CN208117874U - A kind of manipulator locating device - Google Patents
A kind of manipulator locating device Download PDFInfo
- Publication number
- CN208117874U CN208117874U CN201820506018.2U CN201820506018U CN208117874U CN 208117874 U CN208117874 U CN 208117874U CN 201820506018 U CN201820506018 U CN 201820506018U CN 208117874 U CN208117874 U CN 208117874U
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- China
- Prior art keywords
- mechanical arm
- manipulator
- main control
- control tank
- pedestal
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Abstract
The utility model discloses a kind of manipulator locating device, including manipulator main body, the bottom end of manipulator main body is provided with pedestal, and pedestal is fixedly connected with manipulator main body, the top of pedestal is provided with Main Control Tank, Main Control Tank is movably connected with the base, and support rod is provided on the right side of Main Control Tank, and support rod is flexibly connected with Main Control Tank, the top of support rod is provided with mechanical arm, mechanical arm is flexibly connected with support rod, and attachment base is provided on the right side of mechanical arm, and attachment base and mechanical arm are electrically connected.The ground plane of the pedestal of this kind of manipulator locating device is equipped with resilient cushion, with good damping, sound insulation and cushion performance, guarantee manipulator held stationary in the process of running, the manipulator main body of this kind of manipulator locating device adds the mode of infrared distance measuring that mechanical arm is guided to work using vision guide, it makes mechanical arm operation quick, stable, positioning accurate degree of certainty is made to be up to ± 0.1mm.
Description
Technical field
The utility model relates to mechanical equipment technical field, specially a kind of manipulator locating device.
Background technique
Manipulator is a kind of equipment that can imitate manpower and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool, feature are that various expected operations can be completed by programming, and have people concurrently in construction and performance
With the advantage of robotics respectively, manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest,
It can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect personal peace
Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Present manipulator locating device, structure is simple, and ground plane does not have resilient cushion, occurs in machine operation procedure micro-
Shake, makes manipulator be unable to held stationary in the process of running, reduces its setting accuracy, positioning system is backward and mode is fallen
Afterwards, positioning measurement apart from when need directly to contact with testee, increase influence of the manipulator to positioning accuracy, Er Qieji
Tool arm is steady all low at work, reduces the accuracy of positioning.
So how to design a kind of manipulator locating device, becoming us will currently be solved the problems, such as.
Utility model content
A kind of manipulator locating device of the utility model, it is simple, fixed to solve structure mentioned above in the background art
The problems such as position mode is backward, accuracy is low, required time.
To achieve the above object, the utility model provides the following technical solutions：A kind of manipulator locating device, including machinery
Hand main body, the bottom end of the manipulator main body are provided with pedestal, and the pedestal is fixedly connected with manipulator main body, the pedestal
Top is provided with Main Control Tank, and the Main Control Tank is movably connected with the base, and support rod, the branch are provided on the right side of the Main Control Tank
Strut is flexibly connected with Main Control Tank, and the top of the support rod is provided with mechanical arm, the mechanical arm and support rod activity
It connects, attachment base is provided on the right side of the mechanical arm, the attachment base and mechanical arm are electrically connected, the mechanical arm
Left end be provided with movable axis, through connection, the intermediate position of the pedestal is provided with center for the movable axis and mechanical arm
Bearing, the centre bearing are fixedly connected with pedestal, and the bottom end of the support rod is provided with bottom movable axis, the bottom activity
Axis is fixedly connected with support rod, and intelligent computer, the intelligent computer and manipulator are provided on the left of the mechanical arm
Arm is electrically connected, and touch display screen is provided on the left of the Main Control Tank, and the touch display screen and Main Control Tank are electrically connected, institute
The bottom end for stating Main Control Tank is provided with facility switching, and the facility switching and Main Control Tank are electrically connected.
Further, the hollow out position of the mechanical arm is provided with servo motor, the servo motor and mechanical arm
It is electrically connected.
Further, the top of the mechanical arm is provided with CCD camera, the CCD camera and mechanical arm electricity
Property connection.
Further, the bottom end of the mechanical arm is provided with infrared sensor, the infrared sensor and machinery
Arm is electrically connected.
Further, the hollow out position of the Main Control Tank is provided with warning device, and the warning device is fixed with Main Control Tank
Connection.
Further, the manipulator main body adds the mode of infrared distance measuring using vision guide to make guidance mechanical
Arm work.
Further, the ground plane of the pedestal is equipped with resilient cushion.
Compared with prior art, the utility model has the beneficial effects that；The ground connection of the pedestal of this kind of manipulator locating device
Face is equipped with resilient cushion, has good damping, sound insulation and cushion performance, guarantees manipulator held stationary in the process of running,
The manipulator main body of this kind of manipulator locating device adds the mode of infrared distance measuring to guide manipulator using vision guide
Arm work, allow mechanical arm operation quickly, stablize, so that positioning accurate degree of certainty is up to ± 0.1mm, this kind of manipulator locating device
The top of mechanical arm is provided with CCD camera, using binocular stereo vision subsystem, by acquired in two cameras
Two dimensional image greatly improve the setting accuracy for arm of unloading to calculate the three-dimensional information of scenery, this kind of manipulator is fixed
The bottom end of the mechanical arm of position device is provided with infrared sensor, and infrared sensor does not connect directly when measuring with testee
Touching eliminates influence of the manipulator to positioning accuracy, the mechanical arm of this kind of manipulator locating device is engraved because friction may be not present
Empty position is provided with servo motor, can convert voltage signal to torque and revolving speed with drive control object, servo motor turns
Rotor speed is controlled by input signal, and energy fast reaction, and has the characteristics such as electromechanical time constant is small, the linearity is high, can be institute
The electric signal received is converted into angular displacement or angular speed output on motor reel, can control the movement speed of mechanical arm,
Position precision is very accurate, and the hollow out position of the Main Control Tank of this kind of manipulator locating device is provided with warning device, checks mechanical
Whether handspring pawl, down tilt have positioning and shake either with or without gap, and mechanical arm is allowed to run smoothly and accurately.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the mechanical arm partial structure diagram of the utility model；
Fig. 3 is the Main Control Tank box part structural schematic diagram of the utility model.
1 in figure, manipulator main body, 2, pedestal, 3, Main Control Tank, 301, touch display screen, 302, warning device, 303, equipment
Switch, 4, support rod, 5, mechanical arm, 501, servo motor, 502, CCD camera, 503, infrared sensor, 504, intelligence
Computer, 6, attachment base, 7, movable axis, 8, centre bearing, 9, bottom movable axis.
Specific embodiment
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 describes clear and completely, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole realities
Example is applied, based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution：A kind of manipulator locating device, including manipulator
Main body 1, the bottom end of manipulator main body 1 are provided with pedestal 2, and pedestal 2 is fixedly connected with manipulator main body 1, the top setting of pedestal 2
There is Main Control Tank 3, Main Control Tank 3 is flexibly connected with pedestal 2, and the right side of Main Control Tank 3 is provided with support rod 4, support rod 4 and Main Control Tank 3
It is flexibly connected, the top of support rod 4 is provided with mechanical arm 5, and mechanical arm 5 is flexibly connected with support rod 4, mechanical arm 5
Right side is provided with attachment base 6, and attachment base 6 and mechanical arm 5 are electrically connected, and the left end of mechanical arm 5 is provided with movable axis 7, living
Through connection, the intermediate position of pedestal 2 is provided with centre bearing 8 for moving axis 7 and mechanical arm 5, and centre bearing 8 and pedestal 2 are fixed
Connection, the bottom end of support rod 4 are provided with bottom movable axis 9, and bottom movable axis 9 is fixedly connected with support rod 4, mechanical arm 5
Left side is provided with intelligent computer 504, and intelligent computer 504 and mechanical arm 5 are electrically connected, and the left side of Main Control Tank 3 is provided with
Touch display screen 301, touch display screen 301 and Main Control Tank 3 are electrically connected, and the bottom end of Main Control Tank 3 is provided with facility switching 303,
Facility switching 303 and Main Control Tank 3 are electrically connected.
Further, the hollow out position of mechanical arm 5 is provided with servo motor 501, servo motor 501 and mechanical arm 5
It is electrically connected, it is a kind of indirect speed change gear of subsidy motor that servo motor, which is the engine for controlling mechanical organ operating, can be incited somebody to action
Voltage signal is converted into torque and revolving speed with drive control object, and servo motor rotor revolving speed is controlled by input signal, and can be fast
Speed reaction, and there are the characteristics such as electromechanical time constant is small, the linearity is high, the electric signal received can be converted on motor reel
Angular displacement or angular speed output, can control the movement speed of mechanical arm, position precision is very accurate.
Further, the top of mechanical arm 5 is provided with CCD camera 502,5 electricity of CCD camera 502 and mechanical arm
Property connection, using binocular stereo vision subsystem, be with two performances quite, the CCD camera fixed of position, obtain together
The two images of one scenery, by two dimensional image acquired in two cameras, to calculate the three-dimensional information of scenery, in principle
The upper relatively anthropoid binocular vision of class, sets up a complete Binocular Stereo Vision System and generally requires by camera shooting, significantly
Raising unload the setting accuracy of arm.
Further, the bottom end of mechanical arm 5 is provided with infrared sensor 503, infrared sensor 503 and manipulator
Arm 5 be electrically connected, measured using the physical property of infrared ray, infrared ray is also known as infrared light, it have reflection, refraction,
Scattering, interference, absorb etc. properties, any substance, as long as itself have certain temperature, can infrared radiation, infrared ray
It is not contacted directly with testee when sensor measurement, because friction may be not present, eliminates influence of the manipulator to positioning accuracy.
Further, the hollow out position of Main Control Tank 3 is provided with warning device 302, and warning device 302 and Main Control Tank 3 are fixed
Connection, checks whether mechanical handspring pawl, down tilt have positioning and shake either with or without gap, and mechanical arm is allowed to run smoothly and quasi-
Really.
Further, manipulator main body 1 adds the mode of infrared distance measuring to guide mechanical arm using vision guide
Work, detects object type etc. in the picture, calculates object in video camera according to the intelligent computer built in mechanical arm
Position and posture under coordinate system make mechanical arm operation quick, stable, positioning accurate degree of certainty are made to be up to ± 0.1mm.
Further, the ground plane of pedestal 2 is equipped with resilient cushion, uses 50mm yielding rubber pad, shows uniqueness
Viscoelasticity energy, thus there is good damping, sound insulation and cushion performance, guarantee manipulator held stationary in the process of running.
Working principle：The ground plane of the pedestal 2 of this kind first manipulator locating device is equipped with resilient cushion, uses
50mm yielding rubber pad shows unique viscoelasticity energy, thus has good damping, sound insulation and cushion performance, guarantees machine
Tool hand held stationary in the process of running, then manipulator main body 1 adds the mode of infrared distance measuring using vision guide
It guides mechanical arm 5 to work, detects object type etc. in the picture, the intelligent computer 504 built in mechanical arm 5 is counted
Position and posture of the object under camera coordinate system are calculated, allows mechanical arm 5 to run quick, stable, makes positioning accurate degree of certainty
The top of up to ± 0.1mm, subsequent mechanical arm 5 are provided with CCD camera 502, using binocular stereo vision subsystem,
Be with two performances quite, the CCD camera 502 fixed of position, obtain the two images of same scenery, pass through two cameras
Acquired two dimensional image compares the anthropoid binocular vision of class to calculate the three-dimensional information of scenery in principle, sets up one
A complete Binocular Stereo Vision System is generally required by camera shooting, greatly improves the setting accuracy for arm of unloading, then
The bottom end of mechanical arm 5 is provided with infrared sensor 503, is measured using the physical property of infrared ray, and infrared ray is again
Claim infrared light, it is with the properties such as reflection, refraction, scattering, interference, absorption, any substance, as long as itself has certain temperature
Degree, can infrared radiation, infrared sensor measure when do not contacted directly with testee, because may be not present friction, elimination
Influence of the manipulator to positioning accuracy, and then the hollow out position of mechanical arm 5 is provided with servo motor 501, and servo motor is
The engine for controlling mechanical organ operating, is a kind of indirect speed change gear of subsidy motor, can convert torque for voltage signal
With revolving speed with drive control object, servo motor rotor revolving speed is controlled by input signal, and can fast reaction, and when having electromechanical
Between constant is small, the linearity is high etc. that characteristics, the angular displacement or angular speed that the electric signal received can be converted on motor reel are defeated
Out, it can control the movement speed of mechanical arm, position precision is very accurate, and the hollow out position of last Main Control Tank 3 is provided with report
Alarm device 302 plays the mechanical handspring pawl of inspection, whether down tilt has positioning and shakes either with or without gap, makes mechanical arm operation flat
It is steady and accurate.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (7)
1. a kind of manipulator locating device, including manipulator main body (1), it is characterised in that：The bottom end of the manipulator main body (1)
It is provided with pedestal (2), the pedestal (2) is fixedly connected with manipulator main body (1), and the top of the pedestal (2) is provided with master control
Case (3), the Main Control Tank (3) are flexibly connected with pedestal (2), are provided with support rod (4) on the right side of the Main Control Tank (3), described
Support rod (4) is flexibly connected with Main Control Tank (3), and the top of the support rod (4) is provided with mechanical arm (5), the manipulator
Arm (5) is flexibly connected with support rod (4), is provided with attachment base (6) on the right side of the mechanical arm (5), the attachment base (6) with
Mechanical arm (5) is electrically connected, and the left end of the mechanical arm (5) is provided with movable axis (7), the movable axis (7) and machinery
Arm (5) is provided with centre bearing (8) through connection, the intermediate position of the pedestal (2), the centre bearing (8) and pedestal
(2) it is fixedly connected, the bottom end of the support rod (4) is provided with bottom movable axis (9), the bottom movable axis (9) and support rod
(4) be fixedly connected, be provided with intelligent computer (504) on the left of the mechanical arm (5), the intelligent computer (504) with
Mechanical arm (5) is electrically connected, and is provided with touch display screen (301), the touch display screen on the left of the Main Control Tank (3)
(301) it is electrically connected with Main Control Tank (3), the bottom end of the Main Control Tank (3) is provided with facility switching (303), the facility switching
(303) it is electrically connected with Main Control Tank (3).
2. a kind of manipulator locating device according to claim 1, it is characterised in that：The hollow out of the mechanical arm (5)
Position is provided with servo motor (501), and the servo motor (501) and mechanical arm (5) are electrically connected.
3. a kind of manipulator locating device according to claim 1, it is characterised in that：The top of the mechanical arm (5)
It is provided with CCD camera (502), the CCD camera (502) and mechanical arm (5) are electrically connected.
4. a kind of manipulator locating device according to claim 1, it is characterised in that：The bottom end of the mechanical arm (5)
It is provided with infrared sensor (503), the infrared sensor (503) and mechanical arm (5) are electrically connected.
5. a kind of manipulator locating device according to claim 1, it is characterised in that：The hollow-out parts of the Main Control Tank (3)
Position is provided with warning device (302), and the warning device (302) is fixedly connected with Main Control Tank (3).
6. a kind of manipulator locating device according to claim 1, it is characterised in that：The manipulator main body (1) uses
Be vision guide add the mode of infrared distance measuring allow guidance mechanical arm work.
7. a kind of manipulator locating device according to claim 1, it is characterised in that：The ground plane of the pedestal (2) is pacified
Equipped with resilient cushion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820506018.2U CN208117874U (en) | 2018-04-08 | 2018-04-08 | A kind of manipulator locating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820506018.2U CN208117874U (en) | 2018-04-08 | 2018-04-08 | A kind of manipulator locating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117874U true CN208117874U (en) | 2018-11-20 |
Family
ID=64191195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820506018.2U Expired - Fee Related CN208117874U (en) | 2018-04-08 | 2018-04-08 | A kind of manipulator locating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117874U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110557568A (en) * | 2019-09-05 | 2019-12-10 | 昭世(北京)科技有限公司 | structure and method of module combined photographic equipment based on artificial intelligence |
| CN116593953A (en) * | 2023-07-18 | 2023-08-15 | 四川华鲲振宇智能科技有限责任公司 | AI chip test management system and method |
-
2018
- 2018-04-08 CN CN201820506018.2U patent/CN208117874U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110557568A (en) * | 2019-09-05 | 2019-12-10 | 昭世(北京)科技有限公司 | structure and method of module combined photographic equipment based on artificial intelligence |
| CN110557568B (en) * | 2019-09-05 | 2021-04-09 | 昭世(北京)科技有限公司 | Photographing equipment structure and method based on artificial intelligence module |
| CN116593953A (en) * | 2023-07-18 | 2023-08-15 | 四川华鲲振宇智能科技有限责任公司 | AI chip test management system and method |
| CN116593953B (en) * | 2023-07-18 | 2023-11-10 | 四川华鲲振宇智能科技有限责任公司 | AI chip test management system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20181120 Termination date: 20200408 |