CN212193163U - Mechanical arm system based on two-dimensional code recognition control - Google Patents
Mechanical arm system based on two-dimensional code recognition control Download PDFInfo
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- CN212193163U CN212193163U CN202020360941.7U CN202020360941U CN212193163U CN 212193163 U CN212193163 U CN 212193163U CN 202020360941 U CN202020360941 U CN 202020360941U CN 212193163 U CN212193163 U CN 212193163U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 210000000078 claw Anatomy 0.000 claims description 13
- 210000002310 elbow joint Anatomy 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 abstract description 9
- 238000010408 sweeping Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Abstract
The utility model relates to a mechanical arm system based on two-dimensional code recognition control for treating to press from both sides according to the two-dimensional code that stores to remain to press from both sides thing positional information and get the thing and press from both sides and get, this system includes the arm, sweeps a yard device and controller, and the arm, sweep a yard device and be connected with the controller respectively, sweep a yard device and acquire to store and remain to press from both sides the two-dimensional code image of getting thing positional information, and the controller discernment is treated to press from both sides and is got thing positional information and control arm. Compared with the prior art, the utility model discloses only adopt and sweep a yard device and controller and realize waiting to press from both sides the position of getting the thing and acquire and mechanical arm control, reduce the arm cost, the base of arm passes through the bearing and assists the rotation, reduce the coefficient of friction in the motion process and improve the rotation precision, the second joint motor, the third joint motor adopts planet wheel drive assembly to carry out the transmission, realize great drive ratio, sweep a yard device and still including handheld sign indicating number ware, can utilize the different sign indicating number modes of sweeping to control the arm during use, the ease for use of improvement system.
Description
Technical Field
The utility model relates to a arm system especially relates to a arm system based on two-dimensional code recognition control.
Background
The industry 4.0 has entered the field of people with the development of the internet, and the smart manufacturing is a focus of social attention. Now that the development of smart manufacturing has been great, the importance of industrial robots will increase. Especially, when the popularity of many manufacturing countries is gradually lost and the labor cost is increased, industrial robots are becoming the main key for these manufacturing countries to maintain the competitiveness of the manufacturing industry. However, most of the existing mechanical arms are provided with a series of control systems such as a computer and a programmable controller, the cost of a single mechanical arm is high, a servo control system reads codes and relies on data transmission of the computer, and the purchase cost and the operation cost of small and medium-sized enterprises needing mechanical arm systems are too high to popularize.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a mechanical arm system based on two-dimensional code recognition control in order to overcome the defect that above-mentioned prior art exists.
The purpose of the utility model can be realized through the following technical scheme:
a mechanical arm system based on two-dimension code recognition control is used for clamping an object to be clamped according to a two-dimension code storing position information of the object to be clamped, and comprises a mechanical arm, a code scanning device and a controller, wherein the mechanical arm and the code scanning device are respectively connected with the controller, the code scanning device acquires a two-dimension code image storing the position information of the object to be clamped, the controller recognizes the position information of the object to be clamped and controls the mechanical arm to clamp the object to be clamped,
the arm include the base, rotate motor, big motor, elbow arm, elbow joint motor, link arm, third joint motor, second joint motor, first joint motor and gripper, the rotation motor fixed locate in the base, the bottom fixed connection of the output shaft of rotation motor and big motor, the one end of elbow arm and the output shaft fixed connection of big motor, the other end of elbow arm fixed set up elbow joint motor, the one end of linking the arm and the output shaft of elbow joint motor, the other end and the third joint motor fixed connection of linking the arm, the output shaft and the second joint motor fixed connection of third joint motor, the output shaft and the first joint motor fixed connection of second joint motor, the output shaft and the gripper fixed connection of first joint motor.
Preferably, the controller comprises a first processing chip for identifying the two-dimensional code and a second processing chip for controlling the mechanical arm to move, the first processing chip is connected with the code scanning device, and the second processing chip is connected with the mechanical arm.
Preferably, sweep a yard device including first sweep a yard camera and second sweep a yard camera, first sweep a yard camera and second sweep a yard camera and be fixed in on the base, first sweep a yard camera and second sweep a yard camera and be connected with first processing chip respectively.
Preferably, the code scanning device further comprises a handheld code scanner, the controller further comprises a wireless connection module, and the handheld code scanner is connected with the first processing chip through the wireless connection module. When the two-dimensional code is not shot by the first code scanning camera and the second code scanning camera, the two-dimensional code of the object to be clamped is scanned by the handheld code scanning device, and corresponding position information of the object to be clamped is acquired.
Preferably, first scan code camera and second scan code camera be wide angle camera, specifically, first scan camera and second scan camera are fixed in the bottom both sides of base respectively, can carry out 360 degrees shootings around the arm, guarantee the integrality that the two-dimensional code acquireed.
Preferably, the gripper comprises a rotary joint, a gripper connecting piece, a clamping motor and a gripper clamp, the rotary joint is fixedly connected with an output shaft of the first joint motor, one end of the gripper connecting piece is fixedly connected with the rotary joint, the other end of the gripper connecting piece is fixedly connected with the gripper clamp, and the gripper connecting piece is internally provided with the clamping motor which drives the gripper clamp to clamp tightly.
Preferably, the mechanical arm further comprises a rolling bearing, an outer ring of the rolling bearing is fixedly connected with the top of the base, an inner ring of the rolling bearing is fixedly connected with an output shaft of the rotating motor, and the bearing structure can improve the smoothness of the rotation action of the mechanical arm base and the rotating motor, reduce the friction coefficient in the motion process and improve the rotation precision.
Preferably, the mechanical arm system further comprises a planet wheel transmission assembly, the planet wheel transmission assembly comprises a first planet wheel set and a second planet wheel set, the third joint motor drives the second joint motor to rotate through the first planet wheel set, the second joint motor drives the first joint motor to rotate through the second planet wheel set, and the transmission ratio of the motor can be improved by adopting the planet wheel transmission assembly.
The utility model discloses a control method of robotic arm system based on two-dimensional code recognition control includes following step:
s1: the first code scanning camera and the second code scanning camera shoot pictures in real time and transmit the pictures to the controller;
s2: the controller judges whether the two-dimensional code exists in the picture, if so, the step S4 is carried out, otherwise, the step S3 is carried out;
s3: the handheld code scanner scans the two-dimensional code and transmits the two-dimensional code to the controller, and the step S4 is carried out;
s4: the controller identifies and acquires position information of the object to be clamped, which is stored in the two-dimensional code, wherein the position information of the object to be clamped comprises the current position and the destination position of the object to be clamped;
s4: the controller judges whether the position of the object to be clamped and the position of the destination are both within the moving range of the mechanical arm, if so, the step S5 is carried out, otherwise, the clamping is finished;
s6: and the controller controls the mechanical arm to move to the position of the object to be clamped, clamps the object, and then moves to the destination position to finish clamping.
Compared with the prior art, the utility model has the advantages of as follows:
(1) the utility model realizes the position acquisition and mechanical arm control of the object to be clamped only by adopting the code scanning device and the controller, reduces the cost of the mechanical arm, controls the movement of the mechanical arm through two-dimension code recognition, and is convenient to use;
(2) the base of the mechanical arm of the utility model rotates with the assistance of the bearing, thereby reducing the friction coefficient in the motion process and improving the rotation precision;
(3) the second joint motor and the third joint motor of the mechanical arm of the utility model adopt the planet wheel transmission component for transmission, thereby improving the stability and the service life of the motors and realizing larger transmission ratio;
(4) the utility model discloses a sweep a yard device including sweeping a yard camera and handheld sign indicating number ware of sweeping, can utilize the difference to sweep a yard mode and control the arm during the use, improve the ease for use of system.
Drawings
Fig. 1 is a schematic structural view of the robot arm of the present invention;
FIG. 2 is a schematic side view of the robot arm of the present invention;
FIG. 3 is a schematic structural view of the gripper of the present invention;
fig. 4 is a schematic structural view of a planet wheel assembly of the elbow arm of the present invention;
FIG. 5 is a schematic view of the operation of the present invention in use;
FIG. 6 is a schematic view of the working principle of the present invention;
FIG. 7 is a flow chart of the operation method of the present invention;
the robot comprises a mechanical claw 1, a mechanical claw 2, a claw connecting piece 3, a rotary joint 4, a first joint motor 5, a second joint motor 6, a third joint motor 7, a connecting arm 8, an elbow joint motor 9, an elbow arm 10, a large motor 11, a rotary motor 12, a rolling bearing 13, a base 14, a first code scanning camera 15, a second code scanning camera 16, a clamping motor 17, a sun gear 18, a planetary gear 19, a gear ring 20, a mechanical arm 21, a to-be-clamped object 22, a controller 23, a first processing chip 24, a second processing chip 25 and a wireless connection module.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the following description of the embodiments is merely an example of the nature, and the present invention is not intended to limit the application or the use thereof, and the present invention is not limited to the following embodiments.
Example 1
The utility model provides a mechanical arm system based on two-dimensional code recognition control, includes arm 20, sweeps yard device and controller 22, and during the use, sweeps yard device and acquires the two-dimensional code image that stores the thing positional information that waits to press from both sides, and controller 22 discerns and waits to press from both sides thing positional information and control arm 20 and press from both sides thing 21 and press from both sides.
As shown in fig. 1 to 3, specifically, the robot arm 20 includes a rolling bearing 12, a base 13, a rotating motor 11, a large motor 10, an elbow arm 9, an elbow joint motor 8, a link arm 7, a third joint motor 6, a second joint motor 5, a first joint motor 4 and a gripper 1, the rotating motor 11 is fixedly disposed in the base 13, an output shaft of the rotating motor 11 is fixedly connected to a bottom of the large motor 10, one end of the elbow arm 9 is fixedly connected to an output shaft of the large motor 10, the other end of the elbow arm 9 is fixedly provided with the elbow joint motor 8, one end of the link arm 7 is connected to an output shaft of the elbow joint motor 8, the other end of the link arm 7 is fixedly connected to the third joint motor 6, an output shaft of the third joint motor 6 is fixedly connected to the second joint motor 5, an output shaft of the second joint motor 5 is fixedly connected to the first joint motor 4, an output shaft of the first joint motor 4 is fixedly connected to the gripper 1, the outer ring of the rolling bearing 12 is fixedly connected with the top of the base 13, the inner ring of the rolling bearing 12 is fixedly connected with the output shaft of the rotating motor 11, the smoothness of the rotation action of the mechanical arm base and the rotating motor is improved, the friction coefficient in the motion process is reduced, and the rotation precision is improved. The gripper 1 comprises a rotary joint 3, a gripper connecting piece 2, a clamping motor 16 and a gripper clamp, the rotary joint 3 is fixedly connected with an output shaft of a first joint motor 4, one end of the gripper connecting piece 2 is fixedly connected with the rotary joint 3, the other end of the gripper connecting piece is fixedly connected with the gripper clamp, and the gripper motor 16 for driving the gripper clamp to clamp is arranged in the gripper connecting piece 2.
As shown in fig. 6, the controller 22 includes a wireless connection module 25, a first processing chip 23, and a second processing chip 24, where the first processing chip 23 is used to identify a two-dimensional code, the second processing chip 24 is used to control the movement of the robot arm, the code scanning device is connected to the first processing chip 23, the second processing chip 24 is connected to the robot arm 20, in this embodiment, both the first processing chip 23 and the second processing chip employ an STM32 single chip, and the wireless connection module 25 is a ZigBee wireless connection module.
As shown in fig. 1 and fig. 2, the code scanning device includes a first code scanning camera 14, a second code scanning camera 15 and a handheld code scanner, the first code scanning camera 14 and the second code scanning camera 15 are fixed on the base 13, the first code scanning camera 14 and the second code scanning camera 15 are respectively connected with the first processing chip 23, the handheld code scanner is connected with the first processing chip 23 through the wireless connection module 25, specifically, the first code scanning camera 14 and the second code scanning camera 15 are both wide-angle cameras, the first code scanning camera 14 and the second code scanning camera 15 are arranged on the base relatively, the shooting range covers 360 degrees around the mechanical arm 20, and the integrity of two-dimensional code recognition is ensured.
As shown in fig. 5-7, the utility model discloses a control method of robotic arm system based on two-dimensional code recognition control includes following step:
s1: the first code scanning camera 14 and the second code scanning camera 15 take pictures in real time and transmit the pictures to the controller 22;
s2: the controller 22 determines whether there is a two-dimensional code in the photo, if so, the step S4 is performed, otherwise, the step S3 is performed;
s3: the handheld barcode scanner scans the two-dimensional code and transmits the two-dimensional code to the controller 22, and the process proceeds to step S4;
s4: the controller 22 identifies and acquires the position information of the object to be clipped 21 stored in the two-dimensional code, wherein the position information of the object to be clipped 21 comprises the current position and the destination position of the object to be clipped 21;
s4: the controller 22 determines whether the position of the object 21 to be gripped and the destination position are both within the moving range of the robot arm 20, if so, the process proceeds to step S5, otherwise, the gripping is ended;
s6: the controller 22 controls the robot arm 20 to move to the position of the object to be gripped 21, and to perform gripping, and then to move to the destination position, completing gripping.
Example 2
The difference between this embodiment and embodiment 1 is that, as shown in fig. 4, the robot arm system further includes a planetary gear transmission assembly, where the planetary gear transmission assembly includes a first planetary gear set and a second planetary gear set, the third joint motor 6 drives the second joint motor 5 to rotate through the first planetary gear set, and the second joint motor 5 drives the first joint motor 4 to rotate through the second planetary gear set. As shown in fig. 4, the first planetary gear set and the second planetary gear set each include a sun gear 17, a planetary gear 18 and a ring gear 19, the sun gear 17 drives the planetary gear 18 to rotate along the ring gear 19 in a meshed manner, a rotating shaft of the third joint motor 6 drives the sun gear 17 of the first planetary gear set to rotate, the planetary gear 18 of the first planetary gear set is rotatably connected with the second joint motor 5, and the third joint motor 6 drives the second joint motor 5 to rotate through the first planetary gear set; the rotating shaft of the second joint motor 5 drives the sun gear 17 of the second planetary gear set to rotate, the planetary gear 18 of the second planetary gear set is rotatably connected with the first joint motor 4, and the second joint motor 6 drives the first joint motor 4 to rotate through the second planetary gear set. The second joint motor 5 and the third joint motor 6 of the embodiment adopt the planet wheel transmission assembly, so that the stability of the motors can be improved, the service life of the motors can be prolonged, and a larger transmission ratio can be realized.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (8)
1. A mechanical arm system based on two-dimension code recognition control is used for clamping an object to be clamped (21) according to a two-dimension code storing position information of the object to be clamped, and is characterized by comprising a mechanical arm (20), a code scanning device and a controller (22), wherein the mechanical arm (20) and the code scanning device are respectively connected with the controller (22), the code scanning device acquires a two-dimension code image storing the position information of the object to be clamped, the controller (22) recognizes the position information of the object to be clamped and controls the mechanical arm (20) to clamp the object to be clamped (21),
the mechanical arm (20) comprises a base (13), a rotating motor (11), a large motor (10), an elbow arm (9), an elbow joint motor (8), a connecting arm (7), a third joint motor (6), a second joint motor (5), a first joint motor (4) and a mechanical claw (1), wherein the rotating motor (11) is fixedly arranged in the base (13), an output shaft of the rotating motor (11) is fixedly connected with the bottom of the large motor (10), one end of the elbow arm (9) is fixedly connected with an output shaft of the large motor (10), the other end of the elbow arm (9) is fixedly provided with the elbow joint motor (8), one end of the connecting arm (7) is connected with an output shaft of the elbow joint motor (8), the other end of the connecting arm (7) is fixedly connected with the third joint motor (6), and an output shaft of the third joint motor (6) is fixedly connected with the second joint motor (5), an output shaft of the second joint motor (5) is fixedly connected with the first joint motor (4), and an output shaft of the first joint motor (4) is fixedly connected with the mechanical claw (1).
2. The robot arm system based on two-dimensional code recognition control of claim 1, wherein the controller (22) comprises a first processing chip (23) for recognizing the two-dimensional code and a second processing chip (24) for controlling the movement of the robot arm, the first processing chip (23) is connected with the code scanning device, and the second processing chip (24) is connected with the robot arm (20).
3. The mechanical arm system based on two-dimensional code recognition control as claimed in claim 2, wherein the code scanning device comprises a first code scanning camera (14) and a second code scanning camera (15), the first code scanning camera (14) and the second code scanning camera (15) are fixed on the base (13), and the first code scanning camera (14) and the second code scanning camera (15) are respectively connected with the first processing chip (23).
4. The robot arm system based on two-dimensional code recognition control of claim 3, wherein the code scanning device further comprises a handheld code scanner, the controller (22) further comprises a wireless connection module (25), and the handheld code scanner is connected with the first processing chip (23) through the wireless connection module (25).
5. The mechanical arm system based on two-dimensional code recognition control as claimed in claim 3, wherein the first code scanning camera (14) and the second code scanning camera (15) are both wide-angle cameras.
6. The mechanical arm system based on two-dimensional code recognition control as claimed in claim 1, wherein the mechanical claw (1) comprises a rotary joint (3), a claw connecting piece (2), a clamping motor (16) and a mechanical claw clamp, the rotary joint (3) is fixedly connected with an output shaft of the first joint motor (4), one end of the claw connecting piece (2) is fixedly connected with the rotary joint (3), the other end of the claw connecting piece is fixedly connected with the mechanical claw clamp, and the clamping motor (16) for driving the mechanical claw clamp to clamp is arranged in the claw connecting piece (2).
7. The mechanical arm system based on two-dimensional code recognition control as claimed in claim 1, wherein the mechanical arm (20) further comprises a rolling bearing (12), an outer ring of the rolling bearing (12) is fixedly connected with the top of the base (13), and an inner ring of the rolling bearing (12) is fixedly connected with an output shaft of the rotating motor (11).
8. The mechanical arm system based on two-dimensional code recognition control as claimed in claim 1, wherein the mechanical arm system further comprises a planetary gear transmission assembly, the planetary gear transmission assembly comprises a first planetary gear set and a second planetary gear set, the third joint motor (6) drives the second joint motor (5) to rotate through the first planetary gear set, and the second joint motor (5) drives the first joint motor (4) to rotate through the second planetary gear set.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020360941.7U CN212193163U (en) | 2020-03-20 | 2020-03-20 | Mechanical arm system based on two-dimensional code recognition control |
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| CN202020360941.7U CN212193163U (en) | 2020-03-20 | 2020-03-20 | Mechanical arm system based on two-dimensional code recognition control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300427A (en) * | 2020-03-20 | 2020-06-19 | 上海电力大学 | Mechanical arm system based on two-dimensional code recognition control and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300427A (en) * | 2020-03-20 | 2020-06-19 | 上海电力大学 | Mechanical arm system based on two-dimensional code recognition control and control method thereof |
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