CN201012496Y - Parallel-connection robot binocular active vision monitoring mechanism - Google Patents
Parallel-connection robot binocular active vision monitoring mechanism Download PDFInfo
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- CN201012496Y CN201012496Y CNU2006201274705U CN200620127470U CN201012496Y CN 201012496 Y CN201012496 Y CN 201012496Y CN U2006201274705 U CNU2006201274705 U CN U2006201274705U CN 200620127470 U CN200620127470 U CN 200620127470U CN 201012496 Y CN201012496 Y CN 201012496Y
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Abstract
The utility model discloses a parallel active visual platform, which is connected parallel with both eyes of robot; the utility model is characterized in that the visual platform (9) is fixed with a parallel robot movement platform (8) and the visual platform (9) is installed with a circular internal rail (25) and a circular external rail (21) which are homocentric. Two dollies (20, 23) are suspended on the circular internal rail (25) and the circular external rail (21) and every dolly platform (27) is equipped with a tripod head (36) and a camera (38); the two cameras can slide along the two circular rails and rotate along the orthogonal direction as the active input of the system and linked with the parallel robot movement platform (8) to realize the monitor of parallel robot operational parts and working space. At the same time, every couple axle of the visual platform has regular orthogonal geometric relation, simple action model and visual calculation model; the utility model is fit for the high-precision parallel robot visual monitoring mechanism.
Description
Technical field
The utility model relates to parallel robot vision field, particularly relates to a kind of binocular active vision mechanism for monitoring that is used for the monitoring of parallel robot working space.
Background technology
Nineteen sixty-five, German Stewart has invented six-degree-of-freedom parallel connection mechanism, and is used for training flight person as flight simulator.The famous theory of mechanisms professor Hunt of Australia proposed parallel institution is used for robot arm in 1978.Subsequently, Maccallion and Pham.D.J press manipulator design with this mechanism first, successfully Stewart mechanism are used for assembling line, indicate the birth of parallel robot truly, have from then on promoted the history of parallel robot development.Parallel robot is with its abundant scientific and technical intension, reconfigurable diversified layout and wide application prospect, pay close attention to extremely both at home and abroad in recent years, become robot field's research focus, and produced many experimental prototypes thereupon, as flight simulator, parallel manipulator, parallel machine, parallel institution crane, airship docking adapter etc.In parallel robot practicability and commercialization process, also exist many problems to be solved that have: one, about the demarcation problem of mechanism's accuracy, parallel robot motion accuracy.Because the rod member of parallel institution and manufacturing, assembling and calibration (as the accurate geometry position of the hinge central point) error of hinge, make mechanism's accuracy mostly can only be controlled at the order of magnitude of 10 μ m, and this class error is a non-linear relation to the influence of complete machine; Moreover the load that robot bears different directions at different poses also can exert an influence to robot motion's accuracy; In addition, the nonlinearity erron in the control also can influence the positioning accuracy of parallel robot end effector.Its two, robot often is in " blind " duty.Being parallel robot works by the mode of appointment on the good track of planning, but to the existence and the variation of other objects in the state of the attained pose of its end effector and operand, the working environment, lacks cognitive ability initiatively.
A kind of scheme that addresses the above problem is utilized the vision monitoring technology exactly.By setting up suitable vision platform, realization is observed motion, the working space environment of parallel robot, the utilization theory of vision computing solves the spatial pose of observed object, thereby realize motion demarcation, the visual servo of parallel robot, raising is to the cognitive ability of environment, and then the motion planning of raising robot and the intelligence of control.
At the vision monitoring mechanism of parallel robot, mainly contain visual mechanisms that is configured in the parallel robot fixed platform and visual mechanisms two classes that are configured in the parallel robot outside from existing disclosed scheme.People such as P.Renaud have proposed the method for the H4 parallel institution being demarcated with single camera.They are fixed in a ccd video camera on the pedestal of parallel institution, observe the leg and the movable platform that is connected end effector of parallel institution, realize demarcating by observing the pose of inferring end effector.Precision and the little contradiction of range of movement measured for solving, they test the system calibrating that both carried out fixedly crossing, and make the relatively-stationary entire system translation tracking that crosses carry out rating test again.But this scaling method has the shortcoming of himself, at first, the vision system by a video camera constitutes can't obtain depth information by a Web monitoring image, must determine with epigraph by continuous two width of cloth, in two width of cloth image sampling cycles, will cause the position error of impact point like this owing to move; Secondly,, can't obtain the environmental information of working space, limit the deep application of visual information though this method obtains the spatial pose of end effector indirectly.People such as N.Andreff utilize single camera to the variation of the leg moving image of Gough-Stewart parallel robot as feedback information, designed servo controller based on image Jacobian matrix.But this method is monitored parallel robot owing to vision system is only limited to from an angle, can't avoid visual occlusion and keep optimal viewing angle, and still be confined to leg rather than to the observation of end effector and working space, can't realize following the tracks of, keep away operations such as barrier.
Be understandable that from above, the parallel robot visual mechanisms will install camera chain additional on former parallel robot mechanism, realize the motion demarcation and the tracking of parallel robot on the one hand by visual information, on the other hand, by environmental monitoring to working space, realization parallel robot obstacle is dodged and path planning, improves the intelligence of parallel robot.And then, require visual mechanisms to be fit to the characteristics of the structure concurrency of parallel robot, its visual field can cover the whole working space of parallel robot, and possesses flexible transformation observation angle, and requires the architectural characteristic of visual mechanisms can make things convenient for vision to calculate.
Summary of the invention
The utility model is exactly at the problems referred to above, has proposed a kind of visual monitoring mechanism that is installed on the parallel robot movable platform.This visual monitoring mechanism mainly is made up of circular guideway (interior rail, outer rail), dolly, The Cloud Terrace and video camera.Described circular guideway is fixed on the parallel robot movable platform, two dollies be embedded in circular in rail is connected with slide block in the outer rail, dolly is moved along circuit orbit by the driven by servomotor of adorning thereon.A video camera is installed on each dolly, is connected by The Cloud Terrace between dolly and video camera, The Cloud Terrace has two revolute pairs formations, and the turning cylinder of two revolute pairs is set on the radial direction and tangential direction of round rail.Visual monitoring mechanism slides two video cameras by driving dolly on the circle rail, adjust the visual angle of video camera by two revolute pairs that drive The Cloud Terrace, and movable platform interlock with parallel robot, realization is observed on a large scale to parallel robot working space multi-angle, realizes that parallel machine work is accurately located, cognitive environment information and visual servo.
The beneficial effects of the utility model are: (1) visual monitoring of the present invention mechanism is dynamic binocular active vision mechanism for monitoring.Two video camera poses are followed the motion of parallel robot movable platform on the one hand and are changed, the baseline of vision system, optical axis included angle, visual angle can be adjusted under the active drive of visual monitoring mechanism flexibly on the other hand, both had binocular feature initiatively, had behavioral characteristics again.(2) visual monitoring of the present invention mechanism is fixedly mounted on the parallel robot movable platform, can follow the tracks of the functional unit on the movable platform all the time.(3) the circus movement track design of video camera in the visual monitoring of the present invention mechanism, can guarantee that vision system adjusts the visual angle on a large scale, adjust baseline position, length and optical axis, reach the best observation mode of object of observation, help planning and realization that the accurate location and the vision of parallel robot are dodged.(3) visual mechanisms active movement countershaft is to the geometrical relationship with rule.The axial normal direction that video camera slides along circular guideway for circle rail plane, two turning cylinders adjusting the video camera attitude are to radius and tangential direction for the circle rail, three's straight line becomes mutually orthogonal relation, describes easily and expresses, and can reduce the complexity of system model.
Description of drawings
Fig. 1 is the assembly relation schematic diagram of binocular active vision mechanism for monitoring and parallel robot;
Fig. 2 is a binocular active vision mechanism for monitoring upward view;
Fig. 3 is binocular active vision mechanism for monitoring side view I;
Fig. 4 is binocular active vision mechanism for monitoring side view II;
Fig. 5 is that each kinematic pair between centers concerns schematic diagram.
At Fig. 1, Fig. 2, Fig. 3, among Fig. 4 and Fig. 5,1,18,19. column, 2,17. leading screw, 3,16. nut, 4,15,11. Hooke's hinge, 5,6,7,12,13,14. connecting rod, 8. parallel robot movable platform, 9. vision platform, 10. base, 25. rail in circular, 21. circular outer rail, 20,23. dolly, 22,24,26. bolt, 27. servomotor, 28 trolley platforms, 29. worm screws, 30. worm gears, 31. fixed mount, 32. the outer rail slide block, 33. external toothings, 34,37. interior rail slide block, 39. power transmission shaft, 40. gear, 35. vehicle frames, 36. The Cloud Terraces, 38. video camera, 41. in, the center of rotation of outer rail, 42,43. be the center of rotation axis of two revolute pairs of The Cloud Terrace on the dolly 20,44,45. the center of rotation axis of two of The Cloud Terrace revolute pairs on the dolly 23,46. slide block along the slip axis of upper and lower slide rail, also is the center of rotation axis of circular guideway.
The specific embodiment:
Fig. 1 is the disclosed embodiment (see figure 1) of the utility model, and parallel robot is by 10, three columns of base 1,18,19, and movable platform 8, six connecting rods 5,6,7,12,13,14 and movable platform 8 are formed.Three columns 1,18,19 evenly distribute and are fixed on the base 10, leading screw 2,17 all is housed in every root post, nut 3,16 moving up and down is housed on the leading screw 2,17, and each side chain is connected with the leading screw 2,17 of column by the nut identical with nut 3,16, thereby realizes moving up and down.6 connecting rods 5,6,7,12,13,14 are connecting-rods with constant lengh, and an end connects movable platform 8 by the Hooke's hinge identical with 11, and the other end connects each corresponding nut 3,16 by the Hooke's hinge identical with 4,15.The motion of leading screw 2,17 is provided by motor, and the motion of nut 3,16 on leading screw 2,17 drives movable platform 8 by each side chain and move in working space as the main motion input of parallel robot.
Parallel robot movable platform 8 is generally circle or regular polygon, has the center to becoming second nature.The parallel robot functional unit is installed in the center of movable platform 8.Binocular active vision mechanism for monitoring of the present invention is designed to the vision platform 9 of a toroidal, has the identical central symmetry with parallel robot movable platform 8, vision platform 9 is fixed on the parallel robot movable platform 8 by the bolt 22,24,26 in even layout on the annulus, and along with parallel robot movable platform 8 is moved together.
Present embodiment is made up of vision platform 9, circular interior rail 25, circular outer rail 21, dolly 20,23 and video camera 38.Rail 25, circular outer rail 21 are mounted in two concentric circles parts on the vision platform 9, circular outer rail 21 outside processing gear rings 33 in circular.Two dolly 20,23 structures are identical, constitute by vehicle frame 35, trolley platform 28, outer rail slide block 32, interior rail slide block 34,37 and gear 40.Outer rail slide block 32 is embedded in the circular outer rail 21, interior rail slide block 34,37 be embedded in circular in the rail 25, two interior rail slide blocks 34,37 and outer rail slide block 32 link into an integrated entity by vehicle frame 35 and trolley platform 28, constitute little frame.Guarantee that dolly is steady on the one hand, limit dolly on the other hand and on circuit orbit, move.Servomotor 27 is installed on the trolley platform 28 by fixed mount 31, worm screw 29 links to each other with the output shaft of servomotor 27, worm gear 30 links to each other with gear 40 by power transmission shaft 39, the driven by servomotor worm screw drives worm gear, rotate by power transmission shaft 39 driven gears 40, gear 40 and external toothing 33 engagements drive dolly 20,23 and move along circuit orbit.The Cloud Terrace 36 is installed on the trolley platform 28, and the main motion parts of The Cloud Terrace 36 is made of two revolute pairs in circle rail radius and the setting of tangent line pairwise orthogonal direction.Video camera 38 is connected on the The Cloud Terrace 36.Video camera 38 is subjected to the motion control of two revolute pairs of The Cloud Terrace 36 to adjust pose.Two dollies on the circuit orbit are consistent with its upper mounting component.
Parallel robot binocular active vision mechanism for monitoring with two dollies 20,23 on circuit orbit motion and the rotation of The Cloud Terrace 36 as the active input of vision platform mechanism, constitute baseline position and adjustable length, optical axis is adjustable, the visual angle is adjustable dynamic binocular active vision system, and, realize visual monitoring to parallel robot functional unit and working space with the interlock of parallel robot movable platform.
The center of rotation axis 46 of circuit orbit is the centre normal of circular interior rail 25, circular outer rail 21, center of rotation axis 42,45 the tangential directions of two revolute pairs of The Cloud Terrace 36, center of rotation axis 43,44 the radial directions (Fig. 5) of two revolute pairs in addition at circuit orbit at circuit orbit.As seen, axis 46,42,43 is mutually orthogonal, and axis 46,44,45 is mutually orthogonal, and this orthogonality relation remains in the motion of vision platform.
Claims (5)
1. parallel robot binocular active vision mechanism for monitoring, three columns (1 of parallel robot, 18,19) even cloth and being fixed on the base (10), leading screw (2 all is housed in every root post, 17), nut moving up and down (3,16) is housed, each connecting rod (5 on it, 6,7,12,13,14) a end connects movable platform (8) by the Hooke's hinge identical with Hooke's hinge (11), the other end connects each corresponding nut (3,16) by the Hooke's hinge identical with Hooke's hinge (4,15), it is characterized in that: vision platform (9) is connected with the movable platform (8) of parallel robot, vision platform (9) is upward installed concentric circular interior rail (25) and circular outer rail (21), and dolly (20,23) is lifted on circular interior rail (25) and the circular outer rail (21), each trolley platform (28) is gone up The Cloud Terrace (36) is installed, and each The Cloud Terrace (36) is gone up video camera (38) is installed.
2. parallel robot binocular active vision mechanism for monitoring according to claim 1 is characterized in that: rail (25), circular outer rail (21) form the circular orbit of dolly (20,23) in circular, and the outside of circular outer rail (21) is processed with external toothing (33).
3. parallel robot binocular active vision mechanism for monitoring according to claim 1 and 2, it is characterized in that: trolley platform (28) is installed on vehicle frame (35) top, rail slide block (34 in install the bottom of vehicle frame (35), 37) and outer rail slide block (32), interior rail slide block (34,37) embed circular interior rail (25), outer rail slide block (32) embeds circular outer rail (21), and gear (40) meshes with the external toothing (33) of circular outer rail (21).
4. parallel robot binocular active vision mechanism for monitoring according to claim 3, it is characterized in that: servomotor (27) is installed on the trolley platform (28) by fixed mount (31), the output shaft of servomotor (27) connects worm screw (29), be installed in the upper end of power transmission shaft (39) with the worm gear (30) of worm screw (29) engagement, gear (40) is installed in the lower end of power transmission shaft (39).
5. parallel robot binocular active vision mechanism for monitoring according to claim 1 is characterized in that: The Cloud Terrace (36) has two revolute pairs, and the axis of two revolute pairs radius and the tangential direction with circular interior rail (25), circular outer rail (21) respectively is identical.
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| CNU2006201274705U CN201012496Y (en) | 2006-08-22 | 2006-08-22 | Parallel-connection robot binocular active vision monitoring mechanism |
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| CNU2006201274705U CN201012496Y (en) | 2006-08-22 | 2006-08-22 | Parallel-connection robot binocular active vision monitoring mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601797A (en) * | 2012-04-07 | 2012-07-25 | 大连镔海自控股份有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
| CN103465252A (en) * | 2013-09-04 | 2013-12-25 | 江西省机械科学研究所 | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism |
| CN103624767A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Operation type parallel robot |
| CN103939555A (en) * | 2014-04-15 | 2014-07-23 | 北京航天自动控制研究所 | Multi-lead-screw parallel drive device |
| CN104656683A (en) * | 2015-01-15 | 2015-05-27 | 西安交通大学 | Binocular vision area target depth information extraction and cross section analysis system and method |
| CN105479272A (en) * | 2015-12-16 | 2016-04-13 | 无锡市永亿精密铸造有限公司 | High-stability vision monitoring device for precision machine machining |
| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN110339516A (en) * | 2019-08-08 | 2019-10-18 | 北京新松融通机器人科技有限公司 | A kind of device of view-based access control model detection and arm automatic butt fire hose in parallel |
| CN112792799A (en) * | 2019-11-13 | 2021-05-14 | 信浓绢糸株式会社 | Parallel robot |
| CN113359614A (en) * | 2021-07-06 | 2021-09-07 | 广州市新豪精密科技有限公司 | Parallel robot and circular motion track interpolation method thereof |
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2006
- 2006-08-22 CN CNU2006201274705U patent/CN201012496Y/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601797B (en) * | 2012-04-07 | 2014-08-06 | 大连创奇科技有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
| CN102601797A (en) * | 2012-04-07 | 2012-07-25 | 大连镔海自控股份有限公司 | Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot |
| CN103624767A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Operation type parallel robot |
| CN103465252A (en) * | 2013-09-04 | 2013-12-25 | 江西省机械科学研究所 | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism |
| CN103939555A (en) * | 2014-04-15 | 2014-07-23 | 北京航天自动控制研究所 | Multi-lead-screw parallel drive device |
| CN103939555B (en) * | 2014-04-15 | 2016-08-17 | 北京航天自动控制研究所 | Many leading screws parallel drive unit |
| CN104656683B (en) * | 2015-01-15 | 2017-04-26 | 西安交通大学 | Binocular vision area target depth information extraction and cross section analysis system and method |
| CN104656683A (en) * | 2015-01-15 | 2015-05-27 | 西安交通大学 | Binocular vision area target depth information extraction and cross section analysis system and method |
| CN105479272A (en) * | 2015-12-16 | 2016-04-13 | 无锡市永亿精密铸造有限公司 | High-stability vision monitoring device for precision machine machining |
| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN110339516A (en) * | 2019-08-08 | 2019-10-18 | 北京新松融通机器人科技有限公司 | A kind of device of view-based access control model detection and arm automatic butt fire hose in parallel |
| CN110339516B (en) * | 2019-08-08 | 2021-10-26 | 北京新松融通机器人科技有限公司 | Device for automatically butting fire hose based on visual detection and parallel arms |
| CN112792799A (en) * | 2019-11-13 | 2021-05-14 | 信浓绢糸株式会社 | Parallel robot |
| CN113359614A (en) * | 2021-07-06 | 2021-09-07 | 广州市新豪精密科技有限公司 | Parallel robot and circular motion track interpolation method thereof |
| CN113359614B (en) * | 2021-07-06 | 2022-06-03 | 广州市新豪精密科技有限公司 | Parallel robot and circular motion track interpolation method thereof |
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Granted publication date: 20080130 Termination date: 20100822 |