CN207757622U - A kind of assembly manipulator with binocular vision - Google Patents
A kind of assembly manipulator with binocular vision Download PDFInfo
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- CN207757622U CN207757622U CN201721642651.6U CN201721642651U CN207757622U CN 207757622 U CN207757622 U CN 207757622U CN 201721642651 U CN201721642651 U CN 201721642651U CN 207757622 U CN207757622 U CN 207757622U
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- binocular vision
- turntable
- photographic device
- control system
- manipulator
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Abstract
The utility model is related to a kind of assembly manipulators with binocular vision, including pedestal, manipulator, binocular vision sensor, control system, the pedestal includes firm banking, the first turntable, the second turntable, and the control system is electrically connected with first turntable, second turntable, the manipulator, the binocular vision sensor respectively.It the advantage is that, binocular vision sensor and manipulator are controlled by control system, realize the electric armour clamp assembly automation of eminence, improves safety, reduces human cost；Each component can be freely disassembled, and be cleaned or replaced, and effectively be prolonged the service life, and use cost is reduced；Worker reduces fatigue without long-time high-altitude dangerous operation, is assembled in lower control assembly manipulator, can long time continuous working, improve efficiency.
Description
Technical field
The utility model is related to automatic assembly technique field more particularly to a kind of assembly manipulators with binocular vision.
Background technology
Electric armour clamp is widely used in the wire clamp of electric system conductor wire, it is related to the safety of conducting wire or shaft tower.Work as damage
Bad when, can cause line fault.
Traditional gold utensil installation way is：It was found that wire clamp aging is got rusty using artificial handling；Worker station carries out on aerial ladder
Disassembly and installation.But there are several defects for this installation way：Experienced operator is needed, and cost of labor is high；Worker stands
The working at height on aerial ladder, there are certain personal safety risks；Worker carries out will produce fatigue when dismounting installation, leads to not
Long time continuous working, to keep working efficiency not high.
Therefore, to solve the above problems, needing one kind that can effectively improve personal safety, artificial progress high-altitude assembly is substituted
Make-up machinery, this machinery can be information-based, intelligent, and is had not been reported at present about this make-up machinery.
Invention content
The purpose of this utility model is to be directed to deficiency in the prior art, provides a kind of improvement deep trench isolation depth of focus technique
The method of window.
A kind of assembly manipulator with binocular vision, including pedestal, manipulator, binocular vision sensor, control system,
The pedestal includes firm banking, the first turntable, the second turntable, and first turntable is arranged in the firm banking top, institute
It states the second turntable to be arranged at the middle part of first turntable, the middle front part of first turntable is provided with stationary fixture, the machine
Tool hand is attached by shaft and second turntable, and the binocular vision sensor is fixed on described by stationary fixture
One turntable, the set-up of control system in the firm banking, the control system respectively with first turntable, described
Two turntables, the manipulator, the binocular vision sensor are electrically connected.
Preferably, the manipulator includes first mechanical arm, second mechanical arm, the first mechanical arm and second machine
Tool arm is attached by joint, and the second mechanical arm is fixedly arranged at the front end with assembly tool.
Preferably, the binocular vision sensor includes mounting bracket, photographic device holder, photographic device, the installation
Symmetrically dress is equipped with photographic device there are two the adjustable photographic device holder in position to holder on the photographic device holder.
Preferably, the mounting bracket is symmetrically provided with two movement slots, and the photographic device holder passes through the fortune
Moving axis is arranged in its corresponding described movement slots.
Preferably, motor is equipped in the kinematic axis.
Preferably, the motor is electrically connected with the control system.
Preferably, the binocular vision sensor further includes dim light filtering apparatus, and the dim light filtering apparatus is arranged in institute
It states on photographic device holder.
Preferably, the dim light filtering apparatus includes dim light eyeglass, filter glass, lens supports and slide bar, the dim light
Eyeglass and the filter glass overlap in the lens supports, and the lens supports are arranged by slide bar in the camera shooting
On appliance stand.
Preferably, micromotor is provided in the photographic device holder, the axis of the slide bar and the micromotor connects
It connects.
Preferably, the micromotor is electrically connected with the control system.
The utility model is had the following technical effect that compared with prior art using above technical scheme：
A kind of assembly manipulator with binocular vision of the utility model controls binocular vision sensing by control system
Device and manipulator realize the electric armour clamp assembly automation of eminence, improve safety, reduce human cost；Each component can be free
Dismounting, cleans or replaces, effectively prolongs the service life, and reduces use cost；Worker without long-time high-altitude dangerous operation,
Reduce fatigue, lower control assembly manipulator assembled, can long time continuous working, improve efficiency.
Description of the drawings
Fig. 1 is the schematic diagram of a preferred embodiment of the utility model.
Fig. 2 is the sectional view of the dim light filtering apparatus of a preferred embodiment of the utility model.
Fig. 3 is the use state diagram of a preferred embodiment of the utility model.
Wherein, reference numeral is：Firm banking 1；First turntable 2；Second turntable 3；Shaft 4；First mechanical arm 5；Second
Mechanical arm 6；Joint 7；Assembly tool 8；Stationary fixture 9；Mounting bracket 10；Photographic device holder 11；Kinematic axis 12；Photographic device
13；Dim light filtering apparatus 14；Movement slots 101；Lens supports 141；Filter glass 142；Dim light eyeglass 143；Slide bar 144.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art institute under the premise of not making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as the utility model
It limits.
One preferred embodiment, as shown in Fig. 1~2.A kind of assembly manipulator with binocular vision, including pedestal,
Manipulator, binocular vision sensor, control system (not shown)；Pedestal includes firm banking 1, the first turntable 2, second
Turntable 3, the first turntable 2 are arranged on the top of firm banking 1, and the second turntable 3 is arranged in the middle part of the first turntable 2, the first turntable
2 middle front part is provided with stationary fixture 9；Manipulator includes first mechanical arm 5, second mechanical arm 6, and first mechanical arm 5 is by turning
Axis 4 is attached with the second turntable 3, and first mechanical arm 5 is attached with second mechanical arm 6 by joint 7, second mechanical arm 6
It is fixedly arranged at the front end with assembly tool 8；Binocular vision sensor includes mounting bracket 10, photographic device holder 11, photographic device 13, subtracts
Light filtering apparatus 14, symmetrically dress is there are two the adjustable photographic device holder 11 in position for mounting bracket 10, on photographic device holder 11
Equipped with photographic device 13 and dim light filtering apparatus 14,11 side of photographic device holder is provided with sliding groove (being not shown),
The mounting bracket 10 of binocular vision sensor is fixed on the first turntable 2 by stationary fixture 9, and mounting bracket 10 is equipped with movement slots
101, photographic device holder 11 is arranged by kinematic axis 12 in movement slots 101, and dim light filtering apparatus 14 includes lens supports
141, filter glass 142, dim light eyeglass 143, slide bar 144, filter glass 142 and dim light eyeglass 143 are overlapped in eyeglass branch
In frame 141,141 one end of lens supports is equipped with slide bar 144, and 144 other end of slide bar is arranged in sliding groove；It is set in kinematic axis 12
There are motor (being not shown), motor drive motion axis 12 to be moved or rotated in movement slots 101；Photographic device holder
Micromotor (being not shown) is provided in 11, the axis of micromotor is connect with slide bar 144, and driving slider 144 is being slided
It is moved in slot；Set-up of control system in the firm banking 1, control system respectively with the first turntable 2, the second turntable 3,
Manipulator, binocular vision sensor, motor, micromotor are electrically connected.
Control system controls the first turntable 2 and the second turntable 3 is rotated, so that binocular vision sensor and manipulator energy
The place that enough faces are assembled.
Control system control machinery hand carries out pose adjustment, and manipulator is enable to be assembled with optimum posture.First machine
Tool arm 54 can be rotated around the shaft, and rotation angle range is 0-180 °；Second mechanical arm 6 can be rotated around joint 7, rotation
Angular range is 0-360 °.There are two degree of freedom for manipulator tool, make the job enlargement of manipulator.
Control system controls binocular vision sensor and carries out position adjustment, enables binocular vision sensor in optimum position
Assembly place is monitored.Motor of the control system into kinematic axis 12 sends signal, and photographic device holder 11 is made to pass through fortune
Moving axis 12 is moved left and right in movement slots 101 or is rotated around kinematic axis 12；Control system is to photographic device holder 11
Interior micromotor sends signal, and dim light filtering apparatus 14 is made to be moved in sliding groove by slide bar 144, makes with optical filtering
The lens supports 141 of eyeglass 142 and dim light eyeglass 143 block photographic device 13, and photographic device 13 is enable to be obtained in assembly
Clearly image.
Control system is carried out data transmission by network and control device.Control system voluntarily controls assembly manipulator progress
Work, and all data transmissions when working are stored or monitored to control device, when in order to avoid there is failure in control system,
Secondary operation can be carried out using control device.
Method using a kind of assembly manipulator with binocular vision of the utility model is as follows：It will be assembled by aerial ladder
Manipulator is transported to designated position；Control system controls the first turntable 2 and is rotated, and the binocular vision on the first turntable 2 is made to pass
Sensor face needs the region assembled；Control system sends to binocular vision sensor and instructs, two of binocular vision sensor
Photographic device 13 starts to shoot gold utensil image, and by image transmitting to control system；Control system is carried out by built-in module
It calculates, obtains three-dimensional coordinate；Three-dimensional coordinate is sent to the second turntable 3 by control system, and the second turntable 3 of control is rotated, made
Manipulator face on second turntable 3 needs the region assembled；Control system sends to binocular vision sensor and instructs, and makes camera shooting
Appliance stand 11 carries out position and angle adjustment, and shoots gold utensil image again using photographic device 13, and gold utensil image is passed
Transport to control system；Control system is identified and is positioned to bolt and screw hole by built-in module, and generates disparity map, is obtained
Take the three-dimensional position of bolt and screw hole；The three-dimensional position of bolt and screw hole is sent to manipulator by control system, manipulator according to
Three-dimensional position adjusts the position of first mechanical arm 5 and second mechanical arm 6, enables 8 face screw hole of assembly tool and bolt；Position
Assembly manipulator after the completion of adjusting is as shown in Figure 3；Control system sends to manipulator and instructs, and makes manipulator to gold utensil into luggage
Match；Assembly is completed, and successively resets binocular vision sensor and manipulator, is moved assembly manipulator from designated position by aerial ladder
It opens.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the utility model embodiment and
Protection domain should can appreciate that all in the utility model specification and diagram to those skilled in the art
Hold made equivalent replacement and obviously change obtained scheme, the protection model of the utility model should all be included in
In enclosing.
Claims (10)
1. a kind of assembly manipulator with binocular vision, which is characterized in that including pedestal, manipulator, binocular vision sensor,
Control system, the pedestal include firm banking (1), the first turntable (2), the second turntable (3), the first turntable (2) setting
On the firm banking (1) top, second turntable (3) is arranged in the middle part of first turntable (2), first turntable
(2) middle front part is provided with stationary fixture (9), and the manipulator is attached by shaft (4) and second turntable (3),
The binocular vision sensor is fixed on first turntable (2) by stationary fixture (9), and the set-up of control system is described
In firm banking (1), the control system respectively with first turntable (2), second turntable (3), the manipulator, institute
Binocular vision sensor is stated to be electrically connected.
2. the assembly manipulator according to claim 1 with binocular vision, which is characterized in that the manipulator includes the
One mechanical arm (5), second mechanical arm (6), the first mechanical arm (5) are carried out with the second mechanical arm (6) by joint (7)
Connection, the second mechanical arm (6) are fixedly arranged at the front end with assembly tool (8).
3. the assembly manipulator according to claim 1 with binocular vision, which is characterized in that the binocular vision sensing
Device includes mounting bracket (10), photographic device holder (11), photographic device (13), and the mounting bracket (10) is symmetrically there are two dresses
The adjustable photographic device holder (11) in position is equipped with photographic device (13) on the photographic device holder (11).
4. the assembly manipulator according to claim 3 with binocular vision, which is characterized in that the mounting bracket (10)
Two movement slots (101) are symmetrically provided with, the photographic device holder (11) is arranged corresponding at its by kinematic axis (12)
In the movement slots (101).
5. the assembly manipulator according to claim 4 with binocular vision, which is characterized in that in the kinematic axis (12)
Equipped with motor.
6. the assembly manipulator according to claim 5 with binocular vision, which is characterized in that the motor and the control
System electrical connection processed.
7. the assembly manipulator according to claim 3 with binocular vision, which is characterized in that the binocular vision sensing
Device further includes dim light filtering apparatus (14), and the dim light filtering apparatus (14) is arranged on the photographic device holder (11).
8. the assembly manipulator according to claim 7 with binocular vision, which is characterized in that the dim light filtering apparatus
(14) include dim light eyeglass (143), filter glass (142), lens supports (141) and slide bar (144), the dim light eyeglass
(143) it is overlapped in the lens supports (141) with the filter glass (142), the lens supports (141) pass through cunning
Bar (144) is arranged on the photographic device holder (11).
9. the assembly manipulator according to claim 8 with binocular vision, which is characterized in that the photographic device holder
(11) micromotor, the axis connection of slide bar (144) and the micromotor are provided in.
10. the assembly manipulator according to claim 9 with binocular vision, which is characterized in that the micromotor with
The control system electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721642651.6U CN207757622U (en) | 2017-11-30 | 2017-11-30 | A kind of assembly manipulator with binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721642651.6U CN207757622U (en) | 2017-11-30 | 2017-11-30 | A kind of assembly manipulator with binocular vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207757622U true CN207757622U (en) | 2018-08-24 |
Family
ID=63189614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721642651.6U Active CN207757622U (en) | 2017-11-30 | 2017-11-30 | A kind of assembly manipulator with binocular vision |
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| Country | Link |
|---|---|
| CN (1) | CN207757622U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866201A (en) * | 2019-04-08 | 2019-06-11 | 清华大学 | Binocular vision system, mobile crawl robot and automatic picking method |
| CN111464723A (en) * | 2020-04-02 | 2020-07-28 | 上海电气集团股份有限公司 | Method for expanding illumination intensity range and hand-eye system |
-
2017
- 2017-11-30 CN CN201721642651.6U patent/CN207757622U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866201A (en) * | 2019-04-08 | 2019-06-11 | 清华大学 | Binocular vision system, mobile crawl robot and automatic picking method |
| CN111464723A (en) * | 2020-04-02 | 2020-07-28 | 上海电气集团股份有限公司 | Method for expanding illumination intensity range and hand-eye system |
| CN111464723B (en) * | 2020-04-02 | 2021-10-01 | 上海电气集团股份有限公司 | Method for expanding illumination intensity range and hand-eye system |
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