CN201931466U - Manipulator structure with machine vision navigating function - Google Patents
Manipulator structure with machine vision navigating function Download PDFInfo
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- CN201931466U CN201931466U CN2010206950880U CN201020695088U CN201931466U CN 201931466 U CN201931466 U CN 201931466U CN 2010206950880 U CN2010206950880 U CN 2010206950880U CN 201020695088 U CN201020695088 U CN 201020695088U CN 201931466 U CN201931466 U CN 201931466U
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Abstract
The utility model discloses a manipulator structure with a machine vision navigating function, which comprises a manipulator main body and further comprises a machine vision navigating and controlling system, wherein the machine vision navigating and controlling system comprises a camera lens for capturing a product image, an image controller for processing the product image and a motion controller for controlling the motion of the manipulator main body; the camera lens is electrically connected with the image controller, and the image controller is electrically connected with the motion controller; the manipulator main body comprises a driving motor and a mechanical arm, and the driving motor is connected with the mechanical arm in a driving way. According to the machine vision technology, the manipulator structure utilizes the camera lens to capture the product image, the image controller to process the product image and the motion controller to control the motion of the manipulator main body. With the adoption of the manipulator structure, the production efficiency is increased and the automation degree is high.
Description
Technical field
The utility model relates to the robot manipulator structure technical field, relates in particular to a kind of robot manipulator structure with machine vision navigation function.
Background technology
At present, the application of robot manipulator structure in industry is more and more general, and its role in industrial automation is produced is also increasing, to the very important meaning of having enhanced productivity.Existing application needs the artificial vision to judge whether workpiece is qualified in the robot manipulator structure of the sorting system of workpiece, controls robot manipulator structure by the operator then workpiece is sorted, and prior art production efficiency is low, automaticity is not high.
Summary of the invention
The robot manipulator structure that the utility model provides a kind of and enhances productivity, automaticity is higher with machine vision navigation function.
A kind of robot manipulator structure with machine vision navigation function, comprise the manipulator body, also comprise machine vision navigation and control system, machine vision navigation and control system comprise camera, the image controller that is used for the treatment product image that is used to catch the product image, the motion controller that is used to control the motion of manipulator body, camera is electrically connected with image controller, image controller is electrically connected with motion controller, the manipulator body comprises drive motors, mechanical arm, and drive motors drives and connects mechanical arm.
Wherein, the manipulator body also comprises first drive unit, first manipulator, and first drive unit is arranged on an end of mechanical arm, and first drive unit drives and connects first manipulator.
Wherein, the manipulator body also comprises the first cylinder connecting rod, the first cylinder mounting blocks, and first drive unit drives by the first cylinder connecting rod and connects first manipulator, and first drive unit is fixed on an end of mechanical arm by the first cylinder mounting blocks.
Wherein, the manipulator body also comprises second drive unit, second manipulator, and second drive unit is arranged on the other end of mechanical arm, and second drive unit drives and connects second manipulator.
Wherein, the manipulator body also comprises the second cylinder connecting rod, the second cylinder mounting blocks, and second drive unit drives by the second cylinder connecting rod and connects second manipulator, and second drive unit is fixed on the other end of mechanical arm by the second cylinder mounting blocks.
Wherein, first manipulator and second manipulator all are set to vacuum cup or gripper, and first drive unit and second drive unit all are set to hydraulic cylinder or cylinder.
Wherein, the manipulator body also comprises electric machine support, and drive motors is positioned at the inside of electric machine support.
Wherein, electric machine support comprises plate behind support header board, the support, support upper plate, support lower plate, support left side plate, support right panel, support upper plate, support lower plate, support left side plate, support right panel constitute rectangular cavities, drive motors is positioned at rectangular cavities, and plate is connected to two openings of rectangular enclosure behind support header board, the support.
Wherein, the manipulator body also comprises sensor construction, and sensor construction comprises sensing chip, sensor, and sensing chip is connected with sensor, and sensing chip and mechanical arm touch.
Wherein, sensor construction also comprises the sensor poppet, and sensor is fixedlyed connected with electric machine support by the sensor poppet, and camera is provided with camera lens, and machine vision navigation and control system also comprise light source.
The utility model beneficial effect: a kind of robot manipulator structure with machine vision navigation function, comprise the manipulator body, also comprise machine vision navigation and control system, machine vision navigation and control system comprise camera, the image controller that is used for the treatment product image that is used to catch the product image, the motion controller that is used to control the motion of manipulator body, camera is electrically connected with image controller, image controller is electrically connected with motion controller, the manipulator body comprises drive motors, mechanical arm, and drive motors drives and connects mechanical arm.The utility model applied for machines vision technique, catch the product image by camera, by image controller treatment product image, by the motion of motion controller control manipulator body, the utility model can be enhanced productivity, automaticity is higher, and has avoided artificial factor, and precision is higher.
Description of drawings
Fig. 1 is a manipulator main body structure schematic diagram of the present utility model.
Fig. 2 is the decomposing schematic representation of Fig. 1.
Comprise among Fig. 1 Fig. 2:
The 10-mechanical arm, 11-drive motors, the 12-first cylinder mounting blocks, 13-first drive unit, the 14-first cylinder connecting rod, 15-first manipulator, the 16-second cylinder mounting blocks, 17-second drive unit, the 18-second cylinder connecting rod, 19-second manipulator, 20-support header board, plate behind the 21-support, 22-support upper plate, 23-support lower plate, 24-support left side plate, 25-support right panel, the 26-sensing chip, 27-sensor, 28-sensor poppet.
The specific embodiment
Referring to Fig. 1 Fig. 2, the utility model is described in detail below in conjunction with accompanying drawing.
A kind of robot manipulator structure of present embodiment with machine vision navigation function, comprise the manipulator body, also comprise machine vision navigation and control system, machine vision navigation and control system comprise camera, the image controller that is used for the treatment product image that is used to catch the product image, the motion controller that is used to control the motion of manipulator body, camera is electrically connected with image controller, image controller is electrically connected with motion controller, the manipulator body comprises drive motors 11, mechanical arm 10, and drive motors 11 drives and connects mechanical arm 10.
In the present embodiment, the manipulator body comprises that also first drive unit 13, first manipulator, 15, the first drive units 13 are arranged on an end of mechanical arm 10, and first drive unit 13 drives and connects first manipulator 15.The manipulator body also comprises the first cylinder connecting rod 14, the first cylinder mounting blocks 12, first drive unit 13 drives by the first cylinder connecting rod 14 and connects first manipulator, 15, the first drive units 13 are fixed on mechanical arm 10 by the first cylinder mounting blocks 12 a end.First drive unit 13 can drive first manipulator 15 and move up and down.
The manipulator body comprises that also second drive unit 17, second manipulator, 19, the second drive units 17 are arranged on the other end of mechanical arm 10, and second drive unit 17 drives and connects second manipulator 19.The manipulator body also comprises the second cylinder connecting rod 18, the second cylinder mounting blocks 16, second drive unit 17 drives by the second cylinder connecting rod 18 and connects second manipulator, 19, the second drive units 17 are fixed on mechanical arm 10 by the second cylinder mounting blocks 16 the other end.Second drive unit 17 can drive second manipulator 19 and move up and down.
Present embodiment is respectively arranged with first manipulator 15 and second manipulator 19 at the two ends of mechanical arm 10, they are symmetrical structure, and two stations are worked simultaneously, during first manipulator, 15 grabbing workpieces, second manipulator, 19 place work pieces can be increased work efficiency like this.
In the present embodiment, first manipulator 15 and second manipulator 19 all are set to vacuum cup, and first drive unit 13 and second drive unit 17 all are set to cylinder.Vacuum cup can directly not produce extruding force, has only absorption affinity, can not cause any damage to the letter sorting workpiece, is applicable to the letter sorting workpiece that should not be subjected to too big active force.Vacuum cup use suitable extensively, to improving production efficiency of products, realize that automated production has great significance.
As another preferred embodiment, first manipulator 15 and second manipulator 19 also can all be set to gripper, and first drive unit 13 and second drive unit 17 also can all be set to hydraulic cylinder.Gripper is clipping instrument, is applicable to the product of irregular surface.
The manipulator body also comprises electric machine support, and drive motors 11 is positioned at the inside of electric machine support, and electric machine support is used for fixing and protects and move drive motors 11.Electric machine support comprises plate 21 behind support header board 20, the support, support upper plate 22, support lower plate 23, support left side plate 24, support right panel 25, support upper plate 22, support lower plate 23, support left side plate 24, support right panel 25 constitute rectangular cavities, drive motors 11 is positioned at rectangular cavities, and plate 21 is connected to two openings of rectangular enclosure behind support header board 20, the support.
The manipulator body also comprises sensor construction, sensor construction comprises sensing chip 26, sensor 27, and sensing chip 26 is connected with sensor 27, and sensing chip 26 touches with mechanical arm 10, sensor construction is used to respond to the motion of mechanical arm 10, thereby effectively controls the anglec of rotation of mechanical arm 10.Sensor construction also comprises sensor poppet 28, and sensor 27 is fixedlyed connected with electric machine support by sensor poppet 28.
In the present embodiment, camera is provided with camera lens, and camera lens is used for focusing, and machine vision navigation and control system also comprise light source, and light source is used to regulate light, guarantees that camera catches the quality of image.
The utility model can be applicable to sorting system; Certainly also can apply to other automated system, such as product sampling observation system.Camera is installed on the top of streamline, the manipulator body is installed on the side of streamline.Workpiece passes through on streamline, video camera is taken pictures to streamline, catch product (workpiece) image, image controller is handled the product image, thereby knows whether product are qualified, the positional information of product etc., then these information is sent to motion controller, motion controller is according to the condition that presets, the motion of control manipulator body, the manipulator body picks up qualified product, is put into corresponding position.
Based on machine vision technique following characteristics are arranged: the flexibility and the automaticity that can improve production; Particularly be not suitable for the dangerous work environment of manual work or the occasion that the artificial vision is difficult to meet the demands, can use machine vision to substitute the artificial vision at some.In industrial processes in enormous quantities, low and precision is not high with artificial visual inspection product quality efficient, and the automaticity that can enhance productivity greatly and produce with machine vision detection method.It is integrated that machine vision is easy to realization information, is the basic technology that realizes computer integrated manufacturing system.NI Vision Builder for Automated Inspection can obtain bulk information fast, be easy to automatic processing, also be easy to design information and machining control information is integrated, therefore, in the modern automation production process, machine vision technique is widely used for fields such as operating condition monitoring, product inspection and quality control.
The utility model combines the technological merit of machine vision, and the technical program has versatility widely, and precision can reach 0.1mm, has very high practical value to instructing actual production.
Last content only is preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, the part that all can change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (10)
1. robot manipulator structure with machine vision navigation function, comprise the manipulator body, it is characterized in that, also comprise machine vision navigation and control system, machine vision navigation and control system comprise camera, the image controller that is used for the treatment product image that is used to catch the product image, the motion controller that is used to control the motion of manipulator body, camera is electrically connected with image controller, image controller is electrically connected with motion controller, the manipulator body comprises drive motors, mechanical arm, and drive motors drives and connects mechanical arm.
2. a kind of robot manipulator structure according to claim 1 with machine vision navigation function, it is characterized in that, described manipulator body also comprises first drive unit, first manipulator, first drive unit is arranged on an end of described mechanical arm, and first drive unit drives and connects first manipulator.
3. a kind of robot manipulator structure according to claim 2 with machine vision navigation function, it is characterized in that, described manipulator body also comprises the first cylinder connecting rod, the first cylinder mounting blocks, described first drive unit drives by the first cylinder connecting rod and connects described first manipulator, and first drive unit is fixed on an end of described mechanical arm by the first cylinder mounting blocks.
4. a kind of robot manipulator structure according to claim 2 with machine vision navigation function, it is characterized in that, described manipulator body also comprises second drive unit, second manipulator, second drive unit is arranged on the other end of described mechanical arm, and second drive unit drives and connects second manipulator.
5. a kind of robot manipulator structure according to claim 4 with machine vision navigation function, it is characterized in that, described manipulator body also comprises the second cylinder connecting rod, the second cylinder mounting blocks, described second drive unit drives by the second cylinder connecting rod and connects described second manipulator, and second drive unit is fixed on the other end of described mechanical arm by the second cylinder mounting blocks.
6. a kind of robot manipulator structure according to claim 4 with machine vision navigation function, it is characterized in that, described first manipulator and second manipulator all are set to vacuum cup or gripper, and described first drive unit and second drive unit all are set to hydraulic cylinder or cylinder.
7. according to any described a kind of robot manipulator structure with machine vision navigation function of claim 1 to 6, it is characterized in that described manipulator body also comprises electric machine support, described drive motors is positioned at the inside of electric machine support.
8. a kind of robot manipulator structure according to claim 7 with machine vision navigation function, it is characterized in that, described electric machine support comprises plate behind support header board, the support, support upper plate, support lower plate, support left side plate, support right panel, support upper plate, support lower plate, support left side plate, support right panel constitute rectangular cavities, described drive motors is positioned at rectangular cavities, and plate is connected to two openings of rectangular enclosure behind support header board, the support.
9. a kind of robot manipulator structure according to claim 8 with machine vision navigation function, it is characterized in that described manipulator body also comprises sensor construction, sensor construction comprises sensing chip, sensor, sensing chip is connected with sensor, and sensing chip and described mechanical arm touch.
10. a kind of robot manipulator structure according to claim 9 with machine vision navigation function, it is characterized in that, described sensor construction also comprises the sensor poppet, described sensor is fixedlyed connected with described electric machine support by the sensor poppet, described camera is provided with camera lens, and described machine vision navigation and control system also comprise light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206950880U CN201931466U (en) | 2010-12-31 | 2010-12-31 | Manipulator structure with machine vision navigating function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206950880U CN201931466U (en) | 2010-12-31 | 2010-12-31 | Manipulator structure with machine vision navigating function |
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| Publication Number | Publication Date |
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| CN201931466U true CN201931466U (en) | 2011-08-17 |
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| CN2010206950880U Expired - Fee Related CN201931466U (en) | 2010-12-31 | 2010-12-31 | Manipulator structure with machine vision navigating function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104768716A (en) * | 2012-10-31 | 2015-07-08 | 株式会社乐博特思 | Actuator assembly |
| CN105182905A (en) * | 2015-08-12 | 2015-12-23 | 西安费斯达自动化工程有限公司 | Vision-based large structural member mobile manipulator multi-coordinate machining center realizing method |
| CN105345585A (en) * | 2015-12-08 | 2016-02-24 | 长沙长泰机器人有限公司 | Vision-based robot transfer clamp and system for engine cylinder blocks |
| CN108236786A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The virtual feeding method and machine animal of machine animal |
| CN108582143A (en) * | 2018-06-27 | 2018-09-28 | 上海海洋大学 | A kind of adaptive portable sorting mechanical arm |
| CN108892043A (en) * | 2018-09-14 | 2018-11-27 | 上海川丰机电科技发展有限公司 | Portal crane lifting appliance anti-torsion system and method automatically |
-
2010
- 2010-12-31 CN CN2010206950880U patent/CN201931466U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104768716A (en) * | 2012-10-31 | 2015-07-08 | 株式会社乐博特思 | Actuator assembly |
| CN104768716B (en) * | 2012-10-31 | 2017-06-09 | 株式会社乐博特思 | actuator assembly |
| CN105182905A (en) * | 2015-08-12 | 2015-12-23 | 西安费斯达自动化工程有限公司 | Vision-based large structural member mobile manipulator multi-coordinate machining center realizing method |
| CN105345585A (en) * | 2015-12-08 | 2016-02-24 | 长沙长泰机器人有限公司 | Vision-based robot transfer clamp and system for engine cylinder blocks |
| CN108236786A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The virtual feeding method and machine animal of machine animal |
| CN108582143A (en) * | 2018-06-27 | 2018-09-28 | 上海海洋大学 | A kind of adaptive portable sorting mechanical arm |
| CN108892043A (en) * | 2018-09-14 | 2018-11-27 | 上海川丰机电科技发展有限公司 | Portal crane lifting appliance anti-torsion system and method automatically |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110817 Termination date: 20121231 |