CN111070194A - Mobile vision and mobile manipulator positioning device - Google Patents
Mobile vision and mobile manipulator positioning device Download PDFInfo
- Publication number
- CN111070194A CN111070194A CN201911339918.8A CN201911339918A CN111070194A CN 111070194 A CN111070194 A CN 111070194A CN 201911339918 A CN201911339918 A CN 201911339918A CN 111070194 A CN111070194 A CN 111070194A
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- Prior art keywords
- camera
- bar
- manipulator
- lower frame
- guide
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- 230000001815 facial effect Effects 0.000 claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims description 26
- 238000003825 pressing Methods 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 239000010985 leather Substances 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 6
- 230000003068 static effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000004806 packaging method and process Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile vision and mobile manipulator positioning device.A left guide bar component, a middle right guide bar component, a middle left guide bar component and a right guide bar component are arranged on a guide component side by side; the end part of the lower rack is provided with a mechanical arm part driven by a motor part in a sliding way, the camera part comprises a camera lead screw driven by a camera servo motor and a camera lead screw nut matched and installed with the camera lead screw, the camera lead screw nut drives a camera transverse linear guide rail to slide along a camera longitudinal linear guide rail, and a camera mounting seat is arranged on the camera transverse linear guide rail in a sliding way. After the leather shell is grabbed by the mechanical arm part and then is positioned by a camera, the leather shell and the facial tissue are accurately positioned; the manipulator is driven by the ball screw mechanism, and the manipulator is static relatively with the camera among the motion positioning process, and the precision of shooing is high, and the conveyer belt motion in-process is incessant always.
Description
Technical Field
The invention belongs to the field of automation equipment, and particularly relates to a mobile vision and mobile manipulator positioning device.
Background
In the existing production line of the packaging world cover industry, conveyer belts used by semi-automatic packaging equipment with large holding capacity move continuously, and a fixed camera has low photographing precision on moving objects.
Disclosure of Invention
The invention provides a mobile vision and mobile manipulator positioning device, aiming at solving the problem that in the production line of the existing packaging world cover industry, conveying belts used by semi-automatic packaging equipment with large holding capacity move continuously, and a fixed camera has low photographing precision on a moving object.
The invention is realized in such a way that the mobile vision and mobile manipulator positioning device comprises a lower frame and a guide component which is slidably arranged on the lower frame, wherein a left guide bar component, a middle right guide bar component, a middle left guide bar component and a right guide bar component are arranged on the guide component side by side;
a mechanical arm part driven by a motor part is slidably arranged at the end part of the lower frame, and a camera part is arranged on a shield at the top of the mechanical arm part;
the camera component comprises a camera lead screw driven by a camera servo motor and a camera lead screw nut matched with the camera lead screw, the camera lead screw nut drives a camera transverse linear guide rail to slide along a camera longitudinal linear guide rail, and a camera mounting seat is slidably mounted on the camera transverse linear guide rail and driven by the camera transverse servo motor;
a facial tissue driving belt wheel and a facial tissue driving belt are installed on the lower rack behind the mechanical arm part, the facial tissue driving belt conveys facial tissues in the positioning box and the positioning box below the camera part, the facial tissue driving belt wheel is synchronously linked with a driven wheel of the encoder through a belt, and the encoder is connected with the PLC system;
the manipulator component comprises a supporting plate positioned at the bottom and a manipulator sliding block arranged at the bottom of the supporting plate, the sensing piece is arranged on the side of the supporting plate, a manipulator nut seat is fixedly connected with the supporting plate, a manipulator screw rod is arranged in a matched manner with the manipulator nut seat, two ends of the manipulator screw rod are respectively in rotating connection with a fixed seat and a supporting seat, and the manipulator screw rod is linked with a manipulator driven wheel through an expansion sleeve;
a mechanical arm is arranged above the supporting plate, a connecting plate is arranged on a connecting seat of the mechanical arm, and the suction nozzle is arranged on the connecting plate through a suction nozzle connecting sheet.
Further, the lower frame comprises a lower frame longitudinal guide rail longitudinally arranged on the lower frame bracket and a lower frame transverse guide rail transversely arranged on the lower frame bracket, and the lower frame transverse guide rail is slidably arranged with the manipulator sliding block;
a front baffle, a locking section bar and a lower frame proximity switch are arranged in front of the lower frame transverse guide rail, and a limit stop block is arranged at the end part of the lower frame longitudinal guide rail;
the inner side of the lower frame is provided with a motor part, the motor part comprises a lower frame driving wheel driven by a lower frame servo motor, and the lower frame driving wheel is linked with a manipulator driven wheel through a lower frame synchronous belt.
Further, the guide part comprises a pull rod which is slidably arranged on the lower rack through a guide part sliding block at the bottom, a guide part profile is arranged on the upper surface of the pull rod and is connected with the moving rod through a cutter pushing block arranged on the cutter pushing seat, a cushion block and a belt pressing plate are arranged at the bottom of the pull rod, a pull rod synchronous belt is clamped by the cushion block and the belt pressing plate, and the pull rod servo motor drives the pull rod synchronous belt to drive the pull rod to slide.
Further, the left guide bar component comprises a left guide bar arranged on the left side of the pull rod, the end of the left guide bar is provided with a left baffle seat, the left baffle seat is provided with a first left baffle bar, a second left baffle bar and a left pressure plate, the middle part of the left baffle seat is provided with a vertical left baffle bar, the left baffle bar is provided with a left inner tooth star-shaped handle, the left inner tooth star-shaped handle and the left vertical baffle bar are screwed and installed through a left adjusting screw thread, the left inner tooth star-shaped handle drives a left baffle plate connected with a screw rod reverse seat to move up and down, and the left baffle bar is.
Further, the middle right guide strip component comprises a right ash supporting strip arranged on the pull rod, a right pressing plate is arranged at the end part of the right ash supporting strip, a right baffle seat, a right baffle strip and a right reverse baffle strip are arranged on the right pressing plate, and a right ash plate reverse limiting sheet is arranged in a second right reverse guide strip at the other end;
the middle part is vertically provided with a first right barrier strip and a right second barrier strip, a right baffle is arranged between the first right barrier strip and the right second barrier strip, the right baffle is connected with a right screw rod seat, and a left inner tooth star-shaped handle is screwed with the first right barrier strip through a right adjusting screw rod and the right screw rod seat.
Furthermore, middle left conducting bar part includes middle right conducting bar part and with this middle right conducting bar part slip set up the positive stop and set up in the ash support strip of side.
The leather case placed in the discharging part is pushed to the front end through the guide part, the mechanical hand part grabs the leather case through the sucking disc mechanism, after the leather case is grabbed and the position is found through the camera, the leather case and the facial tissue located at the next station are accurately positioned, the camera and the facial tissue are relatively static in the photographing process, the photographing precision is high, and the conveying belt for conveying the facial tissue can be stopped all the time in the moving process.
Drawings
FIG. 1 is a perspective view of a mobile vision and mobile manipulator positioning device provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a mobile vision and mobile manipulator positioning device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a camera component according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a guide member provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a robot component according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a left bar guiding component according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a middle right bar guiding component according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a middle left bar segment provided in an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a lower frame according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of a lower frame from another perspective provided by an embodiment of the present invention;
in the figure: 1. a lower frame; 1-1, a lower frame bracket; 1-2, a lower frame longitudinal guide rail; 1-3, a lower frame transverse guide rail; 1-4, limit stop; 1-5, a front baffle; 1-6, locking section bar; 1-7, a lower frame driving wheel; 1-8, a lower frame servo motor; 1-9, a lower frame proximity switch; 1-10, lower frame synchronous belt; 2. a robot part; 2-1, a supporting plate; 2-2, connecting plates; 2-3, a suction nozzle connecting sheet; 2-4, a manipulator screw; 2-5, a manipulator nut seat; 2-6, a manipulator driven wheel; 2-7, a limit pad; 2-8, induction sheet; 2-9, a suction nozzle; 2-10, a mechanical arm; 2-11, a connecting seat; 2-12, a manipulator slide block; 2-13, ball nut; 2-14, fixing seats; 2-15, a support seat; 2-16, expanding sleeve; 3. a left bar guide member; 3-1, left conducting bar on left side; 3-2, a left baffle seat; 3-3, a first left side barrier strip; 3-4, a second left side barrier strip; 3-5, a left pressing plate; 3-6, a left baffle; 3-7, a left vertical barrier strip; 3-8, adjusting a screw rod on the left side; 3-9, a left screw rod reverse seat; 3-10 parts of left retaining strip; 3-11, a left inner tooth star-shaped handle; 4. a middle right bar guide member; 4-1, a right baffle seat; 4-2, right side barrier strip; 4-3, a right side reverse barrier strip; 4-4, right side pressing plate; 4-5, right baffle; 4-6, a first right side barrier strip; 4-7, adjusting a screw rod on the right side; 4-8, right screw seat; 4-9, a second right-side reverse conducting bar; 4-10 of right-side ash support strip; 4-11, right baffle pressing plate; 4-12, a second barrier strip on the right side; 4-13, a right side ash plate reverse limiting sheet; 4-14, a left inner tooth star handle; 5. a middle left bar guide member; 5-1, a front stop block; 5-2, supporting the strip with ash; 6. a right bar guide member; 7. a motor component; 8. a guide member; 8-1, a pull rod; 8-2, moving a rod; 8-3, cushion blocks; 8-4, belt pressing plate; 8-5, a push broach seat; 8-6, pushing a cutter block; 8-7, a guide component profile; 8-8, a guide component slide block; 9. a camera component; 9-1, a camera servo motor; 9-2, camera screw nut; 9-3, a camera longitudinal linear guide rail; 9-4, a camera transverse linear guide rail; 9-5, a camera mounting base; 9-6, camera lead screw; 10. a positioning box; 11. a box blank; 12. a shield; 13. a discharging part; 14. a hull; 15. an encoder.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
A mobile vision and mobile manipulator positioning device comprises a lower rack 1 and a guide component 8 slidably mounted on the lower rack 1, wherein a shield 12 is arranged outside the lower rack 1, and a left guide bar component 3, a middle right guide bar component 4, a middle left guide bar component 5 and a right guide bar component 6 (the specific number can be set according to actual requirements) for conveying a leather shell 14 are mounted on the guide component 8 side by side;
the left guide bar component 3 comprises a left guide bar 3-1 arranged on the left side of the pull rod 8-1, a left baffle seat 3-2 is arranged at the end part of the left guide bar 3-1, a first left baffle bar 3-3, a second left baffle bar 3-4, a left pressure plate 3-5 and a middle vertical left vertical baffle bar 3-7 are arranged on the left baffle seat 3-2, and the left guide bar component and the left baffle seat can be specifically connected through screws and the like; the left-side inner-tooth star-shaped handle 3-11 and the left-side vertical barrier strip are installed in a threaded manner through a left-side adjusting screw rod 3-8, the left-side inner-tooth star-shaped handle 3-11 drives a left-side baffle 3-6 connected with a screw rod reverse seat 3-9 to move up and down, and a left-side barrier strip 3-10 is installed on the side of the left-side baffle 3-6.
The middle right guide strip component 4 comprises a right ash supporting strip 4-10 arranged on the pull rod 8-1, a right pressing plate 4-4 is arranged at the end part of the right ash supporting strip 4-10, a right baffle seat 4-1, a right baffle strip 4-2 and a right reverse baffle strip 4-3 are arranged on the right pressing plate 4-4, a right ash plate reverse limiting sheet 4-13 is arranged in a second right reverse guide strip 4-9 at the other end, and a right baffle pressing plate 4-11 is arranged outside the second right reverse guide strip 4-9 and can be connected through screws and the like specifically;
the middle part is vertically provided with a first right-side barrier strip 4-6 and a right-side second barrier strip 4-12, a right-side barrier strip 4-5 is arranged between the first right-side barrier strip 4-6 and the right-side second barrier strip 4-12, the right-side barrier strip 4-5 is connected with a right-side screw rod seat 4-8, and a left-side inner tooth star-shaped handle 4-14 is screwed with the first right-side barrier strip 4-6 through a right-side adjusting screw rod 4-7 and a right-side screw rod seat 4-8.
The middle left guide bar part 5 comprises a middle right guide bar part, a front stop block 5-1 arranged in a sliding way with the middle right guide bar part and an ash supporting bar 5-2 arranged on the side.
A mechanical hand part 2 driven by a motor part 7 is slidably arranged at the end part of the lower frame 1, and a camera part 9 is arranged on a shield 12 at the top of the mechanical hand part 2;
the camera component 9 comprises a camera lead screw 9-6 driven by a camera servo motor 9-1 and a camera lead screw nut 9-2 matched with the camera lead screw 9-6, the camera lead screw nut 9-2 drives a camera transverse linear guide rail 9-4 to slide 9-3 along a camera longitudinal linear guide rail, and a camera mounting seat 9-5 is slidably mounted on the camera transverse linear guide rail 9-4 and driven by the camera transverse servo motor;
the guide part 8 comprises a pull rod 8-1 which is slidably mounted on the lower rack 1 through a guide part sliding block 8-8 at the bottom, a guide part profile 8-7 is mounted on the upper surface of the pull rod 8-1, the guide part profile 8-7 is connected with a moving rod 8-2 through a cutter pushing block 8-6 mounted on a cutter pushing seat 8-5, a cushion block 8-3 and a belt pressing plate 8-4 are mounted at the bottom of the pull rod 8-1, a pull rod synchronous belt is clamped by the cushion block 8-3 and the belt pressing plate 8-4, and a pull rod servo motor drives the pull rod synchronous belt to drive the pull rod 8-1 to slide.
Taking the left guide bar component 3 and the middle right guide bar component 4 as an example, the leather shell 14 is placed at the position of a placing part between the left guide bar component 3 and the middle right guide bar component 4, the leather shell 14 is fixed by moving the left guide bar 3-1, the left baffle seat 3-2, the first left baffle bar 3-3, the second left baffle bar 3-4, the right baffle seat 4-1, the right baffle bar 4-2, the right reverse baffle bar 4-3 and the right pressing plate 4-4, and the leather shell can be pushed forward to the manipulator component 2 by driving the pull rod to drive the synchronous belt pull rod 8-1 to slide by the pull rod servo motor;
the manipulator component 2 comprises a supporting plate 2-1 positioned at the bottom and a manipulator sliding block 2-12 arranged at the bottom of the supporting plate 2-1, an induction sheet 2-8 (model TL-Q5MC1-Z) is arranged on the side of the supporting plate 2-1, a manipulator nut seat 2-5 is fixedly connected with the supporting plate 2-1, a manipulator screw 2-4 is arranged in a matching way with the manipulator nut seat 2-5, two ends of the manipulator screw 2-4 are respectively connected with a fixed seat 2-14 and a supporting seat 2-15 in a rotating way, a limiting pad 2-7 is arranged behind the fixed seat 2-14, and a ball nut 2-13 matched with the manipulator screw 2-4 is arranged behind the limiting pad 2-7;
the manipulator screw rod 2-4 is linked with the manipulator driven wheel 2-6 through the expansion sleeve 2-16;
a mechanical arm 2-10 is arranged above the supporting plate 2-1, a connecting plate 2-2 is arranged on a connecting seat 2-11 arranged on the mechanical arm 2-10, and a suction nozzle 2-9 (model TS1-20) is arranged on the connecting plate 2-2 through a suction nozzle connecting sheet 2-3.
The lower rack 1 comprises a lower rack longitudinal guide rail 1-2 longitudinally arranged on a lower rack support 1-1 and a lower rack transverse guide rail 1-3 transversely arranged on the lower rack support 1-1, and the lower rack transverse guide rail 1-3 is slidably arranged with a manipulator sliding block 2-12;
a front baffle plate 1-5, a locking section bar 1-6 and a lower frame proximity switch 1-9 (model TL-Q5MC1-Z) are arranged in front of a lower frame transverse guide rail 1-2, and a limit stop block 1-4 is arranged at the end part of a lower frame longitudinal guide rail 1-2;
the inner side of the lower frame is provided with a motor part 7, the motor part 7 comprises a lower frame driving wheel 1-7 driven by a lower frame servo motor 1-8, and the lower frame driving wheel 1-7 is linked with a manipulator driven wheel 2-6 through a lower frame synchronous belt 1-10.
Placing the formed box blank 11 into the right guide bar part 6 by a manipulator;
a driven wheel of an encoder 15 (model: E6B2-CWZ6C, brand: ohm dragon) arranged on the lower frame 1 is connected with a belt pulley (specifically, the driven wheel can be connected by adopting a synchronous belt and the like) for driving facial tissue, the facial tissue is placed in a positioning box 10 arranged behind the manipulator component 2, the belt pulley and the belt pulley are arranged below the positioning box 10 (not shown in the figure), and the positioning box and the facial tissue placed on a belt are transmitted by the belt;
the encoder 15 transmits a belt pulley rotating speed signal for driving the facial tissue to a PLC system (existing products in the market), the servo motor for driving the camera and the servo motor for driving the manipulator realize linkage and speed matching of the manipulator, the belt and the camera through the rotating speed signal (the speed matching of all transmission parts is realized through programming so as to complete continuous process flows of feeding and discharging and the like, the specific programming is not the technical scheme to be protected by the invention and is not repeated herein), and specifically, after the facial tissue enters the visual field range of the camera, after an infrared switch (model E3Z-D61) detects the facial tissue, the camera and the manipulator realize speed matching, namely the speed of the camera is consistent with the speed of the facial tissue, and after the speed matching, the camera takes a picture, so that the accurate positioning is realized;
place in the leather sheath 14 of blowing portion 13 and push away the front end (being close to the manipulator position) through guide part 8, manipulator part 2 snatchs leather sheath 14 through sucking disc mechanism, after snatching leather sheath 14 and looking for the position through the camera, leather sheath 14 and the facial tissue accurate positioning who is located next station, camera and facial tissue position are static relatively in the process of shooing, and the precision of shooing is high, can not stop always in the conveyer belt motion process of carrying the facial tissue.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (6)
1. A mobile vision and mobile manipulator positioning device is characterized by comprising a lower rack and a guide component slidably mounted on the lower rack, wherein a left guide bar component, a middle right guide bar component, a middle left guide bar component and a right guide bar component are mounted on the guide component side by side;
a mechanical arm part driven by a motor part is slidably arranged at the end part of the lower frame, and a camera part is arranged on a shield at the top of the mechanical arm part;
the camera component comprises a camera lead screw driven by a camera servo motor and a camera lead screw nut matched with the camera lead screw, the camera lead screw nut drives a camera transverse linear guide rail to slide along a camera longitudinal linear guide rail, and a camera mounting seat is slidably mounted on the camera transverse linear guide rail and driven by the camera transverse servo motor;
a facial tissue driving belt pulley and a facial tissue driving belt are installed on the lower rack behind the mechanical arm part, the facial tissue driving belt conveys the positioning box below the camera part, the facial tissue driving belt pulley is synchronously linked with a driven wheel of the encoder, and the encoder is connected with the PLC system;
the manipulator component comprises a supporting plate positioned at the bottom and a manipulator sliding block arranged at the bottom of the supporting plate, the sensing piece is arranged on the side of the supporting plate, a manipulator nut seat is fixedly connected with the supporting plate, a manipulator screw rod is arranged in a matched manner with the manipulator nut seat, two ends of the manipulator screw rod are respectively in rotating connection with a fixed seat and a supporting seat, and the manipulator screw rod is linked with a manipulator driven wheel through an expansion sleeve;
a mechanical arm is arranged above the supporting plate, a connecting plate is arranged on a connecting seat of the mechanical arm, and the suction nozzle is arranged on the connecting plate through a suction nozzle connecting sheet.
2. The mobile vision and mobile robot positioning device of claim 1, wherein the lower frame includes a lower frame longitudinal rail longitudinally mounted to the lower frame support and a lower frame transverse rail transversely mounted to the lower frame support, the lower frame transverse rail being slidably mounted to the robot slide;
a front baffle, a locking section bar and a lower frame proximity switch are arranged in front of the lower frame transverse guide rail, and a limit stop block is arranged at the end part of the lower frame longitudinal guide rail;
the inner side of the lower frame is provided with a motor part, the motor part comprises a lower frame driving wheel driven by a lower frame servo motor, and the lower frame driving wheel is linked with a manipulator driven wheel through a lower frame synchronous belt.
3. The mobile vision and mobile manipulator positioning device as claimed in claim 2, wherein the guide member comprises a pull rod slidably mounted on the lower frame through a bottom guide member slider, a guide member profile is mounted on the upper surface of the pull rod, the guide member profile is connected to the moving rod through a pusher block mounted on the pusher block, a cushion block and a belt pressing plate are mounted on the bottom of the pull rod, a pull rod synchronous belt is clamped by the cushion block and the belt pressing plate, and a pull rod servo motor drives the pull rod synchronous belt to drive the pull rod to slide.
4. The mobile vision and mobile manipulator positioning device of claim 3, wherein the left guide bar component comprises a left guide bar mounted on the pull rod, a left baffle seat is mounted at the end of the left guide bar, a first left baffle bar, a second left baffle bar, a left pressure plate and a middle vertical left baffle bar are mounted on the left baffle seat, a left inner tooth star-shaped handle and the left vertical baffle bar are mounted in a screwing mode through a left adjusting screw thread, the left inner tooth star-shaped handle drives the left baffle bar connected with the screw bar reverse seat to move up and down, and the left baffle bar is mounted on the side of the left baffle bar.
5. The mobile vision and mobile manipulator positioning device of claim 4, wherein the middle right guide bar component comprises a right ash supporting bar installed on the pull rod, a right pressing plate is installed at the end of the right ash supporting bar, a right baffle seat, a right baffle bar and a right reverse baffle bar are installed on the right pressing plate, and a right ash plate reverse limiting piece is installed in a second right reverse guide bar at the other end;
the middle part is vertically provided with a first right barrier strip and a right second barrier strip, a right baffle is arranged between the first right barrier strip and the right second barrier strip, the right baffle is connected with a right screw rod seat, and a left inner tooth star-shaped handle is screwed with the first right barrier strip through a right adjusting screw rod and the right screw rod seat.
6. The mobile vision and mobile manipulator positioning device of any one of claims 1 to 5, wherein the middle left bar guide component comprises a middle right bar guide component, a front stop block arranged in a sliding manner with the middle right bar guide component, and a gray support bar arranged on the side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911339918.8A CN111070194A (en) | 2019-12-23 | 2019-12-23 | Mobile vision and mobile manipulator positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911339918.8A CN111070194A (en) | 2019-12-23 | 2019-12-23 | Mobile vision and mobile manipulator positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111070194A true CN111070194A (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911339918.8A Pending CN111070194A (en) | 2019-12-23 | 2019-12-23 | Mobile vision and mobile manipulator positioning device |
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| Country | Link |
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| CN (1) | CN111070194A (en) |
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| JP2007011978A (en) * | 2005-07-04 | 2007-01-18 | Toyota Motor Corp | Motion controller for robot |
| CN106736463A (en) * | 2015-11-24 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of indexing type automatic screw-driving machinery hand |
| CN108381185A (en) * | 2018-01-26 | 2018-08-10 | 福州三迅机械有限公司 | Roller carrier shaft cuts the lathe of jump-ring slot, face work, chamfering and centering one |
| CN109244001A (en) * | 2018-07-19 | 2019-01-18 | 浙江晶盛机电股份有限公司 | A kind of cell piece handling device and method for imbrication component stitch welding machine |
| CN109940650A (en) * | 2019-04-13 | 2019-06-28 | 华北理工大学 | Mechanical paw |
| WO2019196754A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Autonomous mobile transfer robot |
| CN211682123U (en) * | 2019-12-23 | 2020-10-16 | 东莞市旭源智能自动化设备有限公司 | Mobile vision and mobile manipulator positioning device |
-
2019
- 2019-12-23 CN CN201911339918.8A patent/CN111070194A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007011978A (en) * | 2005-07-04 | 2007-01-18 | Toyota Motor Corp | Motion controller for robot |
| CN106736463A (en) * | 2015-11-24 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of indexing type automatic screw-driving machinery hand |
| CN108381185A (en) * | 2018-01-26 | 2018-08-10 | 福州三迅机械有限公司 | Roller carrier shaft cuts the lathe of jump-ring slot, face work, chamfering and centering one |
| WO2019196754A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Autonomous mobile transfer robot |
| CN109244001A (en) * | 2018-07-19 | 2019-01-18 | 浙江晶盛机电股份有限公司 | A kind of cell piece handling device and method for imbrication component stitch welding machine |
| CN109940650A (en) * | 2019-04-13 | 2019-06-28 | 华北理工大学 | Mechanical paw |
| CN211682123U (en) * | 2019-12-23 | 2020-10-16 | 东莞市旭源智能自动化设备有限公司 | Mobile vision and mobile manipulator positioning device |
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