CN207534819U - A kind of keyboard mechanical arm based on machine vision - Google Patents
A kind of keyboard mechanical arm based on machine vision Download PDFInfo
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- CN207534819U CN207534819U CN201721256776.5U CN201721256776U CN207534819U CN 207534819 U CN207534819 U CN 207534819U CN 201721256776 U CN201721256776 U CN 201721256776U CN 207534819 U CN207534819 U CN 207534819U
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- vertical supports
- extension bar
- mechanical arm
- component
- machine vision
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 38
- 238000013519 translation Methods 0.000 claims abstract description 5
- 229920003023 plastic Polymers 0.000 claims description 8
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- 230000000694 effects Effects 0.000 abstract description 4
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- 238000005516 engineering process Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
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Abstract
The utility model discloses a kind of keyboard mechanical arm based on machine vision, vertical supports including support base, on support base are suspended at the extension bar on vertical supports top and mounted on image acquisition component of the extension bar far from vertical supports one end；Vertical supports can drive extension bar longitudinal translation, be equipped between extension bar and vertical supports extension bar can be driven to swing up and down swing up and down component, the component that swings that vertical supports swing can be driven by being equipped between vertical supports and pedestal, the bottom of pedestal be equipped with pedestal can be driven to horizontally rotate horizontally rotate component.Keyboard mechanical arm provided by the utility model based on machine vision, the floor key being used on express delivery trolley or other robot mobile chassis by elevator can be loaded in, it is at low cost, any transformation is carried out without the structure to elevator, the mechanical arm may be mounted on any mobile platform, applied widely, using effect is reliable.
Description
Technical field
The utility model is related to robotic arm apparatus field, more particularly to a kind of keyboard mechanical arm based on machine vision.
Background technology
With robot, automatically control, the technologies such as computer vision it is increasingly mature, mechanical arm is widely used in industry
To perform various operation tasks in robot industry, wherein keyboard mechanical arm is just applied to elevator floor key, enabling etc. times
During business performs.
At present, robot is mainly to be set by installing bluetooth communication in the elevator of each floor by the operating technology of elevator key
It is standby, and corresponding equipment is set to realize communication information transmission in robot, the floor that robot arrival is allowed to specify.It is however, existing
In technology, due to need each floor elevator or other can use device in communication apparatus is installed, build or the cost of repacking
All higher, difficulty is big, and portable low.
Therefore, the applicability of keyboard mechanical arm how is improved, reduces cost, is that those skilled in the art need to solve at present
The technical issues of.
Utility model content
The purpose of this utility model is to provide a kind of keyboard mechanical arm based on machine vision, should pressing based on machine vision
Key mechanical arm can effectively improve the applicability of itself, avoid the improvement to elevator, applied widely.
To achieve the above object, the utility model provides following technical solution：
A kind of keyboard mechanical arm based on machine vision, it is vertical supports including pedestal, on the pedestal, outstanding
It puts in the extension bar on the vertical supports top and mounted on figure of the extension bar far from described vertical supports one end
As acquisition component；The vertical supports can drive the extension bar longitudinal translation, the extension bar and the vertical supports
Between the component that swings up and down that the extension bar can be driven to swing up and down is installed, between the vertical supports and the pedestal
Equipped with the component that swings that the vertical supports can be driven to swing, the bottom of the pedestal, which is equipped with, can drive the bottom
What seat horizontally rotated horizontally rotates component.
Preferably, controller is further included, for described image acquisition component to be controlled to obtain elevator push button image information, and will
After the elevator push button image information identifying processing, position of the designated floor case relative to the extension bar is determined, and control
The vertical supports adjust the lengthwise position of the extension bar, are then stretched described in component adjusting by horizontally rotating described in control
Then the horizontal position of rod realizes that the extension bar moves the button of elevator push button by the component that swings described in control
Make, while the level height of the extension bar is compensated with the vertical supports by swinging up and down component described in control
Adjustment.
Preferably, the end of the extension bar is also equipped with to shine and can press the LED luminescent plastic rings of button.
Preferably, the component that swings up and down is described to horizontally rotate component for horizontal motor for worm and gear rotary components.
Preferably, screw is installed, the top of the screw is connect with the extension bar on the vertical supports.
Preferably, the vertical supports are U-shaped, and the screw is mounted on the inside of the vertical supports, institute
The side side wall for stating vertical supports is equipped with storage part, and the extension bar is mounted on the opposite side side wall of the vertical supports
Top.
Preferably, hollow-out parts are additionally provided among the side wall of the vertical supports.
Preferably, the extension bar is cylindrical, and described image acquisition component is mounted on the stretching boom end
Camera in groove.
Preferably, the U-shaped plate of the pedestal, and support tube is rotatably connected between the both sides side plate of the pedestal,
The bottom end of the vertical supports is mounted on the cylinder arm of the support tube.
Preferably, the component that swings includes the oscillating motor being mounted on the base side plate inner wall and installation
The swinging belt of passing power is used between the oscillating motor and the support tube.
Keyboard mechanical arm provided by the utility model based on machine vision, including pedestal, on the pedestal
Vertical supports, be suspended at the extension bar on the vertical supports top and mounted on the extension bar far from described vertical
To the image acquisition component of support element one end；The vertical supports can drive the extension bar longitudinal translation, the extension bar
The component that swings up and down that the extension bar can be driven to swing up and down, the longitudinal bracing are installed between the vertical supports
The component that swings that the vertical supports swing, the bottom of the pedestal can be driven by being equipped between part and the pedestal
Equipped with can drive what the pedestal horizontally rotated to horizontally rotate component.The keyboard mechanical arm based on machine vision, can be loaded in
On express delivery trolley or other robot mobile chassis be used for by elevator floor key, it is at low cost, without the structure to elevator into
Any transformation of row, which may be mounted on any mobile platform, applied widely, and using effect is reliable.
In a preferred embodiment, controller is further included, is pressed for described image acquisition component to be controlled to obtain elevator
Key image information, and by after the elevator push button image information identifying processing, determine designated floor case relative to the stretching
The position of bar, and the lengthwise position of the vertical supports adjusting extension bar is controlled, then by controlling described horizontal turn
Dynamic component adjusts the horizontal position of the extension bar, then realizes the extension bar to electricity by the component that swings described in control
The actuation of keys of terraced button, while by swinging up and down water of the component with the vertical supports to the extension bar described in control
Flat height compensates adjustment.Above-mentioned setting, the controller are obtained in elevator by described image acquisition component and press key row
After row sequence, the position of the extension bar is adjusted, which can be adapted for the button form of any elevator, can
It applies in arbitrary elevator scene, also, without being transformed to elevator, strong applicability can wide popularization and application.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of structure of specific embodiment of the keyboard mechanical arm provided by the utility model based on machine vision
Schematic diagram；
Fig. 2 is the folded state schematic diagram of keyboard mechanical arm shown in Fig. 1；
Fig. 3 is the structure diagram of keyboard mechanical arm at work shown in Fig. 1；
Fig. 4 is structure diagram of the keyboard mechanical arm in button shown in Fig. 1；
Wherein：1- extension bars, 2- swing up and down swing component, 5- of component, 3- screws, 4- and horizontally rotate component, 6-
LED luminescent plastics ring, 7- image acquisition components, 8- vertical supports, 9- pedestals, 10- support tubes.
Specific embodiment
The core of the utility model is to provide a kind of keyboard mechanical arm based on machine vision, should pressing based on machine vision
Key mechanical arm can be realized and any form of elevator push button is selected by automatically controlling and the transmission of mechanical structure,
It is suitble to wide popularization and application.
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig. 4, Fig. 1 is keyboard mechanical arm a kind of tool provided by the utility model based on machine vision
The structure diagram of body embodiment；Fig. 2 is the folded state schematic diagram of keyboard mechanical arm shown in Fig. 1；Fig. 3 is presses shown in Fig. 1
The structure diagram of key mechanical arm at work；Fig. 4 is structure diagram of the keyboard mechanical arm in button shown in Fig. 1.
In this embodiment, the keyboard mechanical arm based on machine vision includes pedestal 9, the longitudinal direction on pedestal 9
Support element 8, and vertical supports 8 are vertically placed, and are suspended at the extension bar 1, Yi Jian on 8 top of vertical supports
Mounted in image acquisition component 7 of the extension bar 1 far from 8 one end of vertical supports, specifically, extension bar 1 is preferably cylindrical, and
And image acquisition component 7 is the camera in 1 end recesses of extension bar.
More specifically, vertical supports 8 can drive 1 longitudinal translation of extension bar, that is, extension bar 1 be driven to move up and down, certainly,
Screw 3 is installed, the top of screw 3 is connect with extension bar 1, passes through the mobile drive extension bar 1 of screw 3 on vertical supports 8
It moves up and down, and then realizes the adjustment to 1 lengthwise position of extension bar.
Further, swinging up and down that extension bar 1 can be driven to swing up and down is installed between extension bar 1 and vertical supports 8
Component 2 specifically, it can be worm and gear rotary components to swing up and down component 2, that is, passes through the cooperation of worm and gear, realization pair
The adjustment of 1 swing angle of extension bar, extension bar 1 are suspended at the top of vertical supports 8, swing up and down component 2 and can drive and stretch
Rod 1 is swung up and down centered on the top of vertical supports 8, to adjust the position of 1 end of extension bar.
Meanwhile between vertical supports 8 and pedestal 9 be equipped with can drive the portion that swings that vertical supports 8 swing
Part 4, the component 4 that swings is for driving vertical supports 8 to swing, to change the horizontal position on 8 top of vertical supports,
And then adjust the horizontal position of extension bar 1.
Further, the bottom of pedestal 9, which is equipped with, can drive what pedestal 9 horizontally rotated to horizontally rotate component 5, specifically, water
Flat turn dynamic component 5 can be horizontal motor, and horizontal motor drives pedestal 9 to horizontally rotate by belt, and then changes extension bar 1
Stretch out direction.
The keyboard mechanical arm based on machine vision can be loaded on express delivery trolley or other robot mobile chassis and be used for
It is at low cost by the floor key of elevator, any transformation is carried out without the structure to elevator, which may be mounted at any
Mobile platform on, applied widely, using effect is reliable.
On the basis of the respective embodiments described above, controller is further included, for image acquisition component 7 to be controlled to obtain elevator
Button image information, and by after elevator push button image information identifying processing, determine position of the designated floor case relative to extension bar 1
It puts, and vertical supports 8 is controlled to adjust the lengthwise position of extension bar 1, then adjust extension bar by controlled level rotatable parts 5
Then 1 horizontal position swings the realization extension bar 1 of component 4 to the actuation of keys of elevator push button by control, passes through simultaneously
Control swings up and down component 2 and compensates adjustment to the level height of extension bar 1 with vertical supports 8.
Above-mentioned setting, after controller obtains the key arrangement sequence in elevator by image acquisition component 7, to extension bar 1
Position be adjusted, which can be adapted for the button form of any elevator, can be applicable in arbitrary elevator scene,
Also, without being transformed to elevator, strong applicability.
On the basis of the respective embodiments described above, the end of extension bar 1 is also equipped with to shine and can pressing the LED of button
Luminescent plastic ring 6, LED luminescent plastics ring 6 provide for touching elevator push button in dark surrounds for button image identification
Illumination.
On the basis of the respective embodiments described above, vertical supports 8 are U-shaped, and screw 3 is mounted on vertical supports 8
Inside, the side side walls of vertical supports 8 is equipped with storage part, and extension bar 1 is mounted on the opposite side side wall of vertical supports 8
Top, specifically, the side wall for being provided with storage part is located at vertical supports 8 close to the side of extension bar 1, when the mechanical arm not
In working condition, extension bar 1 can be bent, extension bar 1 is located in the storage part of the side wall of vertical supports 8, conveniently deposits
Storage, meanwhile, it prevents from damaging the camera of 1 end of extension bar.Specifically, storage part can be to be arranged on vertical supports
Hollow space on 8 side wall.
Preferably, it is additionally provided among the side wall of vertical supports 8 for hollow-out parts, for mitigating the weight of vertical supports 8
Amount, it is cost-effective.
On the basis of the respective embodiments described above, 9 U-shaped plate of pedestal, and the company of rotation between the both sides side plate of pedestal 9
Support tube 10 is connected to, the bottom end of vertical supports 8 is mounted on the cylinder arm of support tube 10, specifically, the axial direction of support tube 10 is hung down
Directly in the extending direction of vertical supports 8, also, the both ends of support tube 10 are rotationally connected on two side plates of pedestal 9,
Bearings specifically may be used, to reduce the frictional force between 10 both ends of the both sides side plate of pedestal 9 and support tube, improve its turn
Dynamic effect.
On the basis of the respective embodiments described above, the component 4 that swings includes the swing being mounted on 9 side plate inner wall of pedestal
Motor and the swinging belt that passing power is used between oscillating motor and support tube 10, specifically, swinging belt ring
It is wound between support tube 10 and oscillating motor, by driving the rotation of support tube 10, and then realizes the swing of vertical supports 8.
The keyboard mechanical arm that the present embodiment is provided, the course of work are：
When mechanical arm does not work, telescopic rod is in folded state, as shown in Fig. 2, using turbine and worm rotary components as axis
The heart, rotation are extremely bonded with 3 structure of linear motion of screw, are parallel.
When robotic arm works, turbine and worm rotary components driving extension bar 1 is rotated to parallel to the ground first, is taken the photograph at this time
It is specified by being obtained after image identifying and processing after camera takes the arrangement of button as head is in the front of elevator push button device
Floor key is relative to the position of mechanical arm, such as Fig. 3；
After obtaining the relative position of designated floor button and mechanical arm, the extension bar 1 of mechanical arm is first done up and down along screw 3
Camera, is moved straightly to the height Y of designated floor button, then passes through synchronous pulley by the mobile adjustment for carrying out upright position
Rotational structure horizontally rotates component 5, to mechanical arm be parallel to the rotary motion on ground, to select designated floor button
Horizontal position X；
After X and Y location are selected, parallel button operation is carried out, since mechanical arm needs to touch button forward, mechanical arm
Position can change, so when carrying out parallel actuation of keys, mechanical arm can pass through turbine and worm rotary components, i.e., the upper bottom
Dynamic component 2,3 structure of linear motion of screw, i.e. screw 3, vertical plane synchronous pulley rotational structure, that is, the benefit for the component 4 that swings
It repays and carries out parallel actuation of keys；
When carrying out actuation of keys, telescopic rod edges down upon designated floor button, when elevator environment is more dim, LED
Luminescent plastic ring 6, which can shine, illuminates field of front vision, LED luminescent plastics ring 6 can with designated floor button be contacted and pressed by
Key is completed at this time by the action of elevator.
1 end of extension bar of the mechanical arm is by setting camera, having illumination and the LED luminescent plastics of pressing function
Circle, mechanical arm pass through the parallel method by elevator push button of motor linkage so that the mechanical arm has good adaptability, precision
It is high.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The keyboard mechanical arm provided by the utility model based on machine vision is described in detail above.Herein
Specific case is applied to be expounded the principle and embodiment of the utility model, the explanation of above example is only intended to
Help understands the method and its core concept of the utility model.It should be pointed out that those skilled in the art are come
Say, under the premise of the utility model principle is not departed from, can also to the utility model, some improvement and modification can also be carried out, these change
It is also fallen into the protection domain of the utility model claims into modification.
Claims (10)
1. a kind of keyboard mechanical arm based on machine vision, which is characterized in that including pedestal (9), on the pedestal (9)
Vertical supports (8), be suspended at the extension bar (1) on the vertical supports (8) top and mounted on the extension bar
(1) image acquisition component (7) far from the vertical supports (8) one end；The vertical supports (8) can drive the stretching
Bar (1) longitudinal translation, being equipped between the extension bar (1) and the vertical supports (8) can drive on the extension bar (1)
Lower swing swings up and down component (2), and the longitudinal direction can be driven by being equipped between the vertical supports (8) and the pedestal (9)
The component that swings (4) that support element (8) swings, the bottom of the pedestal (9), which is equipped with, can drive the pedestal (9) horizontal
Rotation horizontally rotates component (5).
2. the keyboard mechanical arm according to claim 1 based on machine vision, which is characterized in that further include controller, use
Elevator push button image information is obtained, and will be at the elevator push button image information identification in control described image acquisition component (7)
After reason, position of the designated floor case relative to the extension bar (1) is determined, and the vertical supports (8) is controlled to adjust institute
The lengthwise position of extension bar (1) is stated, the level of the extension bar (1) is then adjusted by horizontally rotating component (5) described in control
Then actuation of keys of the extension bar (1) to elevator push button is realized, together in position by the component that swings described in control (4)
When the level height of the extension bar (1) is carried out by swinging up and down component (2) and the vertical supports (8) described in control
Compensation adjustment.
3. the keyboard mechanical arm according to claim 1 based on machine vision, which is characterized in that the extension bar (1)
End is also equipped with to shine and can press the LED luminescent plastics ring (6) of button.
4. the keyboard mechanical arm according to claim 1 based on machine vision, which is characterized in that described to swing up and down component
(2) it is worm and gear rotary components, it is described to horizontally rotate component (5) for horizontal motor.
5. the keyboard mechanical arm according to claim 4 based on machine vision, which is characterized in that the vertical supports
(8) screw (3) is installed, the top of the screw (3) is connect with the extension bar (1) on.
6. the keyboard mechanical arm according to claim 5 based on machine vision, which is characterized in that the vertical supports
(8) it is U-shaped, and the screw (3) is mounted on the inside of the vertical supports (8), the one of the vertical supports (8)
Side side wall is equipped with storage part, the top of opposite side side wall of the extension bar (1) mounted on the vertical supports (8).
7. the keyboard mechanical arm according to claim 6 based on machine vision, which is characterized in that the vertical supports
(8) hollow-out parts are additionally provided among side wall.
8. the keyboard mechanical arm according to claim 1 based on machine vision, which is characterized in that the extension bar (1) is in
It is cylindric, and described image acquisition component (7) is the camera in the extension bar (1) end recesses.
9. the keyboard mechanical arm based on machine vision according to claim 1 to 8 any one, which is characterized in that described
Pedestal (9) U-shaped plate, and support tube (10) is rotatably connected between the both sides side plate of the pedestal (9), the longitudinal direction branch
The bottom end of support member (8) is mounted on the cylinder arm of the support tube (10).
10. the keyboard mechanical arm according to claim 9 based on machine vision, which is characterized in that the portion that swings
Part (4) is including the oscillating motor that is mounted on the pedestal (9) side plate inner wall and mounted on the oscillating motor and the branch
The swinging belt of passing power is used between support cylinder (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721256776.5U CN207534819U (en) | 2017-09-27 | 2017-09-27 | A kind of keyboard mechanical arm based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721256776.5U CN207534819U (en) | 2017-09-27 | 2017-09-27 | A kind of keyboard mechanical arm based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207534819U true CN207534819U (en) | 2018-06-26 |
Family
ID=62609641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721256776.5U Withdrawn - After Issue CN207534819U (en) | 2017-09-27 | 2017-09-27 | A kind of keyboard mechanical arm based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207534819U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
| CN110328687A (en) * | 2019-06-21 | 2019-10-15 | 拉扎斯网络科技（上海）有限公司 | A kind of mechanical arm and robot |
| CN112173900A (en) * | 2020-08-14 | 2021-01-05 | 上海景吾智能科技有限公司 | Floor self-learning method of robot calling landing equipment |
| CN114104921A (en) * | 2021-11-19 | 2022-03-01 | 江苏威尔曼科技有限公司 | Elevator control auxiliary system and elevator control method |
-
2017
- 2017-09-27 CN CN201721256776.5U patent/CN207534819U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
| CN107639638B (en) * | 2017-09-27 | 2024-01-23 | 广东工业大学 | Key mechanical arm based on machine vision |
| CN110328687A (en) * | 2019-06-21 | 2019-10-15 | 拉扎斯网络科技（上海）有限公司 | A kind of mechanical arm and robot |
| WO2020253317A1 (en) * | 2019-06-21 | 2020-12-24 | 拉扎斯网络科技（上海）有限公司 | Mechanical arm and robot |
| CN112173900A (en) * | 2020-08-14 | 2021-01-05 | 上海景吾智能科技有限公司 | Floor self-learning method of robot calling landing equipment |
| CN114104921A (en) * | 2021-11-19 | 2022-03-01 | 江苏威尔曼科技有限公司 | Elevator control auxiliary system and elevator control method |
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