CN205600756U - Optic platform snatchs manipulator - Google Patents
Optic platform snatchs manipulator Download PDFInfo
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- CN205600756U CN205600756U CN201620375163.2U CN201620375163U CN205600756U CN 205600756 U CN205600756 U CN 205600756U CN 201620375163 U CN201620375163 U CN 201620375163U CN 205600756 U CN205600756 U CN 205600756U
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- telescoping cylinder
- cylinder
- rotatory
- jar
- switch
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Abstract
The utility model provides an optic platform snatchs manipulator, includes platform, support, rotatory jar, swing jar, telescoping cylinder, industry camera, switch, sets up support, industry camera, switch on the platform, and the support top sets up rotatory jar, and the rotatory lantern ring is connected via the swing jar to rotatory jar, sets up the telescoping cylinder in the rotatory lantern ring, and stretch out respectively at the telescoping cylinder both ends outside the rotatory lantern ring, the telescoping cylinder both ends of stretching out the rotatory lantern ring outer set up sucking disc, gas claw respectively, the kind that the industry camera is used for acquireing the positional information of testee and confirms the object, the switch is used for the direction of rotation of the rotatory jar of control, the swing angle of swing jar, the flexible height of telescoping cylinder. The utility model discloses utilize manipulator that the guide of vision -guided technique has gas claw and sucking disc simultaneously to the object adsorb, centre gripping and the suitable position of placing optic platform, the object kind that messenger machine vision system snatched is more, work efficiency is higher.
Description
Technical field
This utility model relates to a kind of optical research platform, is specifically related to the catching robot of a kind of optical table.
Background technology
Nineteen eighty-two, Stanford Univ USA Salisbury et al. develops the most representational mechanical hand Stanford/JPL, and it the most completely introduces the sensing systems such as position, sense of touch, power, as artificial intelligence control and the research tool of development.
The Hiroshima University of Japan proposes a kind of to have uniqueness and choose to install axle and can refer to mechanical hands with the four of bidirectional rotation, Japanese industries Technical Integration Studies institute (AIST) anthropomorphic robot seminar develops a kind of mechanical hand that may be mounted on anthropomorphic robot, and small-sized 6 axial force sensors of exploitation are installed to each finger so that the operability of mechanical hand is improved.
China is in the application aspect of mechanical hand, have been achieved for more ripe investigative technique, Tsing-Hua University develops gesture changeable drive lacking (GCUA) mechanical hand, and its every finger has screw rod, nut transmission, can reduce the complexity of manipulator control and improve motility.Harbin Institute of Technology proposes a kind of Apery manipulator, because being mounted with sensor on hand, so having strong position and power sensing capability.
Utility model content
The purpose of this utility model is to provide the catching robot of a kind of optical table, this utility model utilizes vision guide technology to guide the mechanical hand simultaneous with gas pawl and sucker that object adsorbs, clamps and is placed into the correct position of optical table, the object type making Vision Builder for Automated Inspection capture is more, and work efficiency is higher.
The purpose of this utility model is achieved through the following technical solutions, a kind of catching robot of optical table, including platform, support, rotating cylinder, oscillating cylinder, telescoping cylinder, industrial camera, switch, support, industrial camera, switch are set on platform, cradle top arranges rotating cylinder, and rotating cylinder connects the rotation collar via oscillating cylinder, rotates in the collar and arranges telescoping cylinder, telescoping cylinder two ends are stretched out outside the described rotation collar respectively, stretch out the telescoping cylinder two ends rotated outside the collar and are respectively provided with sucker, gas pawl；Industrial camera is for obtaining the positional information of testee and confirming the kind of object；Switch is for controlling the flexible height of the direction of rotation of rotating cylinder, the pendulum angle of oscillating cylinder, telescoping cylinder.
Compared with prior art, this utility model has the advantages that
First, mechanical hand is arranged on optical table with visual system assembly.Under working environment, measuring the position of testee by industrial camera and judge to capture the kind of object, for flat board, frangible object, generally using sucker, other objects then can use gas pawl to capture, and is then put into destination locations.
Second, it is simultaneously attached on mechanical hand will adapt to more capture object with sucker by gas pawl, adapting to the demand of more conglomerate, this will make Robot Control Technology the most ripe, and the industries such as object assembling, material crawl, unmanned welding are also played huge facilitation.
3rd, this utility model is the new structure that machinery combines with vision.Along with vision guide technology in machine vision, mechanical hand completes the demand of particular job task and more and more heavier.The mechanical hand that view-based access control model guides, from actual demand, is applied on optical experiment bench capture object by this utility model, and optical research will be played important facilitation by the application of this new mechanical arm.
Accompanying drawing explanation
Fig. 1 is the catching robot structure chart of a kind of optical table of this utility model；
In figure: 1 oscillating cylinder, 2 rotating cylinders, 3 supports, 4 switches, 5 platforms, 6 industrial cameras, 7 gas pawls, 8 telescoping cylinders, the 9 rotation collar, 10 suckers.
Detailed description of the invention
The utility model is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings:
As shown in Figure 1, the catching robot of a kind of optical table, by oscillating cylinder 1, rotating cylinder 2, support 3, switchs 4, and platform 5, industrial camera 6, gas pawl 7, telescoping cylinder 8, rotary sleeve 9, sucker 10 forms.
Support 3, industrial camera 6, switch 4 are set on platform 5, support 3 top arranges rotating cylinder 2, rotating cylinder 2 connects the rotation collar 9 via oscillating cylinder 1, rotate in the collar 9 and telescoping cylinder 8 is set, telescoping cylinder 8 two ends are stretched out outside the described rotation collar 9 respectively, stretch out telescoping cylinder 8 two ends rotated outside the collar 9 and are respectively provided with sucker 10, gas pawl 7.
Industrial camera 6 is for obtaining the positional information of testee and confirming the kind of object.
Switch 4 is for controlling the flexible height of the direction of rotation of rotating cylinder 2, the pendulum angle of oscillating cylinder 1, telescoping cylinder 8.
Support is arranged on platform, in order to support each movable joint.
Rotating cylinder 2 is used for direction of rotation, and oscillating cylinder 1 is respectively intended to adjust angle with height with telescoping cylinder 8.
Sucker 10 is each distributed in telescoping cylinder two ends with gas pawl 7.
Industrial camera separately has and oneself individually switchs, and in the case of general work, industrial camera is always on, with the not association of diagram switch, it is illustrated that switch simply controls the start stop switch of Robot actions.Charge Coupled Device (CCD) CCD image sensor in industrial camera can be transformed into the signal of telecommunication luminous energy, it is converted into digital signal by analog-digital converter chip, digital signal is preserved by the flash memory of camera internal or built-in hard disk card after overcompression, then data are transferred to computer, by the pneumatic actuator system controlled based on PLC, controlled the operation of mechanical hand by the PLC program in computer.
The rotation of Pneumatic manipulator, swing, expanding-contracting action are controlled by corresponding electromagnetic valve by air cylinder driven, cylinder, electromagnetic valve by
PLC controls.Pneumatic gearing system is by air compressor, electromagnetic valve, cylinder and other auxiliary elements composition, its working media is the air of flowing, electromagnetic valve is the control element of pneumatic actuator system, being used for controlling size and the direction of air-flow, cylinder is then that compressed-air actuated compression energy is converted into linear motion the device done work, it is illustrated that rotating cylinder, oscillating cylinder, telescoping cylinder, gas pawl, sucker be all used to perform the executive component of the various operation of mechanical hand.Because this patent application main body innovative part is mechanical hand, the emphasis that pressure work system deployment illustrates, therefore some element described marks the most in the drawings.
The operation principle of the catching robot of optical table is: on optical table, obtain the positional information of testee by industrial camera and confirm the kind of object, according to the location information obtained, opening switch uses air-driven mode to control each cylinders such as the rotating cylinder of mechanical hand, oscillating cylinder, telescoping cylinder to do the motion of different directions, angle, if kind of object is flat board, the thing being difficult to capture such as frangible, then control rotate the collar sucker is forwarded to lower section object is drawn, it is then captured by normal object with gas pawl.
Mechanical hand is arranged on optical table by this utility model with visual system assembly.Under working environment, measuring the position of testee by industrial camera and judge to capture the kind of object, for flat board, frangible object, generally using sucker, other objects then can use gas pawl to capture, and is then put into destination locations.
Gas pawl is simultaneously attached on mechanical hand will adapt to more capture object by this utility model with sucker, adapt to the demand of more conglomerate, this will make Robot Control Technology the most ripe, and the industries such as object assembling, material crawl, unmanned welding are also played huge facilitation.
This utility model is the new structure that machinery combines with vision.Along with vision guide technology in machine vision, mechanical hand completes the demand of particular job task and more and more heavier.The mechanical hand that view-based access control model guides, from actual demand, is applied on optical experiment bench capture object by this utility model, and optical research will be played important facilitation by the application of this new mechanical arm.
Presently, automated production industry in social development in occupation of critical positions, and mechanical hand of based on machine vision bootstrap technique can drive with multimode as one, control automatically to spend much higher function machine and also provide help greatly, by installation gas pawl the most simultaneously with sucker, the range of application that will make mechanical hand is more extensive, and work efficiency is higher, the time that saving etc. are many, automated production industry is played huge facilitation undoubtedly.
Claims (1)
1. the catching robot of an optical table, it is characterized in that, described catching robot includes platform (5), support (3), rotating cylinder (2), oscillating cylinder (1), telescoping cylinder (8), industrial camera (6), switch (4), support (3) is set on platform (5), industrial camera (6), switch (4), support (3) top arranges rotating cylinder (2), rotating cylinder (2) connects the rotation collar (9) via oscillating cylinder (1), rotate in the collar (9) and telescoping cylinder (8) is set, the described rotation collar (9) is stretched out outward respectively in telescoping cylinder (8) two ends, stretch out the rotation collar (9) telescoping cylinder (8) two ends outward and be respectively provided with sucker (10), gas pawl (7)；Industrial camera (6) is for obtaining the positional information of testee and confirming the kind of object；Switch (4) is used for controlling the direction of rotation of rotating cylinder (2), the pendulum angle of oscillating cylinder (1), the flexible height of telescoping cylinder (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620375163.2U CN205600756U (en) | 2016-04-28 | 2016-04-28 | Optic platform snatchs manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620375163.2U CN205600756U (en) | 2016-04-28 | 2016-04-28 | Optic platform snatchs manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205600756U true CN205600756U (en) | 2016-09-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620375163.2U Expired - Fee Related CN205600756U (en) | 2016-04-28 | 2016-04-28 | Optic platform snatchs manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN205600756U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945064A (en) * | 2017-03-29 | 2017-07-14 | 重庆江东机械有限责任公司 | LFT D composite punching press loading and unloading industrial robot terminal-collecting machines |
| CN107138431A (en) * | 2017-05-27 | 2017-09-08 | 武汉理工大学 | A kind of parts identification method for separating and system based on machine vision |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN107511852A (en) * | 2017-08-22 | 2017-12-26 | 芜湖超源力工业设计有限公司 | A kind of blank for field of machining captures puma manipulator |
| CN108067436A (en) * | 2017-12-13 | 2018-05-25 | 惠州金源精密自动化设备有限公司 | Battery core transfer mechanism, battery core transferring system, battery core OCV test equipments |
| CN108309151A (en) * | 2018-04-18 | 2018-07-24 | 中国矿业大学 | A kind of movable type desktop clean robot |
| CN109341748A (en) * | 2018-11-09 | 2019-02-15 | 罗博特科智能科技股份有限公司 | A kind of rotating disc type vision inspection apparatus |
| CN113894831A (en) * | 2021-10-09 | 2022-01-07 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN114655700A (en) * | 2022-03-09 | 2022-06-24 | 中陆福智能科技(苏州)有限公司 | Full-automatic suction system |
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2016
- 2016-04-28 CN CN201620375163.2U patent/CN205600756U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945064A (en) * | 2017-03-29 | 2017-07-14 | 重庆江东机械有限责任公司 | LFT D composite punching press loading and unloading industrial robot terminal-collecting machines |
| CN107138431A (en) * | 2017-05-27 | 2017-09-08 | 武汉理工大学 | A kind of parts identification method for separating and system based on machine vision |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN107511852A (en) * | 2017-08-22 | 2017-12-26 | 芜湖超源力工业设计有限公司 | A kind of blank for field of machining captures puma manipulator |
| CN108067436A (en) * | 2017-12-13 | 2018-05-25 | 惠州金源精密自动化设备有限公司 | Battery core transfer mechanism, battery core transferring system, battery core OCV test equipments |
| CN108067436B (en) * | 2017-12-13 | 2021-03-26 | 惠州金源精密自动化设备有限公司 | Electricity core OCV test equipment |
| CN108309151A (en) * | 2018-04-18 | 2018-07-24 | 中国矿业大学 | A kind of movable type desktop clean robot |
| CN109341748A (en) * | 2018-11-09 | 2019-02-15 | 罗博特科智能科技股份有限公司 | A kind of rotating disc type vision inspection apparatus |
| CN109341748B (en) * | 2018-11-09 | 2024-10-18 | 罗博特科智能科技股份有限公司 | Carousel formula visual inspection device |
| CN113894831A (en) * | 2021-10-09 | 2022-01-07 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN113894831B (en) * | 2021-10-09 | 2022-11-22 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN114655700A (en) * | 2022-03-09 | 2022-06-24 | 中陆福智能科技(苏州)有限公司 | Full-automatic suction system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160928 Termination date: 20190428 |