CN208468379U - Manipulator with vision positioning function - Google Patents
Manipulator with vision positioning function Download PDFInfo
- Publication number
- CN208468379U CN208468379U CN201820731412.6U CN201820731412U CN208468379U CN 208468379 U CN208468379 U CN 208468379U CN 201820731412 U CN201820731412 U CN 201820731412U CN 208468379 U CN208468379 U CN 208468379U
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- CN
- China
- Prior art keywords
- mechanical arm
- base station
- turntable
- manipulator
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model provides a kind of manipulator with vision positioning function, the technical solution is with the movement mechanism of base station carrying top, and it keeps stablizing using the floor on the outside of base station, on this basis, the utility model realizes the rotation in horizontal plane using the turntable being connected on base station as manipulator, and the composite sport mechanism of manipulator is constituted with four sections of mechanical arms, while being used to execute absorption type grasping movement to tabular material in the 4th mechanical arm tail end configuration sucker.Furthermore, the utility model features the reference axis or graduation mark of instruction angle on base station, since camera obtains image directly facing base station by lower feeler lever, therefore the position that current dial is turned to can be determined according to the reading of reference axis in image or graduation mark, based on this mode, the rotational orientation of turntable can be grasped in real time by artificial observation or image recognition means, and then judge it in the rotational variations of repetitive operation turntable.
Description
Technical field
The utility model relates to manipulator technical fields, and in particular to a kind of manipulator with vision positioning function.
Background technique
Manipulator is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator are widely applied in automatic assembly line, to be grabbed by fixed routine, carry object or operational instrument,
Have many advantages, such as it is flexible, accurate, repeat it is high-efficient.
The type of manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical manipulator by driving method；By applicable
Range can be divided into special manipulator and two kinds of Unimate；Point position control and continuous rail can be divided by motion profile control mode
Mark controls manipulator etc..Manipulator is typically used as the attachment device of lathe or other machines, such as in automatic machine tool or automatic production
Handling and transferring work piece on line, work in-process replace in the heart cutter etc., typically no independent control device.Some operating devices
It needs directly to be manipulated by people, the master-slave mode manipulator for such as managing dangerous goods for atomic energy department is also commonly referred to as manipulator.It is existing
Having the manipulator of technology only to pass through blas drives it to execute movement or grasping movement, and the motion state of manipulator is lacked
Weary effective monitoring means, therefore when the motion profile of manipulator malfunctions or occur grasping failure phenomenon often to subsequent behaviour
It impacts, it is necessary to the self structures based on manipulator to introduce specific displacement monitoring module in this case, to protect
Card can timely be fed back when mistake occurs for motion profile.
Summary of the invention
The utility model is intended to the technological deficiency for the prior art, provides a kind of machinery with vision positioning function
Hand, to solve the technical issues of manipulator of the prior art can not timely feedback information when mistake occurs for motion profile.
It is to be solved in the utility model that another technical problem be how vision positioning function is introduced in manipulator self structure
Energy.
To realize the above technical purpose, the utility model uses following technical scheme:
Manipulator with vision positioning function, including base station, floor, connecting plate, footing, turntable, first mechanical arm, under
Feeler lever, camera, fixed link, hydraulic cylinder, end, second mechanical arm, the first articulated shaft, the second articulated shaft, third mechanical arm are stretched
Contracting arm, the 4th mechanical arm, sucker, wherein base station is in the form of annular discs, and several floors, adjacent 2 ribs are connected on the side wall of base station
It is connected with connecting plate between plate, is connected with footing in the bottom of connecting plate, turntable is connected on the top surface of base station, in base station
Coordinate line is decorated on top surface, first mechanical arm is fixedly connected on turntable, be fixedly connected in the first mechanical arm vertically to
Under lower feeler lever, the bottom end of the lower feeler lever is fixedly connected with camera, and the camera lens of the camera is towards base station；Turntable also connects
It is connected to fixed link, hydraulic cylinder is hinged in fixed link, hinged at the end of hydraulic cylinder and the lower edge of second mechanical arm；First
Mechanical arm is hinged by the first articulated shaft and second mechanical arm, and second mechanical arm passes through the second articulated shaft and the one of third mechanical arm
End is hinged, and the other end of the third mechanical arm is fixedly connected with one end of telescopic arm, the other end of telescopic arm and the 4th machinery
Arm is fixedly connected, and the end of the 4th mechanical arm is fixedly connected with sucker.
Preferably, the vertical range of end to the first articulated shaft is the 1/6 of second mechanical arm total length；Second mechanical arm
The vertical range of bottom end to turntable is less than fixed link top to the vertical range of turntable.
Preferably, having a cavity inside the 4th mechanical arm, sucker is located at the unique port of the cavity, described
Air pump is connected in cavity.
Preferably, the connection type and fixed link of first mechanical arm and turntable and the connection type of turntable are weldering
It connects, footing silk is connected on a fixed pedestal.
Preferably, the coordinate line is that have in the coordinate line using the base station upper surface center of circle as the polar coordinates of origin
Indicate the graduation mark of angle.
In above technical scheme, foundation structure of the base station as device, for carrying the total movement mechanism of top；Rib
The connecting plate of plate and connection floor constitutes the support construction of protrusion, keeps base station more stable；Footing is used for certain basis with lower section
Structure connection, so that base station be fixed；Turntable provides the rotary motion in horizontal plane for manipulator；First mechanical arm and solid
Fixed pole is fixedly connected on turntable, and the two position is relatively fixed；Since second mechanical arm is mechanical by the first articulated shaft and first
Arm is hinged, and hydraulic cylinder is hinged in fixed link, while the end of hydraulic cylinder is hinged on the lower edge of second mechanical arm, is based on
This structure, when hydraulic cylinder is rotated along the articulated shaft of itself and fixed link, end can drive second mechanical arm along the first hinge
Spindle rotates in a certain range；Second articulated shaft provides revolution space for second mechanical arm and third mechanical arm；Telescopic arm is
Space in rectilinear direction is provided between third mechanical arm and the 4th mechanical arm；The sucker of 4th mechanical arm tail end for pair
Flat shape material (such as wafer, liquid crystal display) executes absorption type grasping movement；The reference axis of instruction angle is portrayed on base station
Or graduation mark can be according to reference axis in image or quarter since camera obtains image directly facing base station by lower feeler lever
Degree line reads to determine that the position that current dial is turned to passes through artificial observation or image recognition hand based on this mode
Section can grasp in real time the rotational orientation of turntable, and then judge it in the rotational variations of repetitive operation turntable.
The utility model provides a kind of manipulator with vision positioning function, which carries top with base station
Movement mechanism, and keep stablizing using the floor on the outside of base station, on this basis, the utility model is to be connected on base station
Turntable is the rotation in manipulator realization horizontal plane, and the composite sport mechanism of manipulator is constituted with four sections of mechanical arms, wherein
The lowermost first mechanical arm is fixedly connected with turntable, between the first, second mechanical arm and between second, third mechanical arm
It is connected using shaft, telescopic connection is used between third, the 4th mechanical arm, and the sucker of the 4th mechanical arm tail end is used for flat
Plate material executes absorption type grasping movement.Composite mechanical movement can smoothly and be flexibly executed using the utility model,
And effective monitoring is carried out to the rotational orientation on in-plane, using effect is good.
Detailed description of the invention
Fig. 1 is the integrally-built main view of the utility model；
Fig. 2 is the integrally-built left view of the utility model；
Fig. 3 is the integrally-built top view of the utility model；
In figure:
| 1, base station | 2, floor | 3, connecting plate | 4, footing |
| 5, turntable | 6, first mechanical arm | 7, lower feeler lever | 8, camera |
| 9, fixed link | 10, hydraulic cylinder | 11, end | 12, second mechanical arm |
| 13, the first articulated shaft | 14, the second articulated shaft | 15, third mechanical arm | 16, telescopic arm |
| 17, the 4th mechanical arm | 18, sucker. |
Specific embodiment
Specific embodiment of the present utility model will be described in detail below.In order to avoid excessive unnecessary thin
Section will not be described in detail to belonging to well known structure or function in the examples below.Used in following embodiment
Approximating language can be used for quantitative expression, show to allow quantity to have certain variation in the case where not changing basic function.
In addition to being defined, technical and scientific term used in following embodiment has general with the utility model one of ordinary skill in the art
All over the identical meanings understood.
Embodiment 1
Manipulator with vision positioning function, as shown in Fig. 1 ~ 3, including base station 1, floor 2, connecting plate 3, footing 4 turn
Disk 5, first mechanical arm 6, lower feeler lever 7, camera 8, fixed link 9, hydraulic cylinder 10, end 11, second mechanical arm 12, first is hinged
Axis 13, the second articulated shaft 14, third mechanical arm 15, telescopic arm 16, the 4th mechanical arm 17, sucker 18, wherein base station 1 is in disk
Shape is connected with several floors 2 on the side wall of base station 1, connecting plate 3 is connected between adjacent 2 floors 2, at the bottom of connecting plate 3
Portion is connected with footing 4, and turntable 5 is connected on the top surface of base station 1, and coordinate line, first mechanical arm are decorated on the top surface of base station 1
6 are fixedly connected on turntable 5, and lower feeler lever 7 straight down is fixedly connected in the first mechanical arm 6, the lower feeler lever 7
Bottom end is fixedly connected with camera 8, and the camera lens of the camera 8 is towards base station 1；Turntable 5 is also connected with fixed link 9, hydraulic cylinder
10 are hinged in fixed link 9, the end 11 of hydraulic cylinder 10 with it is hinged at the lower edge of second mechanical arm 12；First mechanical arm 6
Hinged by the first articulated shaft 13 and second mechanical arm 12, second mechanical arm 12 passes through the second articulated shaft 14 and third mechanical arm 15
One end it is hinged, the other end of the third mechanical arm 15 is fixedly connected with one end of telescopic arm 16, the other end of telescopic arm 16
It is fixedly connected with the 4th mechanical arm 17, the end of the 4th mechanical arm 17 is fixedly connected with sucker 18.
The working principle of the device is as follows: foundation structure of the base station 1 as device, for carrying the total movement machine of top
Structure；The connecting plate 3 of floor 2 and connection floor constitutes the support construction of protrusion, keeps base station 1 more stable；Footing 4 is used for and lower section
Certain foundation structure connection, so that base station 1 be fixed；Turntable 5 provides the rotary motion in horizontal plane for manipulator；First
Mechanical arm 6 and fixed link 9 are fixedly connected on turntable, and the two position is relatively fixed；Since second mechanical arm 12 passes through the first hinge
Spindle 13 and first mechanical arm 6 are hinged, and hydraulic cylinder 10 is hinged in fixed link 9, while the end 11 of hydraulic cylinder 10 is hinged on
The lower edge of second mechanical arm 12 is based on this structure, when hydraulic cylinder 10 is rotated along the articulated shaft of itself and fixed link 9,
Its end 11 can drive second mechanical arm 12 to rotate in a certain range along the first articulated shaft 13；Second articulated shaft 14 is the second machine
Tool arm 12 and third mechanical arm 15 provide revolution space；Telescopic arm 16 provides between third mechanical arm 15 and the 4th mechanical arm 17
Space in rectilinear direction；The sucker 18 of 4th mechanical arm, 17 end is used for flat shape material such as wafer, liquid crystal display
Deng execution absorption type grasping movement；The reference axis or graduation mark that instruction angle is portrayed on base station 1, under passing through due to camera 8
Feeler lever 7 obtains image directly facing base station, therefore can determine current dial 5 according to the reading of reference axis in image or graduation mark
The position turned to is based on this mode, can grasp the rotation of turntable 5 in real time by artificial observation or image recognition means
Orientation, and then judge it in the rotational variations of repetitive operation turntable 5.
Embodiment 2
Manipulator with vision positioning function, as shown in Fig. 1 ~ 3, including base station 1, floor 2, connecting plate 3, footing 4 turn
Disk 5, first mechanical arm 6, lower feeler lever 7, camera 8, fixed link 9, hydraulic cylinder 10, end 11, second mechanical arm 12, first is hinged
Axis 13, the second articulated shaft 14, third mechanical arm 15, telescopic arm 16, the 4th mechanical arm 17, sucker 18, wherein base station 1 is in disk
Shape is connected with several floors 2 on the side wall of base station 1, connecting plate 3 is connected between adjacent 2 floors 2, at the bottom of connecting plate 3
Portion is connected with footing 4, and turntable 5 is connected on the top surface of base station 1, and coordinate line, first mechanical arm are decorated on the top surface of base station 1
6 are fixedly connected on turntable 5, and lower feeler lever 7 straight down is fixedly connected in the first mechanical arm 6, the lower feeler lever 7
Bottom end is fixedly connected with camera 8, and the camera lens of the camera 8 is towards base station 1；Turntable 5 is also connected with fixed link 9, hydraulic cylinder
10 are hinged in fixed link 9, the end 11 of hydraulic cylinder 10 with it is hinged at the lower edge of second mechanical arm 12；First mechanical arm 6
Hinged by the first articulated shaft 13 and second mechanical arm 12, second mechanical arm 12 passes through the second articulated shaft 14 and third mechanical arm 15
One end it is hinged, the other end of the third mechanical arm 15 is fixedly connected with one end of telescopic arm 16, the other end of telescopic arm 16
It is fixedly connected with the 4th mechanical arm 17, the end of the 4th mechanical arm 17 is fixedly connected with sucker 18.Wherein, end 11 is to
The vertical range of one articulated shaft 13 is the 1/6 of 12 total length of second mechanical arm；12 bottom end of second mechanical arm to turntable 5 it is vertical away from
From the vertical range less than 9 top of fixed link to turntable 5；There is a cavity, sucker 18 is located at described inside 4th mechanical arm 17
At the unique port of cavity, it is connected with air pump in the cavity；The connection type and fixation of first mechanical arm 6 and turntable 5
The connection type of bar 9 and turntable 5 is welding, and footing 4 are connected on a fixed pedestal；The coordinate line is on base station 1
The end face center of circle is the polar coordinates of origin, has the graduation mark of instruction angle in the coordinate line.
The embodiments of the present invention are described in detail above, but the content is only the preferable of the utility model
Embodiment is not intended to limit the utility model.All any modifications made in the application range of the utility model are equally replaced
It changes and improves, should be included within the scope of protection of this utility model.
Claims (5)
1. the manipulator with vision positioning function, it is characterised in that including base station (1), floor (2), connecting plate (3), footing
(4), turntable (5), first mechanical arm (6), lower feeler lever (7), camera (8), fixed link (9), hydraulic cylinder (10), end (11),
Second mechanical arm (12), the first articulated shaft (13), the second articulated shaft (14), third mechanical arm (15), telescopic arm (16), the 4th machine
Tool arm (17), sucker (18), wherein base station (1) is in the form of annular discs, is connected on the side wall of base station (1) several floors (2), adjacent
Connecting plate (3) are connected between 2 floors (2), footing (4) are connected in the bottom of connecting plate (3), in the top surface of base station (1)
On be connected with turntable (5), coordinate line is decorated on the top surface of base station (1), first mechanical arm (6) is fixedly connected on turntable (5),
Lower feeler lever (7) straight down is fixedly connected on the first mechanical arm (6), the bottom end of the lower feeler lever (7) is fixedly connected
Have camera (8), the camera lens of the camera (8) is towards base station (1)；Turntable (5) is also connected with fixed link (9), hydraulic cylinder
(10) be hinged on fixed link (9), the end (11) of hydraulic cylinder (10) with it is hinged at the lower edge of second mechanical arm (12)；The
Hingedly by the first articulated shaft (13) and second mechanical arm (12), second mechanical arm (12) is hinged by second for one mechanical arm (6)
Axis (14) and one end of third mechanical arm (15) are hinged, the other end of the third mechanical arm (15) and the one end of telescopic arm (16)
It is fixedly connected, the other end of telescopic arm (16) is fixedly connected with the 4th mechanical arm (17), the end of the 4th mechanical arm (17)
It is fixedly connected with sucker (18).
2. the manipulator according to claim 1 with vision positioning function, it is characterised in that end (11) to the first hinge
The vertical range of spindle (13) is the 1/6 of second mechanical arm (12) total length；It hangs down to turntable (5) second mechanical arm (12) bottom end
Straight distance is less than fixed link (9) top to the vertical range of turntable (5).
3. the manipulator according to claim 1 with vision positioning function, it is characterised in that in the 4th mechanical arm (17)
Portion has a cavity, and sucker (18) is located at the unique port of the cavity, is connected with air pump in the cavity.
4. the manipulator according to claim 1 with vision positioning function, it is characterised in that first mechanical arm (6) with turn
The connection type and fixed link (9) of disk (5) and the connection type of turntable (5) are welding, and footing (4) silk is connected to a fixation
On pedestal.
5. the manipulator according to claim 1 with vision positioning function, it is characterised in that the coordinate line is with base
Platform (1) the upper surface center of circle is the polar coordinates of origin, has the graduation mark of instruction angle in the coordinate line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820731412.6U CN208468379U (en) | 2018-05-17 | 2018-05-17 | Manipulator with vision positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820731412.6U CN208468379U (en) | 2018-05-17 | 2018-05-17 | Manipulator with vision positioning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208468379U true CN208468379U (en) | 2019-02-05 |
Family
ID=65217592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820731412.6U Expired - Fee Related CN208468379U (en) | 2018-05-17 | 2018-05-17 | Manipulator with vision positioning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208468379U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941460A (en) * | 2020-09-09 | 2020-11-17 | 李睿晗 | Mechanical arm |
| CN113264485A (en) * | 2021-05-14 | 2021-08-17 | 赣南医学院第一附属医院 | Intelligent cover device |
| CN114502116A (en) * | 2019-04-22 | 2022-05-13 | 第六感知识产权私人有限公司 | Lens applicator |
-
2018
- 2018-05-17 CN CN201820731412.6U patent/CN208468379U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114502116A (en) * | 2019-04-22 | 2022-05-13 | 第六感知识产权私人有限公司 | Lens applicator |
| CN111941460A (en) * | 2020-09-09 | 2020-11-17 | 李睿晗 | Mechanical arm |
| CN113264485A (en) * | 2021-05-14 | 2021-08-17 | 赣南医学院第一附属医院 | Intelligent cover device |
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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 |
Granted publication date: 20190205 Termination date: 20210517 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |