the invention: the steering engine installed in the mechanical joint is a rotating vane type electric steering engine.
As a further scheme of the invention: install two-way pneumatic cylinders in the manipulator, every two-way pneumatic cylinder is connected the installation with a set of relative clamping jaw, and still installs two mesh cameras in the front of manipulator, has two camera lenses that parallel on every two mesh camera, and two mesh cameras and two-way pneumatic cylinder all are connected with the industrial computer through the signal line.
As a further scheme of the invention: the clamping jaw comprises telescopic rods, connecting rods, pressing plates and pressure sensors, wherein a group of two telescopic rods are arranged on telescopic parts of the two-way hydraulic cylinder, the two telescopic rods in the same group are connected through the connecting rods, the pressing plates perpendicular to the telescopic rods are connected onto the connecting rods, and the pressure sensors are arranged on the inner surfaces of the top ends of the pressing plates.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the distance between the workpiece to be grabbed and the manipulator is determined through the shooting of the binocular camera and the operation of the industrial personal computer, the manipulator is moved through the movement of the mechanical arm, the grabbing of the workpiece to be grabbed is finally completed, and the purpose of accurately and efficiently grabbing the workpiece can be achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic structural view of a grasping hand in the present invention.
Fig. 3 is a schematic structural view of the base in the present invention.
In the figure: the robot comprises a base 1, a rotary table 2, a rotating part 3, a mechanical arm 4, a mechanical joint 5, a mechanical arm 6, a clamping jaw 7, an external power line 11, a switching power supply 12, a low-voltage power transmission line 13, a signal line 14, an industrial personal computer 15, a binocular camera 61, a camera lens 62, a telescopic rod 71, a connecting rod 72, a pressing plate 73 and a pressure sensor 74.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, in an embodiment of the present invention, an intelligent mechanical manufacturing grabbing apparatus includes a base 1, a turntable 2, a rotating member 3, a mechanical arm 4, a mechanical joint 5, a mechanical arm 6, a clamping jaw 7, an external power line 11, a switching power supply 12, a low voltage power line 13, a signal line 14, an industrial personal computer 15, a binocular camera 61, a camera lens 62, a telescopic rod 71, a connecting rod 72, a pressing plate 73, and a pressure sensor 74, where the turntable 2 is installed on the base 1, the turntable 2 drives the rotating member 3, a mechanical arm 4 is fixed on the rotating piece 3, the mechanical arm 4 is connected with mechanical arms 4 with different specifications through a mechanical joint 5, the mechanical arms 4 are sequentially connected with the mechanical joint 5, and one end of the mechanical arm 4 at the tail end is arranged at the central position of the bottom surface of the mechanical arm 6 through a bolt, and clamping jaws 7 are arranged on four side surfaces of the mechanical arm 6.
Install switching power supply 12 and industrial computer 15 in the base 1, switching power supply 12 is connected with power plug through external power cord 11, switching power supply 12 is connected with industrial computer 15 through low voltage power transmission line 13, industrial computer 15 is connected with the outer controlled element of base 1 through signal line 14.
Install in the revolving stage 2 and rotate the pneumatic cylinder, and the axis of rotation that rotates the pneumatic cylinder is connected with rotating member 3, should rotate the pneumatic cylinder and still be connected with industrial computer 15 through signal line 14.
A steering engine is installed in the mechanical joint 5 and connected with an industrial personal computer 15 through a signal line 14.
The steering engine arranged in the mechanical joint 5 is a rotating vane type electric steering engine.
Install two-way pneumatic cylinders in the manipulator 6, every two-way pneumatic cylinder is connected the installation with a set of relative clamping jaw 7, and still installs two binocular cameras 61 in the front of manipulator 6, has two camera lens 62 that parallel on every binocular camera 61, and binocular camera 61 and two-way pneumatic cylinder all are connected with industrial computer 15 through signal line 14.
The clamping jaw 7 comprises telescopic rods 71, connecting rods 72, a pressure plate 73 and a pressure sensor 74, wherein two groups of the telescopic rods 71 are all arranged on telescopic parts of the bidirectional hydraulic cylinder, the two telescopic rods 71 in the same group are connected through the connecting rods 72, the connecting rods 72 are connected with the pressure plate 73 perpendicular to the telescopic rods 71, and the pressure sensor 74 is arranged on the inner surface of the top end of the pressure plate 73.
The working principle of the invention is as follows:
confirm through two binocular cameras 61 and industrial computer 15 and wait to snatch the distance of work piece and manipulator 6, industrial computer 15 moves manipulator 6 through control revolving stage 2 and mechanical joint 5, finally makes clamping jaw 7 on the manipulator 6 move to the outside of waiting to snatch the work piece, and clamping jaw 7 receives industrial computer 15 control to waiting to snatch work piece department motion, snatchs the work piece.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. The utility model provides an intelligence machine-building snatchs equipment, includes base, revolving stage, rotating member, arm, mechanical joint, manipulator, clamping jaw, external power cord, switching power supply, low voltage power transmission line, signal line, industrial computer, two mesh camera, camera lens, telescopic link, connecting rod, clamp plate and pressure sensor, its characterized in that, install the revolving stage on the base, revolving stage drive rotating member is fixed with the arm on the rotating member, the arm passes through mechanical joint and is connected with the arm of different specifications, the arm is in the same direction as connecing with this with mechanical joint, and the central point that the bolt was installed in the manipulator bottom surface is passed through to the one end of terminal arm puts, the clamping jaw is all installed to four sides of manipulator.
2. The intelligent mechanical manufacturing grabbing device of claim 1, wherein a switch power supply and an industrial personal computer are installed in the base, the switch power supply is connected with a power supply plug through an external power line, the switch power supply is connected with the industrial personal computer through a low-voltage power line, and the industrial personal computer is connected with a controlled element outside the base through a signal line.
3. The intelligent mechanical manufacturing grabbing device of claim 1, wherein a rotating hydraulic cylinder is installed in the turntable, a rotating shaft of the rotating hydraulic cylinder is connected with the rotating piece, and the rotating hydraulic cylinder is further connected with an industrial personal computer through a signal line.
4. The intelligent mechanical manufacturing grabbing device of claim 1 or claim 3, wherein a steering engine is installed in the mechanical joint and connected with an industrial personal computer through a signal line.
5. The intelligent mechanical manufacturing grabbing device of claim 4, wherein the steering engine mounted in the mechanical joint is a rotary vane type electric steering engine.
6. The intelligent mechanical manufacturing grabbing equipment of claim 1 or claim 3, wherein two bidirectional hydraulic cylinders are installed in the manipulator, each bidirectional hydraulic cylinder is connected with one set of opposite clamping jaws and installed, two binocular cameras are further installed on the front face of the manipulator, each binocular camera is provided with two parallel camera lenses, and the binocular cameras and the bidirectional hydraulic cylinders are connected with the industrial personal computer through signal lines.
7. The intelligent mechanical manufacturing grabbing device of claim 1, wherein the clamping jaw comprises telescopic rods, connecting rods, a pressing plate and a pressure sensor, one group of two telescopic rods are mounted on a telescopic part of a bidirectional hydraulic cylinder, the two telescopic rods in the same group are connected through the connecting rods, the two pressing plates perpendicular to the telescopic rods are connected to the connecting rods, and the pressure sensor is mounted on the inner surface of the top end of each pressing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811075345.8A CN110900637A (en) | 2018-09-14 | 2018-09-14 | Intelligent mechanical manufacturing grabbing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811075345.8A CN110900637A (en) | 2018-09-14 | 2018-09-14 | Intelligent mechanical manufacturing grabbing equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110900637A true CN110900637A (en) | 2020-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811075345.8A Pending CN110900637A (en) | 2018-09-14 | 2018-09-14 | Intelligent mechanical manufacturing grabbing equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN110900637A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405550A (en) * | 2020-09-29 | 2021-02-26 | 赵倩 | A battery grabbing device for new energy automobile |
| CN112894825A (en) * | 2021-02-23 | 2021-06-04 | 中科(深圳)智慧信息科技有限公司 | Industrial robot visual identification control system and method |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4830420A (en) * | 1987-03-30 | 1989-05-16 | U.S. Philips Corporation | Gripping device |
| CN105883401A (en) * | 2016-06-20 | 2016-08-24 | 苏州博众精工科技有限公司 | Gripping device suitable for products of different thicknesses |
| CN106142053A (en) * | 2016-08-03 | 2016-11-23 | 璧垫旦 | A kind of multiple degrees of freedom automatic control manipulator |
| CN107379011A (en) * | 2017-08-02 | 2017-11-24 | 上海百傲科技股份有限公司 | Manipulator |
| CN107433573A (en) * | 2017-09-04 | 2017-12-05 | 上海理工大学 | Intelligent binocular captures mechanical arm automatically |
-
2018
- 2018-09-14 CN CN201811075345.8A patent/CN110900637A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4830420A (en) * | 1987-03-30 | 1989-05-16 | U.S. Philips Corporation | Gripping device |
| CN105883401A (en) * | 2016-06-20 | 2016-08-24 | 苏州博众精工科技有限公司 | Gripping device suitable for products of different thicknesses |
| CN106142053A (en) * | 2016-08-03 | 2016-11-23 | 璧垫旦 | A kind of multiple degrees of freedom automatic control manipulator |
| CN107379011A (en) * | 2017-08-02 | 2017-11-24 | 上海百傲科技股份有限公司 | Manipulator |
| CN107433573A (en) * | 2017-09-04 | 2017-12-05 | 上海理工大学 | Intelligent binocular captures mechanical arm automatically |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405550A (en) * | 2020-09-29 | 2021-02-26 | 赵倩 | A battery grabbing device for new energy automobile |
| CN112894825A (en) * | 2021-02-23 | 2021-06-04 | 中科(深圳)智慧信息科技有限公司 | Industrial robot visual identification control system and method |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
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Application publication date: 20200324 |
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