CN211278416U

CN211278416U - Mechanical arm suitable for machine vision detection

Info

Publication number: CN211278416U
Application number: CN201922496645.XU
Authority: CN
Inventors: 李东博; 魏荣婕; 李慧子; 迟木子; 蔡一庆
Original assignee: Harbin Bojue Technology Co ltd
Current assignee: Harbin Bojue Technology Co ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-08-18
Anticipated expiration: 2029-12-31

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm suitable for machine vision detection, which comprises a fixed power bracket, a telescopic power device I, a big arm connecting component, a telescopic power device II, a small arm connecting component and a palm clamping device, wherein a motor I is fixed on the machine vision detection, when the machine vision detection detects that the article needs to be clamped and moved, the motor I can drive the whole device to rotate, the telescopic rod I is started to adjust the angle of the large armplate, the telescopic rod II is started to adjust the angle of the small armplate, the motor II is started to adjust the angle of the palm plate, the article is positioned between the two clamping strips, the double-head telescopic rod is started, the double-head telescopic rod drives the two clamping strips to move inwards simultaneously, thus, the article can be fixed, and the article can be driven to move by starting the motor I, the telescopic rod I and the telescopic rod II.

Description

Mechanical arm suitable for machine vision detection

Technical Field

The utility model relates to an arm technical field, more specifically the arm suitable for machine vision detects that says so.

Background

The arm can correspond and shine, and the part is placed, screw locking, various works such as circuit board cutting. And the vision inspection is to use a robot to replace human eyes for measurement and judgment. The visual detection means that a machine vision product converts a shot target into an image signal, transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Is a valuable mechanism for production, assembly or packaging. It has immeasurable value in terms of the ability to detect defects and prevent defective products from being distributed to consumers. Therefore, it is important to design a mechanical arm suitable for machine vision inspection.

Disclosure of Invention

The utility model relates to an arm technical field, more specifically the arm suitable for machine vision detects that says so, including fixed power support, flexible power device I, big arm connecting elements, flexible power device II, forearm connecting elements and centre gripping palm device, can carry out accurate adjustment after installing machine vision detects to this device to can carry out the centre gripping to article and remove.

The utility model provides an arm suitable for machine vision detects, includes fixed power support, this arm suitable for machine vision detects still includes flexible power device I, big arm connecting elements, flexible power device II, forearm connecting elements and centre gripping palm device, fixed power support on articulated be connected with flexible power device I and big arm connecting elements, flexible power device I and big arm connecting elements are articulated to be connected, fixedly connected with flexible power device II on the big arm connecting elements, rotate on the big arm connecting elements and be connected with forearm connecting elements, flexible power device II is articulated to be connected with forearm connecting elements, fixedly connected with centre gripping palm device on the forearm connecting elements.

As this technical scheme's further optimization, the utility model relates to an arm suitable for machine vision detects fixed power support include motor I, linkage disc, articulated seat I and support frame, fixedly connected with linkage disc on motor I's the output shaft, articulated seat I of fixedly connected with and support frame on the linkage disc.

As this technical scheme's further optimization, the utility model relates to an arm suitable for machine vision detects flexible power device I include telescopic link I, connecting block I and connecting block II, telescopic link I's upper and lower both ends difference fixedly connected with connecting block I and connecting block II, connecting block II is connected with articulated seat I is articulated.

As this technical scheme's further optimization, the utility model relates to an arm suitable for machine vision detects big arm connecting elements include big arm plate, articulated seat II and central shaft I of fixedly connected with on the big arm plate, connecting block I is connected with articulated seat II is articulated, central shaft I rotates with the support frame to be connected.

As this technical scheme's further optimization, the utility model relates to an arm suitable for machine vision detects flexible power device II include right-angle plate, articulated seat III, telescopic link II, connecting block III and connecting block IV, right-angle plate fixed connection is on big arm plate, the articulated seat III of fixedly connected with on the right-angle plate, telescopic link II's upper and lower both ends are fixedly connected with connecting block III and connecting block IV respectively, connecting block IV is connected with articulated seat III is articulated.

As this technical scheme's further optimization, the utility model relates to an arm suitable for machine vision detects forearm connecting element include forearm board, articulated seat IV, center pin II and motor II, the forearm board from a left side to the right side articulated seat IV, center pin II and motor II of fixedly connected with in proper order, connecting block III is connected with articulated seat IV is articulated, center pin II rotates with big armplate to be connected.

As this technical scheme's further optimization, the utility model relates to an arm suitable for machine vision detects centre gripping palm device include palm board, fixed block, double-end telescopic link, centre gripping strip and retainer plate, palm board fixed connection is on motor II's output shaft, fixedly connected with fixed block on the palm board, fixedly connected with double-end telescopic link on the fixed block, the equal fixedly connected with centre gripping strip in both ends of double-end telescopic link, two centre gripping strips all with palm board sliding connection, the outer end fixedly connected with retainer plate of palm board.

The utility model relates to a beneficial effect of arm suitable for machine vision detects does:

fix motor I on machine visual detection, when machine visual detection detects needs and carries out the centre gripping removal to article, can drive whole device through motor I and rotate, start the angle of the adjustable big arm board of telescopic link I, start the angle of the adjustable little arm board of telescopic link II, the angle of start motor II adjustment palm board, let article be located between two grip strips, start the double-end telescopic link, the double-end telescopic link drives two grip strips and inwards removes simultaneously, can fix article like this, at start motor I, telescopic link I and telescopic link II can drive article and remove.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view of a mechanical arm suitable for machine vision inspection according to the present invention;

FIG. 2 is a schematic view of a stationary power bracket;

FIG. 3 is a schematic structural view of a telescopic power device I;

FIG. 4 is a schematic view of the structure of the large arm connecting member;

FIG. 5 is a schematic structural view of a telescopic power device II;

FIG. 6 is a schematic view of the construction of the lower arm link;

FIG. 7 is a schematic view of a palm gripping device;

fig. 8 is a cross-sectional structural diagram of the palm holding device.

In the figure: fixing a power bracket 1; the device comprises a motor I1-1, a linkage disc 1-2 and a hinge seat I1-3; 1-4 of a support frame; a telescopic power device I2; the telescopic rod I2-1 and the connecting block I2-2; connecting block II 2-3; a large arm connecting member 3; the large arm plate 3-1 and the hinge seat II 3-2; a central shaft I3-3; a telescopic power device II 4; 4-1 of a right-angle plate, a hinged seat III4-2, a telescopic rod II4-3 and a connecting block III 4-4; connecting block IV 4-5; a small arm connecting member 5; 5-1 of a small arm plate, an articulated seat IV5-2 and a central shaft II 5-3; motor II 5-4; a palm holding device 6; the device comprises a palm plate 6-1, a fixed block 6-2, a double-end telescopic rod 6-3 and a clamping strip 6-4; and 6-5 of a fixing ring.

Detailed Description

The first embodiment is as follows:

the following description of the embodiment is made with reference to fig. 1-8, and the present invention relates to the technical field of mechanical arms, and more specifically to a mechanical arm suitable for machine vision inspection, which comprises a fixed power support 1, a telescopic power device I2, a large arm connecting member 3, a telescopic power device II4, a small arm connecting member 5 and a palm clamping device 6, wherein a motor I1-1 is fixed on the machine vision inspection, when the machine vision inspection detects that an article needs to be clamped and moved, the whole device can be driven to rotate by the motor I1-1, the angle of the large arm plate 3-1 can be adjusted by starting the telescopic rod I2-1, the angle of the small arm plate 5-1 can be adjusted by starting the telescopic rod II4-3, the angle of the palm plate 6-1 can be adjusted by starting the motor II5-4, so that the article is located between two clamping strips 6-4, starting the double-end telescopic rod 6-3, driving the two clamping strips 6-4 to move inwards at the same time by the double-end telescopic rod 6-3, so that the article can be fixed, and driving the article to move by the starting motor I1-1, the telescopic rod I2-1 and the telescopic rod II 4-3;

the utility model provides a mechanical arm suitable for machine vision detects, includes fixed power support 1, this mechanical arm suitable for machine vision detects still includes flexible power device I2, big arm connecting elements 3, flexible power device II4, forearm connecting elements 5 and centre gripping palm device 6, fixed power support 1 on the articulated flexible power device I2 and big arm connecting elements 3 that are connected with, flexible power device I2 and big arm connecting elements 3 are articulated to be connected, the flexible power device II4 of fixedly connected with on the big arm connecting elements 3, rotate on the big arm connecting elements 3 and be connected with forearm connecting elements 5, flexible power device II4 is connected with forearm connecting elements 5 is articulated, fixedly connected with clamping device 6 on the forearm connecting elements 5.

The second embodiment is as follows:

the embodiment is described below with reference to fig. 1 to 8, and the fixed power support 1 further described in the embodiment includes a motor I1-1, a linkage disk 1-2, a hinge seat I1-3, and a support frame 1-4, the motor I1-1 is fixed on a machine for machine vision inspection, the linkage disk 1-2 is fixedly connected to an output shaft of the motor I1-1, the linkage disk 1-2 plays a role of bearing connection, the hinge seat I1-3 and the support frame 1-4 are fixedly connected to the linkage disk 1-2, the hinge seat I1-3 can provide a hinge space for the connection block II2-3, and the support frame 1-4 can provide a rotation space for the central shaft I3-3.

The third concrete implementation mode:

the embodiment is described below with reference to fig. 1 to 8, and the embodiment further describes a second embodiment, the telescopic power device I2 includes a telescopic rod I2-1, a connecting block I2-2 and a connecting block II2-3, the telescopic rod I2-1 can drive the upper arm plate 3-1 to rotate around the central axis I3-3, the upper and lower ends of the telescopic rod I2-1 are respectively and fixedly connected with the connecting block I2-2 and the connecting block II2-3, and the connecting block II2-3 is hinged to the hinge base I1-3.

The fourth concrete implementation mode:

the present embodiment is described below with reference to fig. 1 to 8, and the present embodiment further describes the third embodiment, in which the large arm connecting member 3 includes a large arm plate 3-1, a hinge seat II3-2, and a central shaft I3-3, the large arm plate 3-1 can provide a connecting space for the small arm plate 5-1, the large arm plate 3-1 is fixedly connected with the hinge seat II3-2 and the central shaft I3-3, the hinge seat II3-2 can provide a connecting space for the connecting block III4-4, the central shaft I3-3 can provide a rotating axis for the large arm plate 3-1, the connecting block I2-2 is hinged with the hinge seat II3-2, and the central shaft I3-3 is rotatably connected with the supporting frame 1-4.

The fifth concrete implementation mode:

the embodiment is described below with reference to fig. 1-8, and the telescopic power device II4 further described in the fourth embodiment of the present invention comprises a square plate 4-1 and a hinge seat III4-2, the telescopic rod II4-3, the connecting block III4-4 and the connecting block IV4-5 are fixedly connected to the large arm plate 3-1, the right-angle plate 4-1 can provide a fixed space for the hinge seat III4-2, the hinge seat III4-2 is fixedly connected to the right-angle plate 4-1, the hinge seat III4-2 can provide a connecting space for the connecting block IV4-5, the upper end and the lower end of the telescopic rod II4-3 are respectively and fixedly connected with the connecting block III4-4 and the connecting block IV4-5, the telescopic rod II4-3 can drive the small arm plate 5-1 to rotate, and the connecting block IV4-5 is hinged to the hinge seat III 4-2.

The sixth specific implementation mode:

the present embodiment is described below with reference to fig. 1 to 8, and the forearm connecting member 5 further described in the fifth embodiment includes a forearm plate 5-1, an articulated seat IV5-2, a central shaft II5-3 and a motor II5-4, the forearm plate 5-1 can provide a fixed space for the palm plate 6-1, the forearm plate 5-1 is fixedly connected with the articulated seat IV5-2, the central shaft II5-3 and the motor II5-4 sequentially from left to right, and can drive the palm plate 6-1 to rotate, so as to adjust the angle of the palm plate 6-1, so that an article is located between the two clamping strips 6-4, the connecting block III4-4 is articulated with the articulated seat IV5-2, and the central shaft II5-3 is rotationally connected with the large arm plate 3-1.

The seventh embodiment:

the present embodiment is described below with reference to fig. 1 to 8, and the palm holding device 6 further described in the sixth embodiment includes a palm plate 6-1, a fixed block 6-2, a double-headed telescopic rod 6-3, a holding strip 6-4, and a fixed ring 6-5, the palm plate 6-1 is fixedly connected to an output shaft of the motor II5-4, the palm plate 6-1 plays a role of bearing and fixing, the fixed block 6-2 is fixedly connected to the palm plate 6-1, the fixed block 6-2 can provide a fixed space for the double-headed telescopic rod 6-3, the double-headed telescopic rod 6-3 is fixedly connected to the fixed block 6-2, the double-headed telescopic rod 6-3 can drive the two holding strips 6-4 to move inward or outward simultaneously, the holding strips 6-4 are fixedly connected to both ends of the double-headed telescopic rod 6-3, the article is clamped and fixed by the two clamping strips 6-4, the two clamping strips 6-4 are both connected with the palm plate 6-1 in a sliding manner, the outer end of the palm plate 6-1 is fixedly connected with the fixing ring 6-5, and the fixing ring 6-5 can limit the two clamping strips 6-4.

The utility model relates to a theory of operation of arm suitable for machine vision detects:

a motor I1-1 is fixed on machine vision detection, when the machine vision detection detects that an article needs to be clamped and moved, the whole device can be driven to rotate through the motor I1-1, the telescopic rod I2-1 is started to adjust the angle of a large arm plate 3-1, the telescopic rod II4-3 is started to adjust the angle of a small arm plate 5-1, the motor II5-4 is started to adjust the angle of a palm plate 6-1, the article is located between two clamping strips 6-4, the double-head telescopic rod 6-3 is started, the double-head telescopic rod 6-3 drives the two clamping strips 6-4 to move inwards at the same time, the article can be fixed, and the article can be driven to move when the motor I1-1, the telescopic rod I2-1 and the telescopic rod II4-3 are started.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or replacements made by those skilled in the art within the scope of the present invention also belong to the protection scope of the present invention.

Claims

1. The utility model provides a arm suitable for machine vision detects, includes fixed power support (1), its characterized in that: this arm suitable for machine vision detects still includes flexible power device I (2), big arm connecting elements (3), flexible power device II (4), forearm connecting elements (5) and centre gripping palm device (6), fixed power support (1) on articulated being connected with flexible power device I (2) and big arm connecting elements (3), flexible power device I (2) and big arm connecting elements (3) articulated be connected, fixedly connected with flexible power device II (4) on big arm connecting elements (3), rotate on big arm connecting elements (3) and be connected with forearm connecting elements (5), flexible power device II (4) are connected with forearm connecting elements (5) are articulated, fixedly connected with centre gripping palm device (6) on forearm connecting elements (5).

2. A robotic arm suitable for machine vision inspection as claimed in claim 1, wherein: the fixed power support (1) comprises a motor I (1-1), a linkage disc (1-2), a hinge seat I (1-3) and a support frame (1-4), the linkage disc (1-2) is fixedly connected to an output shaft of the motor I (1-1), and the hinge seat I (1-3) and the support frame (1-4) are fixedly connected to the linkage disc (1-2).

3. A robotic arm suitable for machine vision inspection as claimed in claim 2, wherein: the telescopic power device I (2) comprises a telescopic rod I (2-1), a connecting block I (2-2) and a connecting block II (2-3), the upper end and the lower end of the telescopic rod I (2-1) are respectively and fixedly connected with the connecting block I (2-2) and the connecting block II (2-3), and the connecting block II (2-3) is hinged with the hinged seat I (1-3).

4. A robotic arm suitable for machine vision inspection as claimed in claim 3, wherein: the large arm connecting component (3) comprises a large arm plate (3-1), a hinged seat II (3-2) and a central shaft I (3-3), the hinged seat II (3-2) and the central shaft I (3-3) are fixedly connected to the large arm plate (3-1), the connecting block I (2-2) is hinged to the hinged seat II (3-2), and the central shaft I (3-3) is rotatably connected with the support frame (1-4).

5. A robotic arm suitable for machine vision inspection as claimed in claim 4, wherein: the telescopic power device II (4) comprises a right-angle plate (4-1), a hinged seat III (4-2), a telescopic rod II (4-3), a connecting block III (4-4) and a connecting block IV (4-5), the right-angle plate (4-1) is fixedly connected to a large arm plate (3-1), the hinged seat III (4-2) is fixedly connected to the right-angle plate (4-1), the upper end and the lower end of the telescopic rod II (4-3) are respectively fixedly connected with the connecting block III (4-4) and the connecting block IV (4-5), and the connecting block IV (4-5) is hinged to the hinged seat III (4-2).

6. A robotic arm suitable for machine vision inspection as claimed in claim 5, wherein: the forearm connecting component (5) comprises a forearm plate (5-1), a hinged seat IV (5-2), a central shaft II (5-3) and a motor II (5-4), the forearm plate (5-1) is sequentially and fixedly connected with the hinged seat IV (5-2), the central shaft II (5-3) and the motor II (5-4) from left to right, a connecting block III (4-4) is hinged with the hinged seat IV (5-2), and the central shaft II (5-3) is rotationally connected with the large arm plate (3-1).

7. A robotic arm suitable for machine vision inspection as claimed in claim 6, wherein: the palm clamping device (6) comprises a palm plate (6-1), a fixing block (6-2), a double-end telescopic rod (6-3), clamping strips (6-4) and a fixing ring (6-5), wherein the palm plate (6-1) is fixedly connected to an output shaft of a motor II (5-4), the fixing block (6-2) is fixedly connected to the palm plate (6-1), the double-end telescopic rod (6-3) is fixedly connected to the fixing block (6-2), the clamping strips (6-4) are fixedly connected to two ends of the double-end telescopic rod (6-3), the two clamping strips (6-4) are slidably connected to the palm plate (6-1), and the fixing ring (6-5) is fixedly connected to the outer end of the palm plate (6-1).