CN207788956U - A kind of six axis robot based on gesture identification and applied to demonstration lesson - Google Patents
A kind of six axis robot based on gesture identification and applied to demonstration lesson Download PDFInfo
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- CN207788956U CN207788956U CN201820150834.4U CN201820150834U CN207788956U CN 207788956 U CN207788956 U CN 207788956U CN 201820150834 U CN201820150834 U CN 201820150834U CN 207788956 U CN207788956 U CN 207788956U
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- axis robot
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- gesture identification
- manipulator
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Abstract
The six axis robot that the utility model discloses a kind of based on gesture identification and applied to demonstration lesson, belongs to manipulator technical field.It is provided with Manipulator Controller on the first layer platform of the aluminium cabinet, it is provided with computer on the second layer platform of the aluminium cabinet, and vision feeling device is installed on computer, the Manipulator Controller is connected with six axis robot control, the six axis robot is from bottom to top disposed with pedestal, first joint, second joint, third joint, 4th joint, 5th joint, 6th joint and fixture, directly manipulator is controlled using gesture, it has abandoned and had needed keyboard in the past, the mode of mouse or teaching box, realize natural human-computer interaction, degree of intelligence is high, it improves work efficiency；Gesture identification is carried out using the vision feeling device with depth camera in gesture identification, is not illuminated by the light and the influence of the colour of skin, accuracy rate greatly improves, and developed using vision feeling device equipment, it is at low cost.
Description
Technical field
The six axis robot that the utility model is related to a kind of based on gesture identification and applied to demonstration lesson, belongs to manipulator
Technical field.
Background technology
Keyboard, mouse or teaching box are needed by the traditional control method of the manipulator of six servo motors driving, grasped
Make process complexity, and its operating personnel needs certain professional technique, is not suitable for being widely used in demonstration lesson process.
In addition, controlling such manipulator by keyboard or teaching box, the control panel for human-computer interaction breaks down
When, need the maintenance personnel's maintenance and inspection for waiting for profession, the working efficiency of extreme influence manipulator.Pass through keyboard or teaching box
It controls such manipulator and is also required to software programming to realize, man-machine friendship is then carried out by the button evoked potential of control panel
Mutually, compared to the gesture control realized by software programming and kinect feeling devices, the former degree of intelligence is relatively low.Know in gesture
Aspect, traditional recognition methods do not have the shortcomings that accuracy rate is low, stability is bad.
Utility model content
In view of the above-mentioned problems, the technical problem to be solved by the present invention is to provide one kind based on gesture identification and to be applied to
The six axis robot of demonstration lesson.
The six axis robot based on gesture identification and applied to demonstration lesson of the utility model, it includes aluminium cabinet, first
Layer platform, Manipulator Controller, second layer platform, six axis robot, computer, vision feeling device, pedestal, the first joint, the
Two joints, third joint, the 4th joint, the 5th joint, the 6th joint and fixture are arranged on the first layer platform of the aluminium cabinet
There is Manipulator Controller, is provided with computer on the second layer platform of the aluminium cabinet, and vision body-sensing is installed on computer
Device, the Manipulator Controller are connected with six axis robot control, and the six axis robot is from bottom to top disposed with
Pedestal, the first joint, second joint, third joint, the 4th joint, the 5th joint, the 6th joint and fixture, and fixture with it is each
Joint is drivingly connected by servo motor.
Preferably, there are three motion control cards for setting in the Manipulator Controller.
Preferably, the vision feeling device is connect with computer by USB data line, and computer is total by PCI
Line is connect with Manipulator Controller.
Preferably, the six axis robot is fixed by four bolt hole mill floors on pedestal.
The beneficial effects of the utility model：Its structure is simple, reasonable design, is directly controlled to manipulator using gesture
System has abandoned the previous mode for needing keyboard, mouse or teaching box, realizes natural human-computer interaction, degree of intelligence is high, carries
High working efficiency；Novel human-computer interaction is realized based on gesture control so that have well flexibly to the control of manipulator
Property, easy to operate, efficiently solving traditional manipulator control mode is not suitable for the deficiency for being widely used in demonstration lesson process,
And it is easy to maintain；In gesture identification using with depth camera vision feeling device carry out gesture identification, be not illuminated by the light with
And the influence of the colour of skin, accuracy rate greatly improve, and developed using vision feeling device equipment, it is at low cost.
Description of the drawings
The utility model is described in detail by following specific implementations and attached drawing for ease of explanation,.
Fig. 1 is the aluminium cabinet schematic diagram of the utility model；
Fig. 2 is the six axis robot structural schematic diagram of the utility model；
Fig. 3 is the six axis robot axonometric drawing of the utility model.
Reference numeral：Aluminium cabinet 1, Manipulator Controller 3, second layer platform 4, six axis robot 5, calculates first layer platform 2
Machine 6, vision feeling device 7, pedestal 8, the first joint 9, second joint 10, third joint 11, the 4th joint 12, the 5th joint 13,
6th joint 14, fixture 15.
Specific implementation mode
As shown in Figure 1-Figure 3, present embodiment uses following technical scheme：It include aluminium cabinet 1, first layer platform 2,
Manipulator Controller 3, second layer platform 4, six axis robot 5, computer 6, vision feeling device 7, pedestal 8, the first joint 9,
Two joints 10, third joint 11, the 4th joint 12, the 5th joint 13, the 6th joint 14 and fixture 15, the of the aluminium cabinet 1
It is provided with Manipulator Controller 3 on one layer of platform 2, computer 6 is provided on the second layer platform 4 of the aluminium cabinet 1, for adopting
Collect image and depth data, and carry out Data Fusion, sends the instruction etc. of next step, and vision is installed on computer 6
Feeling device 7, the vision feeling device 7 is connect with computer 6 by USB data line, and computer 6 passes through pci bus and machine
Tool hand controls 3 connects, and the Manipulator Controller 3 is connected with the control of six axis robot 5, and computer 6 is used as image and depth
The acquisition center of degrees of data and data-switching centre, it timely and effectively converts the gesture instruction obtained from vision feeling device 7
It is instructed at 3 identifiable analog quantity of Manipulator Controller, the six axis robot 5 is from bottom to top disposed with pedestal 8, the
One joint 9, second joint 10, third joint 11, the 4th joint 12, the 5th joint 13, the 6th joint 14 and fixture 15, and fixture
15 are drivingly connected by servo motor with each joint, and the six axis robot 5 passes through four bolt hole vehicles on pedestal 8
Between ground fix.
There are three motion control card, card one is used for controlling the first joint 9, second for setting in the Manipulator Controller 3
Joint 10, third joint 11；Card two is used for controlling the 4th joint 12, the 5th joint 13, the 6th joint 14, and card three, which is used for controlling, to be added
Servo motor mounted in six axis robot end.The joint of wherein one control of card is spatial position joint, the joint of two control of card
It is posture joint comprising I/O modules, driver, servo motor etc..
Present embodiment operation principle is：It is developed by Kinect for Windows SDK, is taken the photograph using there is depth
The kinect equipment of camera carries out sound state gesture identification, and computer 6 obtains specific gesture motion instruction, then further sends out
It send corresponding order to Manipulator Controller 3, and then drives the motor in each joint, completion six axis robot crawl object,
Walk and put down the overall process of object.By computer software programming and motion control card come control machinery hand, hand can be reached
The purpose of gesture control machinery hands movement and carrying realizes natural human-computer interaction.
Start the six axis robot control system, the action for opening the right hand palm, meter are executed in the front of vision feeling device 7
Calculation machine 6 obtains the gesture instruction of the five fingers opening, and then computer 6 sends corresponding order to Manipulator Controller 3, movement
Control card three works, and driving servo motor drives bolt to rotate backward, and spring elongation, fixture 15 opens.It is corresponding, towards regarding
Feel that feeling device 7 executes the action that the right hand is clenched fist, fixture 15 clamps.Similar, the execution right hand is lifted to be moved with what the right hand naturally drooped
Make, system will drive the servo motor of second joint 10 to occur to rotate forward (rotating clockwise) and reversion (rotation counterclockwise), control
The movement in other joints will be completed by identifying other specific gesture motions.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (4)
1. a kind of six axis robot based on gesture identification and applied to demonstration lesson, it is characterised in that：It include aluminium cabinet (1),
First layer platform (2), Manipulator Controller (3), second layer platform (4), six axis robot (5), computer (6), vision body-sensing
Device (7), pedestal (8), the first joint (9), second joint (10), third joint (11), the 4th joint (12), the 5th joint
(13), the 6th joint (14) and fixture (15) are provided with Manipulator Controller on the first layer platform (2) of the aluminium cabinet (1)
(3), it is provided with computer (6) on the second layer platform (4) of the aluminium cabinet (1), and vision body-sensing is installed on computer (6)
Device (7), the control of the Manipulator Controller (3) and six axis robot (5) connect, the six axis robot (5) by lower and
On be disposed with pedestal (8), the first joint (9), second joint (10), third joint (11), the 4th joint (12), the 5th close
(13), the 6th joint (14) and fixture (15) are saved, and fixture (15) is drivingly connected by servo motor with each joint.
2. a kind of six axis robot based on gesture identification and applied to demonstration lesson according to claim 1, feature
It is：There are three motion control cards for setting in the Manipulator Controller (3).
3. a kind of six axis robot based on gesture identification and applied to demonstration lesson according to claim 1, feature
It is：The vision feeling device (7) is connect with computer (6) by USB data line, and computer (6) by pci bus with
Manipulator Controller (3) connects.
4. a kind of six axis robot based on gesture identification and applied to demonstration lesson according to claim 1, feature
It is：The six axis robot (5) is fixed by four bolt hole mill floors on pedestal (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820150834.4U CN207788956U (en) | 2018-01-29 | 2018-01-29 | A kind of six axis robot based on gesture identification and applied to demonstration lesson |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820150834.4U CN207788956U (en) | 2018-01-29 | 2018-01-29 | A kind of six axis robot based on gesture identification and applied to demonstration lesson |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207788956U true CN207788956U (en) | 2018-08-31 |
Family
ID=63267178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820150834.4U Expired - Fee Related CN207788956U (en) | 2018-01-29 | 2018-01-29 | A kind of six axis robot based on gesture identification and applied to demonstration lesson |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207788956U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732606A (en) * | 2019-02-13 | 2019-05-10 | 深圳大学 | Long-range control method, device, system and the storage medium of mechanical arm |
| CN113589928A (en) * | 2021-07-27 | 2021-11-02 | 东莞理工学院 | Gesture recognition method for smart television |
-
2018
- 2018-01-29 CN CN201820150834.4U patent/CN207788956U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732606A (en) * | 2019-02-13 | 2019-05-10 | 深圳大学 | Long-range control method, device, system and the storage medium of mechanical arm |
| CN113589928A (en) * | 2021-07-27 | 2021-11-02 | 东莞理工学院 | Gesture recognition method for smart television |
| CN113589928B (en) * | 2021-07-27 | 2023-11-24 | 东莞理工学院 | Gesture recognition method for intelligent television |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180831 Termination date: 20210129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |