CN206982740U - A kind of robot manipulator structure of built-in audio identification module - Google Patents
A kind of robot manipulator structure of built-in audio identification module Download PDFInfo
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- CN206982740U CN206982740U CN201720816191.8U CN201720816191U CN206982740U CN 206982740 U CN206982740 U CN 206982740U CN 201720816191 U CN201720816191 U CN 201720816191U CN 206982740 U CN206982740 U CN 206982740U
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Abstract
The utility model provides a kind of robot manipulator structure of built-in audio identification module, it causes the various sound that can be sent in enclosed environment according to machine run of manipulator to judge whether machine runs well, and then automatic execution or interruption corresponding operating, reduce environment cost of layout, mitigate the workload of operating personnel.It includes end mechanical arm, and the end mechanical arm is provided with microphone module positioned at the part of operating area, and the microphone module includes at least one exposed microphone, and the microphone module also includes communication part.
Description
Technical field
The technical field of robot manipulator structure is the utility model is related to, specially a kind of manipulator of built-in audio identification module
Structure.
Background technology
Existing robot manipulator structure, its operate carry out when, be all the position and correspondingly by eye-observation mechanical arm tail end
Environment, and then judge whether machine is in normal operating conditions, for needing to carry out the structure of enclosed environment operation, by
It can not be observed in human eye, manipulator can not know whether machine runs well and work after entering the region, and its needs is being closed
Built-in some cameras in operating environment, and then multiple displays are observed by the naked eye to judge whether machine runs well, its
So that the cost of layout of camera is high in environment, and due to needing the visual angle of constantly switching camera so that observation is complicated, aggravates
The workload of operating personnel.
The content of the invention
In view of the above-mentioned problems, the utility model provides a kind of robot manipulator structure of built-in audio identification module, it causes
The various sound that can be sent in enclosed environment according to machine run of manipulator judge whether machine runs well, and then from
It is dynamic to perform or interrupt corresponding operating, reduce environment cost of layout, mitigate the workload of operating personnel.
A kind of robot manipulator structure of built-in audio identification module, it is characterised in that：It includes end mechanical arm, the end
Mechanical arm is provided with microphone module positioned at the part of operating area, and the microphone module includes at least one exposed wheat
Gram wind, the microphone module also include communication part.
It is further characterized by：
The end mechanical arm is additionally provided with camera, the camera aligned end operating area, in the camera
Transport module is put, the camera connects power module, and the power module is built in the power supply installation of the end mechanical arm
Intracavitary；
The power module connects microphone module simultaneously；
The end mechanical arm is located at the end of five axis robots, and it includes the base of horizontal arrangement, the length of the base
Degree direction is disposed with two parallel axial guide rods, and the first motor is fixed with the base, and the first retainer is set in described
Axial guide rod, the first output end of first motor connect the screw mandrel spiral shell in first retainer by straight line wire rod thread
Mother, the straight line screw mandrel is first axle, and first retainer is arranged straight up, and is fixed with first retainer
Two motors, the second output end of second motor connect the input gear of correspondence second of the second axle by gear transmission structure,
Second axle is plugged in the upper end of first retainer, and the second retainer is fixed with second axle, and described second passes
Dynamic seat is vertically arranged, and the 3rd axle is plugged in outer end of second retainer away from second axle, second retainer
On be also fixed with the 3rd motor, the 3rd output end of the 3rd motor is fixed with the 3rd output gear, the axle of the 3rd axle
End is fixed with the 3rd input gear, and the 3rd output gear engagement connects the 3rd input gear, and the 3rd axle is fixedly mounted with
There is the 3rd retainer, the 4th motor is fixed with the 3rd retainer, the 4th output end of the 4th motor is connected with end
Mechanical arm is held, the 4th output end is arranged perpendicular to the 3rd axle, and the outer end of the end mechanical arm is provided with the 5th electricity
Machine, the 5th output end is perpendicular to the length direction arrangement of end mechanical arm, the output corresponding to the 5th motor of end mechanical arm
Camera, power module, microphone are provided with end face；
The camera quantity is two, and exposed microphone has two；
First motor is arranged in an end position in the base length direction, it is ensured that the horizontal length of whole manipulator
Direction working range is extensible to whole axial guide rod；
The installation site that 3rd retainer corresponds to the 4th motor is provided with the convex mounting seat in side, and the described 4th is defeated
Go out the inner that end connects the end mechanical arm after the convex mounting seat in side, the inner and described 4th of the end mechanical arm is defeated
The link position for going out end is located in fourth bearing, it is ensured that transmission it is smooth；
First motor connection has the first encoder, and second motor connection has second encoder, the 3rd electricity
Machine is connected with the 3rd encoder, and the 4th motor connection has the 4th encoder, and the 5th motor connection has the 5th encoder；
The setting of encoder ensures that control is accurate；
First retainer, the second retainer, the main body end face of the 3rd retainer are arranged in parallel, are each perpendicular to first axle
Arrangement, it is ensured that the covered scope of work is sufficiently large.
After structure of the present utility model, microphone module is real by exposed microphone real-time collecting external audio
When by audio input to peripheral operation system, audio and preset sound of the peripheral operation system according to received by microphone module
Audio in module is compared, and finds suitable pairing, then feeds back to mechanical manual control according to the corresponding default operating mode of audio
Part processed, it is automatic if machine run is normal to perform subsequent operation, corresponding operating, simultaneously is interrupted if the improper operating of machine
Manipulator control part alarm is fed back, it make it that being sent in enclosed environment according to machine run for manipulator is each
Kind sound judges whether machine runs well, and then automatic execution or interruption corresponding operating, reduces environment cost of layout, mitigates
The workload of operating personnel.
Brief description of the drawings
Fig. 1 is three-dimensional figure structure schematic representation of the present utility model；
Fig. 2 is audio of the present utility model, video operational module connection signal sketch；
Fig. 3 is the three-dimensional figure structure schematic representation of specific embodiment of the utility model；
Title in figure corresponding to sequence number is as follows：
End mechanical arm 1, microphone module 2, microphone 2-1, camera 6, power module 8, transport module 9, base 10,
First motor 11, the first retainer 12, straight line screw mandrel 13, the second motor 14, the second axle 15, the second input gear 16, second pass
Dynamic seat 17, the 3rd axle 18, the 3rd motor 19, axial guide rod 20, the 3rd retainer 22, the 4th motor 23, the 5th motor 24, side are convex
Mounting seat 25, fourth bearing 26.
Embodiment
A kind of robot manipulator structure of built-in audio identification module, is shown in Fig. 1, Fig. 2：It includes end mechanical arm 1, the end
Mechanical arm 1 is provided with microphone module 2 positioned at the part of operating area, and the microphone module 2 includes at least one exposed
Microphone 2-1, the microphone module 2 also includes communication part.
End mechanical arm 1 is additionally provided with camera 6, the aligned end operating area of camera 6, the built-in transmission mould of camera 6
Block 9, camera 6 connect power module 8, and power module 8 is built in the power supply installation cavity of end mechanical arm 1；
Power module 8 connects microphone module 2 simultaneously.
Specific embodiment, see Fig. 3：End mechanical arm is located at the end of five axis robots, and it includes the base of horizontal arrangement
10, the length direction of base is disposed with two parallel axial guide rods 20, and the first motor 11, the first transmission are fixed with base 10
Seat 12 is set in axial guide rod 20, and the first output end of the first motor 11 is threadedly coupled the first retainer 12 by straight line screw mandrel 13
Interior feed screw nut, straight line screw mandrel 13 are first axle, and the first retainer 12 is arranged straight up, is fixedly mounted with the first retainer 12
There is the second motor 14, the second output end of the second motor 14 is inputted by the correspondence second of gear transmission structure the second axle 15 of connection
Gear 16, the second axle 15 are plugged in the upper end of the first retainer 12, and the second retainer 17, the second transmission are fixed with the second axle 15
Seat 17 is vertically arranged, and the 3rd axle 18 is plugged in outer end of second retainer 17 away from the second axle 15, is gone back on the second retainer 17
The 3rd motor 19 is fixed with, the 3rd output end of the 3rd motor 19 is fixed with the 3rd output gear, and the shaft end of the 3rd axle 18 is fixedly mounted with
Have the 3rd input gear, the 3rd input gear of the 3rd output gear engagement connection (the 3rd output gear, the 3rd input gear this regard
Figure does not embody, belongs to conventional gear drive mechanism), the 3rd axle 18 is fixed with the 3rd retainer 22, consolidates on the 3rd retainer 22
Equipped with the 4th motor 23, the 4th output end of the 4th motor 23 is connected with end mechanical arm 1, and the 4th output end is perpendicular to the 3rd axle
18 arrangements, the outer end of end mechanical arm 1 are provided with the 5th motor 24, and the 5th output end is perpendicular to the length side of end mechanical arm 1
To arrangement, camera 6, power module 8, Mike are provided with the output end face corresponding to the 5th motor 24 of end mechanical arm 1
Wind 2-1；The quantity of camera 6 is two, and exposed microphone 2-1 is two；
First motor 11 is arranged in an end position of the length direction of base 10, it is ensured that the horizontal length direction of whole manipulator
Working range is extensible to whole axial guide rod 20；
The installation site that 3rd retainer 22 corresponds to the 4th motor 23 is provided with the convex mounting seat 25 in side, and the 4th output end is passed through
Wear the inner that end mechanical arm 1 is connected after the convex mounting seat 25 in side, the inner of end mechanical arm 1 and the link position of the 4th output end
In fourth bearing 26, it is ensured that transmission it is smooth；
First motor 11 is connected with the first encoder, and the second motor 14 is connected with second encoder, and the 3rd motor 19 connects
There is the 3rd encoder, the 4th motor 23 is connected with the 4th encoder, and the 5th motor 24 is connected with the 5th encoder；Encoder is set
Putting ensures that control is accurate；
First retainer 12, the second retainer 17, the main body end face of the 3rd retainer 22 are arranged in parallel, are each perpendicular to first
Axle is arranged, it is ensured that the covered scope of work is sufficiently large.
After structure of the present utility model, microphone module is real by exposed microphone real-time collecting external audio
When by audio input peripheral operation system, audio and preset sound mould of the peripheral operation system according to received by microphone module
Audio in block is compared, and finds suitable pairing, then feeds back to manipulator control according to the corresponding default operating mode of audio
Part, it is automatic if machine run is normal to perform subsequent operation, corresponding operating and anti-is interrupted if the improper operating of machine
Manipulator control part alarm is presented, it make it that being sent in enclosed environment according to machine run for manipulator is various
Sound judges whether machine runs well, and then automatic execution or interruption corresponding operating, reduces environment cost of layout, mitigates behaviour
Make the workload of personnel；
First motor, the second motor, the 3rd motor are parallel parallel to cloth to arrangement, first axle, the second axle, the 3rd axle
Put, it make it that the structure of five axis robots is simple, easy for installation；First the first retainer of motor driven is along first axle straight line side
Advanced to level, second the second axle of motor driven rotates, and the axle of the 3rd motor driven the 3rd rotates so that the work of whole manipulator
Scope is big, and the 4th motor causes mechanical arm to be turned round around the central shaft of mechanical arm, and the outside distribution structure to be installed of the 5th motor driving enters
Row angle positions, and further ensures that the working range of whole mechanical arm is big；And taken the photograph due to being disposed with towards the end face of operating area
As head, camera aligned end operating area, camera connection power module, operating system according to camera imaging at
Reason, it is ensured that arm-and-hand system can carry out precise manipulation, the stub area Real-time Feedback of manipulator when applied to enclosed environment
To operating system, it is ensured that arm-and-hand system can carry out precise manipulation, reduce environment cost of layout, mitigate the work of operating personnel
Measure.
Specific embodiment of the utility model is described in detail above, but content is only what the utility model was created
Preferred embodiment, it is impossible to be considered as the practical range for limiting the utility model creation.All created according to the utility model is applied
Equivalent change that scope is made all should be belonged to still within this patent covering scope with improving etc..
Claims (9)
- A kind of 1. robot manipulator structure of built-in audio identification module, it is characterised in that：It includes end mechanical arm, the end machine Tool arm is provided with microphone module positioned at the part of operating area, and the microphone module includes at least one exposed Mike Wind, the microphone module also include communication part.
- A kind of 2. robot manipulator structure of built-in audio identification module as claimed in claim 1, it is characterised in that：The end machine Tool arm is additionally provided with camera, the camera aligned end operating area, the camera built-in transmission module, the shooting Head connection power module, the power module are built in the power supply installation cavity of the end mechanical arm.
- A kind of 3. robot manipulator structure of built-in audio identification module as claimed in claim 2, it is characterised in that：The power supply mould Block connects microphone module simultaneously.
- A kind of 4. robot manipulator structure of built-in audio identification module as claimed in claim 2, it is characterised in that：The end machine Tool arm is located at the end of five axis robots, and it includes the base of horizontal arrangement, and the length direction of the base is disposed with two and put down Capable axial guide rod, the first motor is fixed with the base, and the first retainer is set in the axial guide rod, first electricity First output end of machine connects the feed screw nut in first retainer by straight line wire rod thread, and the straight line screw mandrel is First axle, first retainer are arranged straight up, and the second motor, second motor are fixed with first retainer The second output end the input gear of correspondence second of the second axle is connected by gear transmission structure, second axle is plugged in described The upper end of first retainer, the second retainer is fixed with second axle, second retainer is vertically arranged, the 3rd axle Outer end of second retainer away from second axle is plugged in, the 3rd motor, institute are also fixed with second retainer The 3rd output end for stating the 3rd motor is fixed with the 3rd output gear, and the shaft end of the 3rd axle is fixed with the 3rd input gear, 3rd output gear engagement connects the 3rd input gear, and the 3rd axle is fixed with the 3rd retainer, and the described 3rd The 4th motor is fixed with retainer, the 4th output end of the 4th motor is connected with end mechanical arm, the 4th output End arranges that the outer end of the end mechanical arm is provided with the 5th motor, and the 5th output end is perpendicular to end perpendicular to the 3rd axle The length direction arrangement of mechanical arm is held, camera, electricity are provided with the output end face corresponding to the 5th motor of end mechanical arm Source module, microphone.
- A kind of 5. robot manipulator structure of built-in audio identification module as claimed in claim 4, it is characterised in that：The camera Quantity is two, and exposed microphone has two.
- A kind of 6. robot manipulator structure of built-in audio identification module as claimed in claim 4, it is characterised in that：First electricity Machine is arranged in an end position in the base length direction.
- A kind of 7. robot manipulator structure of built-in audio identification module as claimed in claim 4, it is characterised in that：Described 3rd passes The installation site that dynamic seat corresponds to the 4th motor is provided with the convex mounting seat in side, and the 4th output end runs through the convex mounting seat in side The inner of the end mechanical arm is connected afterwards, and the link position of inner and described 4th output end of the end mechanical arm is located at In fourth bearing.
- A kind of 8. robot manipulator structure of built-in audio identification module as claimed in claim 4, it is characterised in that：First electricity Machine is connected with the first encoder, and second motor connection has second encoder, and the 3rd motor connection has the 3rd encoder, 4th motor connection has the 4th encoder, and the 5th motor connection has the 5th encoder.
- A kind of 9. robot manipulator structure of built-in audio identification module as claimed in claim 4, it is characterised in that：Described first passes Dynamic seat, the second retainer, the main body end face of the 3rd retainer are arranged in parallel, are each perpendicular to first axle arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720816191.8U CN206982740U (en) | 2017-07-07 | 2017-07-07 | A kind of robot manipulator structure of built-in audio identification module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720816191.8U CN206982740U (en) | 2017-07-07 | 2017-07-07 | A kind of robot manipulator structure of built-in audio identification module |
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| Publication Number | Publication Date |
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| CN206982740U true CN206982740U (en) | 2018-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720816191.8U Active CN206982740U (en) | 2017-07-07 | 2017-07-07 | A kind of robot manipulator structure of built-in audio identification module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139216A (en) * | 2017-07-07 | 2017-09-08 | 苏州工业园区凯艺精密科技有限公司 | A kind of robot manipulator structure of built-in audio identification module |
-
2017
- 2017-07-07 CN CN201720816191.8U patent/CN206982740U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139216A (en) * | 2017-07-07 | 2017-09-08 | 苏州工业园区凯艺精密科技有限公司 | A kind of robot manipulator structure of built-in audio identification module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210601 Address after: 215000 workshop 15, Luzhi Intelligent Manufacturing Industrial Park, 1 Zhangqing street, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. Address before: No.888 Luzhi Avenue, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: SUZHOU INDUSTRIAL PARK KAYMAX PRECISION ENGINEERING Co.,Ltd. |
|
| TR01 | Transfer of patent right |