CN208826630U - A kind of Joint Manipulator of the long-range main manipulator of band - Google Patents
A kind of Joint Manipulator of the long-range main manipulator of band Download PDFInfo
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- CN208826630U CN208826630U CN201821353060.1U CN201821353060U CN208826630U CN 208826630 U CN208826630 U CN 208826630U CN 201821353060 U CN201821353060 U CN 201821353060U CN 208826630 U CN208826630 U CN 208826630U
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Abstract
The utility model discloses a kind of Joint Manipulators of the long-range main manipulator of band, belong to service robot field, wherein system includes: gesture recognition control system, video acquisition Transmission system and Bluetooth communication control back-up system, mainly apply to non-traditional environment that some unsuitable mankind directly manipulate such as: radiation, deep-sea, the long-range household service robot field waited and need to facilitate real-time, interactive, the flexibility and intuitive of human-computer interaction are limited to a certain extent in tool arm remote operating control system in existing technology, in the flexibility for improving human-computer interaction, but equipment cost is expensive and dresses, using it is inconvenient the deficiencies of, to this, Joint Manipulator of the utility model based on a kind of long-range main manipulator of band of these faultiness designs, it can solve existing technological deficiency, it can be applied not only to home-services robot , can also have very extensive application value in industrial robot and industrial Visual Manufacturing field.
Description
Technical field
The utility model belongs to the jointed robot in service robot field more particularly to a kind of long-range main manipulator of band
Arm.
Background technique
Currently, generalling use in the remote operating control system of robot or mechanical main hand by control stick or sensor acquisition
The signal come is converted into relatively limited instruction, then executes predefined fortune by order-driven robot or mechanical main hand
Dynamic or operation.Such mode of operation is more mechanical, limits the flexibility and intuitive of human-computer interaction to a certain extent.Also
It is some that interactive flexibility is improved based on the human-computer interaction research combined of multi-sensor information of brain myoelectricity, but equipment cost is expensive
And it dresses, using inconvenient.Remote control system refers under the control and participation of people, controls in the environment far from operation object
The system that remote equipment processed completes complex operations.In robot field, on the one hand remote operating solves people to complicated, hazardous environment
Under supervision, control problem；On the other hand the working efficiency of operator is greatly improved.Especially in some unsuitable mankind
Under the non-traditional environment such as the explosive, radiation, deep-sea, the space that directly manipulate, remote operating plays vital effect.
Summary of the invention
The purpose of this utility model is that a kind of Joint Manipulator of the long-range main manipulator of band, solves machine in the prior art
The flexibility and intuitive of human-computer interaction are limited to a certain extent in the main hand remote operating control system of tool, are improving man-machine friendship
Mutual flexibility, but equipment cost is expensive and wearing, using it is inconvenient the deficiencies of.
The technical solution adopted in the utility model is as follows:
A kind of Joint Manipulator of the long-range main manipulator of band, including base support, are arranged in the large arm on base support
Bracket and the forearm bracket being connect with big arm support, which is characterized in that mechanical main hand is arranged on forearm bracket, and machinery is main on hand
It is provided with the video acquisition device for acquiring scene, the steering engine control for receiving gesture control signal is provided with by the base support
Making sheet, there is microcontroller on steering engine control panel, and microcontroller control is mechanical main to be made manually.
Further, the main hand includes mechanical tong, is arranged in the hydraulic stem of mechanical tong bottom, hydraulic stem butt end be provided with
The fixed protrusion fixed plate of forearm bracket activity, and the control letter that microcontroller sending is controlled and received in protrusion fixed plate is set
Number, the first wrist steering engine for spinning upside down of the mechanical main hand of control, the protrusion fixed plate and forearm bracket pass through the first wrist rudder
Machine is connected, and the second wrist steering engine of the control signal, control hydraulic stem rotation issued with reception microcontroller.
Further, the forearm bracket is connected with big arm support by ancon steering engine, the big arm support and base support
It is connected by shoulder steering engine, the ancon steering engine receives control signal, the control forearm bracket that microcontroller issues and spins upside down,
The shoulder steering engine receives control signal, the big arm support of control that microcontroller issues and rotates left and right in base support.
Further, the shoulder steering engine, ancon steering engine, the first wrist steering engine and the second wrist steering engine are received from steering engine
The control signal of control panel, is controlled by steering engine control panel.
Further, the microcontroller passes through wireless reception of signals.
Further, the video acquisition device includes the first camera and second camera, and the first camera is arranged in machine
The shoulder or elbow position of the main hand of tool, second camera and the terminal position that mechanical main hand is set.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are:
1, a kind of Joint Manipulator of the long-range main manipulator of band in the utility model, including base support are arranged the bottom of at
Big arm support on seat support and the forearm bracket being connect with big arm support, which is characterized in that mechanical main hand is arranged in forearm branch
On frame, machinery master is provided with the video acquisition device for acquiring scene on hand, is provided with reception gesture by the base support
The steering engine control panel of signal is controlled, there is microcontroller on steering engine control panel, the mechanical master of microcontroller control makees manually.
2, main hand described in the utility model includes mechanical tong, and the hydraulic stem of mechanical tong bottom, hydraulic stem butt end is arranged in
It is provided with the protrusion fixed plate fixed with forearm bracket activity, and setting controls and receives microcontroller in protrusion fixed plate and issues
Control signal, the first wrist steering engine for spinning upside down of the mechanical main hand of control, the protrusion fixed plate and forearm bracket pass through the
One wrist steering engine is connected, and the second wrist steering engine of the control signal, control hydraulic stem rotation issued with reception microcontroller,
Movement and crawl for main hand.
3, forearm bracket described in the utility model is connected with big arm support by ancon steering engine, the big arm support and bottom
Seat support is connected by shoulder steering engine, and the ancon steering engine receives the control signal of microcontroller sending, controls on forearm bracket
Lower overturning, the shoulder steering engine receive control signal, the big arm support of control that microcontroller issues and rotate left and right in base support,
Movement for mechanical arm.
4, shoulder steering engine described in the utility model, ancon steering engine, the first wrist steering engine and the second wrist steering engine, which receive, comes
From in the control signal of steering engine control panel, controlled by steering engine control panel, for being uniformly controlled.
5, microcontroller described in the utility model increases the range of remote control by wireless reception of signals, improves
The operating efficiency of mechanical main hand, fully achieves and takes object every sky, can be used for poisonous and harmful environment.
6, video acquisition device described in the utility model includes the first camera and second camera, and the first camera is set
The shoulder or elbow position in mechanical main hand are set, centered on external view, provides concern extraneous scene visual angle for operator
Video information, second camera and the terminal position that mechanical main hand is arranged in are that operator is direct centered on self visual angle
It obtains objective plane and grabs the position of object, posture provides video information.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of Joint Manipulator system diagram of the long-range main manipulator of band of the utility model.
Fig. 2 is a kind of Joint Manipulator outside drawing of the utility model.
In figure: joint control plate=Arduino plate+steering engine control panel+bluetooth, 1- pedestal, the big arm support of 2-, 3- shoulder rudder
Machine, 4- ancon steering engine, 5- forearm bracket, 6- the first wrist steering engine, 7- the second wrist steering engine, 8- hydraulic stem, 9- mechanical tong.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention, i.e., described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The utility model provides a kind of Joint Manipulator of long-range main manipulator of band, solves mechanical main hand in the prior art
The flexibility and intuitive of human-computer interaction are limited in remote operating control system to a certain extent, in the spirit for improving human-computer interaction
Activity, but equipment cost is expensive and wearing, using it is inconvenient the deficiencies of.With " gesture identification control system in the utility model
System control mode ", " video acquisition Transmission system " will provide the scene video and end video of mechanical main hand all for operator.By
The mutual cooperation of gesture recognition control system control mode " and " video acquisition Transmission system ", mechanical main hand is according to operator's
Operation is acted accordingly.
The microcontroller of joint control plate in the utility model is ATmega2560, and multichannel steering engine controller is ARM
Cortex-M3, the Kinect depth camera that operator is issued using U.S.'s Microsoft Corporation in gesture recognition control system
Machine obtains real scene depth data stream.
Feature and performance of the invention are described in further detail with reference to embodiments.
Embodiment 1
A kind of Joint Manipulator for the long-range main manipulator of band that present embodiment preferred embodiment provides, as described in Figure 1,
Wherein, during use, gesture recognition control system passes through the Kinect with infrared ray " pumped FIR laser " technology to operator
Depth camera follows movement according to visual gesture track in working space according to mechanical main hand track in real time, obtains
Real scene three dimensional local information.It is acted accordingly according to the operating gesture of operator in main embody on hand of machinery, by gesture class
The variation of type and the variation of motion profile, the coordinate space for being mapped to mechanical main hand will be converted by wireless signal transmitting device
Operational order afterwards is sent to mechanical main hand and holds joint control plate, and joint control plate is closed according to the operation information driving received
Section, mechanical main hand execute order, meanwhile, there are mechanical main few shoulder or ancon and the camera of end to feed back to video image
Operator, and show and store in operator's individual terminal devices.
Embodiment 2
Present embodiment preferred embodiment provide a kind of long-range main manipulator of band Joint Manipulator or in embodiment 1
On the basis of it is described, wherein acquisition operator's gesture center position reads certain threshold value model then as the center of circle first
The pixel in depth image in enclosing, is cast out to beyond the image in threshold range, and final segmentation obtains operator's hand
The depth image in portion.Meanwhile by segmented operator's hand images, display on the terminal device, is observed convenient for operator；
To obtain operator's gesture key store position for the first time as coordinate origin, operator's gesture path is positioned in real time.Meanwhile
Behavioural characteristic analysis based on general gesture, analyzes the variation of operator's gesture-type and sorts out processing.According to setting
Coordinate transform rule the variation of the variation of gesture-type and motion profile is mapped to the coordinate space of mechanical main hand, obtained
The concrete operations instruction of mechanical main hand will be sent to；By wireless signal transmitting device, the operational order after conversion is sent
Implement concrete operations to mechanical main hand actuator end；After joint control plate receives operational order by serial ports, resolve to corresponding
The angles and positions in joint control, and complete the control to mechanical main hand ontology.In mechanical main hand in video acquisition Transmission system
Shoulder or elbow position, be arranged 1 " centered on external view " camera, for operator provide concern the external world scene
The video information at visual angle allows operator to have macroscopic view, whole understanding to the walking path of mechanical main hand.In the end of mechanical main hand
The camera at 1 " centered on self visual angle " is arranged in position, directly acquires objective plane for operator and grabs the position of object
Set, posture provides video information, complete mechanical main hand and the alignment of target convenient for operator or dock；Pass through embedded video
Image procossing and transmission platform handle mechanical main 2 camera acquired images on hand；With stream media technology,
By video image processing and the collected real-time video of transmission platform, wireless or wire transmission to operator's terminal device.Behaviour
Author can show or store video in individual terminal devices.When operator uses gesture operation, mechanical main hand is according to operation
The operation of person is acted accordingly, if operator carries out taking the operation of object every sky, the camera on mechanical main hand shoulder is taken
The video information at extraneous scene visual angle makes operator clearly see the understanding of mechanical main hand entirety in display terminal, in machinery
The camera of the terminal position of main hand clearly shows that position, the posture of subject on display terminal, and operator, which stretches out one's hand, to be grabbed
Gesture recognition system is according to the gesture of operator in the mechanical main opening for doing mechanical tong on hand, closure, the mechanical main hand of control when taking
First wrist steering engine is spun upside down, and the second wrist steering engine rotates left and right, while ancon steering engine and shoulder steering engine, controls big arm support
It is corresponding with forearm bracket progress to rotate left and right and spin upside down, pass through gesture recognition control system and video acquisition Transmission system
Mutual cooperation operator arbitrarily controls mechanical main hand.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (6)
1. a kind of Joint Manipulator of the long-range main manipulator of band, including base support (1), are arranged in the large arm on base support
The forearm bracket (5) of bracket (2) He Yu great arm support connection, which is characterized in that mechanical main hand is arranged on forearm bracket (5),
Machinery master is provided with the video acquisition device for acquiring scene on hand, is provided with by the base support and receives gesture control letter
Number steering engine control panel, have microcontroller on steering engine control panel, microcontroller control is mechanical main to be made manually.
2. a kind of Joint Manipulator of the long-range main manipulator of band according to claim 1, it is characterised in that: the main hand
Including mechanical tong (9), the hydraulic stem (8) in mechanical tong (9) bottom is set, hydraulic stem (8) butt end is provided with and forearm bracket (5)
The fixed protrusion fixed plate of activity, and control signal, the control that microcontroller sending is controlled and received in protrusion fixed plate are set
The first wrist steering engine (6) that mechanical main hand is spun upside down, the protrusion fixed plate and forearm bracket (5) pass through the first wrist steering engine
(6) it is connected, and the second wrist steering engine (7) of the control signal, control hydraulic stem rotation issued with reception microcontroller.
3. a kind of Joint Manipulator of the long-range main manipulator of band according to claim 2, it is characterised in that: the forearm
Bracket (5) is connected with big arm support (2) by ancon steering engine (4), and the big arm support (2) and base support (1) pass through shoulder
Steering engine (3) is connected, and the ancon steering engine (4) receives the control signal of microcontroller sending, control forearm bracket (5) is turned over up and down
Turn, the shoulder steering engine (3) receives the control signal of microcontroller sending, the big arm support (2) of control in base support (1) left and right
Rotation.
4. a kind of Joint Manipulator of the long-range main manipulator of band according to claim 3, it is characterised in that: the shoulder
Steering engine (3), ancon steering engine (4), the first wrist steering engine (6) and the second wrist steering engine (7) receive the control from steering engine control panel
Signal processed is controlled by steering engine control panel.
5. a kind of Joint Manipulator of the long-range main manipulator of band according to claim 1, it is characterised in that: the micro-control
Device processed passes through wireless reception of signals.
6. a kind of Joint Manipulator of the long-range main manipulator of band according to claim 1, it is characterised in that: the video
Acquisition device includes the first camera and second camera, and shoulder or the ancon position of mechanical main hand is arranged in the first camera
It sets, second camera and the terminal position that mechanical main hand is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821353060.1U CN208826630U (en) | 2018-08-21 | 2018-08-21 | A kind of Joint Manipulator of the long-range main manipulator of band |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821353060.1U CN208826630U (en) | 2018-08-21 | 2018-08-21 | A kind of Joint Manipulator of the long-range main manipulator of band |
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| Publication Number | Publication Date |
|---|---|
| CN208826630U true CN208826630U (en) | 2019-05-07 |
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ID=66310042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821353060.1U Expired - Fee Related CN208826630U (en) | 2018-08-21 | 2018-08-21 | A kind of Joint Manipulator of the long-range main manipulator of band |
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| Country | Link |
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| CN (1) | CN208826630U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421563A (en) * | 2019-07-28 | 2019-11-08 | 南京驭逡通信科技有限公司 | A kind of industrial robot builds figure positioning system and robot |
| CN111590560A (en) * | 2020-04-24 | 2020-08-28 | 郭子睿 | Method for remotely operating manipulator through camera |
-
2018
- 2018-08-21 CN CN201821353060.1U patent/CN208826630U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421563A (en) * | 2019-07-28 | 2019-11-08 | 南京驭逡通信科技有限公司 | A kind of industrial robot builds figure positioning system and robot |
| CN111590560A (en) * | 2020-04-24 | 2020-08-28 | 郭子睿 | Method for remotely operating manipulator through camera |
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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: 20190507 Termination date: 20200821 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |