CN214772154U

CN214772154U - Manipulator based on image recognition device

Info

Publication number: CN214772154U
Application number: CN202121087009.2U
Authority: CN
Inventors: 朱天顺; 丁黎明; 杨光明; 徐文利; 马相路; 廖能; 毛辉煌; 董宇辉
Original assignee: Radar Sergeant School Of Chinese People's Liberation Army Air Force Early Warning Academy
Current assignee: Radar Sergeant School Of Chinese People's Liberation Army Air Force Early Warning Academy
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-11-19
Anticipated expiration: 2031-05-20

Abstract

The utility model discloses a manipulator based on image recognition device, including PLA standard camera, revolving stage and two clamping jaws, the top of clamping jaw is provided with actuating mechanism, the inside of clamping jaw is provided with elastic mechanism, elastic mechanism includes splint, the equal fixedly connected with connecting rod in top and the bottom on splint right side, the one end that splint were kept away from to the connecting rod runs through the clamping jaw and extends to the inside of clamping jaw, the utility model relates to a mechanical equipment technical field. This manipulator based on image recognition device is provided with elastic mechanism through the inside of clamping jaw, and when actuating mechanism drive clamping jaw clamp got the product, the product caused pressure to splint, and splint move towards the clamping jaw direction, drive first movable rod and second movable rod and carry out relative movement, and the extrusion spring provides the elasticity clamping-force for splint under the effect of spring, and the dynamics was too big when avoiding splint direct action in the product, and leaded to the product to appear damaging, has improved product quality.

Description

Manipulator based on image recognition device

Technical Field

The utility model relates to a mechanical equipment technical field specifically is a manipulator based on image recognition device.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.

At present, the manipulator grabs the product through the drive mechanism drive clamping jaw, and the clamping jaw is when pressing from both sides tightly the product, and its centre gripping dynamics is wayward, causes the damage to the product surface easily when the dynamics is too big, reduces the quality of product.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a manipulator based on image recognition device has solved the clamping jaw and is pressing from both sides tightly the product when, and its centre gripping dynamics is wayward, causes the damage to the product surface easily when the dynamics is too big, reduces product quality's problem.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a manipulator based on image recognition device, includes PLA system camera, revolving stage and two clamping jaws, the top of clamping jaw is provided with actuating mechanism, the inside of clamping jaw is provided with elastic mechanism.

The elastic mechanism comprises a clamping plate, the top and the bottom of the right side of the clamping plate are both fixedly connected with a connecting rod, one end of the connecting rod, which is far away from the clamping plate, penetrates through the clamping jaw and extends into the clamping jaw, one end of the connecting rod, which extends into the clamping jaw, is rotatably connected with a first movable rod, and one end of the first movable rod far away from the connecting rod is rotationally connected with a second movable rod through a rotating piece, one end of the second movable rod far away from the rotating piece is rotationally connected with an installation rod, one end of the mounting rod far away from the second movable rod is fixedly connected with the right side of the inner wall of the clamping jaw, one side of the first movable rod opposite to the second movable rod is fixedly connected with a mounting block, a spring is fixedly connected between one sides of the two mounting blocks opposite to the surfaces, one side of the clamping plate far away from the clamping jaw is fixedly connected with a base plate, and an adsorption mechanism is arranged between the inside of the base plate and the inside of the clamping jaw.

Preferably, the adsorption mechanism comprises a small air pump, one side of the small air pump is fixedly connected with the right side of the inner wall of the clamping jaw through a supporting plate, and an air inlet of the small air pump is communicated with an air exhaust pipe.

Preferably, the one end that small-size air pump was kept away from to the exhaust tube runs through the clamping jaw and extends to the inside of splint, the bottom intercommunication of exhaust tube has the intake pipe, and the one end that the exhaust tube was kept away from to the intake pipe is linked together with the right side of clamping jaw.

Preferably, the seal groove has been seted up to the left side of splint, the middle part fixedly connected with sucking disc of backing plate, and the inside of sucking disc has seted up the suction hole, the sucking disc is located the dead ahead of seal groove.

Preferably, the one end that the exhaust tube extends to splint inside is linked together with the right side of seal groove, the equal fixedly connected with antiskid line in top and the bottom on backing plate surface.

Preferably, the top of revolving stage is connected with first arm through rotating the joint rotation, the left surface of first arm is connected with the second arm through rotating the joint rotation, and the surface of keeping away from first arm one end of second arm is connected with the wrist through rotating the joint rotation.

Preferably, one side of the wrist, which is far away from the second arm, is fixedly connected with the top of the driving mechanism, and the front side of the wrist is fixedly connected with the back side of the PLA system camera.

Advantageous effects

The utility model provides a manipulator based on image recognition device. Compared with the prior art, the method has the following beneficial effects:

(1) this manipulator based on image recognition device is provided with elastic mechanism through the inside of clamping jaw, and when actuating mechanism drive clamping jaw clamp got the product, the product caused pressure to splint, and splint move towards the clamping jaw direction, drive first movable rod and second movable rod and carry out relative movement, and the extrusion spring provides the elasticity clamping-force for splint under the effect of spring, and the dynamics was too big when avoiding splint direct action in the product, and leaded to the product to appear damaging, has improved product quality.

(2) This manipulator based on image recognition device is provided with adsorption apparatus structure between the inside through the inside of backing plate and the inside of clamping jaw, when splint provide elasticity clamping-force, starts small-size air pump, carries out the evacuation in the seal groove, makes the sucking disc adsorb the product through the suction hole, has further improved the stability of centre gripping, avoids the phenomenon that the landing appears in the centre gripping process.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

fig. 2 is a perspective view of the clamping jaw structure of the present invention;

FIG. 3 is an enlarged view of a portion of the substrate of FIG. 2;

fig. 4 is a cross-sectional view of the jaw structure of the present invention;

fig. 5 is a schematic block diagram of the system of the present invention.

In the figure: the device comprises a 1-PLA standard camera, a 2-rotating table, a 3-clamping jaw, a 4-driving mechanism, a 5-elastic mechanism, a 51-clamping plate, a 52-connecting rod, a 53-first movable rod, a 54-rotating part, a 55-second movable rod, a 56-mounting rod, a 57-mounting block, a 58-spring, a 59-adsorption mechanism, a 591-small air pump, a 592-air exhaust pipe, a 593-air inlet pipe, a 594-sealing groove, a 595-sucker, a 596-air suction hole, a 510-backing plate, 6-anti-skid patterns, a 7-first arm, a 8-second arm and a 9-wrist.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a manipulator based on an image recognition device comprises a PLA system camera 1, a rotary table 2 and two clamping jaws 3, wherein after a manipulator system is powered on, a configuration chip is used for configuring an FPGA at first, then a chip configuration module initializes the working mode of each chip, a gesture image is acquired by the PLA system camera 1, an analog signal is converted into a YUV4:2:2 format digital signal by a video decoding chip, the decoded acquisition clock frequency, the digital signal and a line/field synchronous reference signal are transmitted to the FPGA, after the FPGA receives the decoded signal, a frame of decoded image data is cached in a DDR2, after the FPGA stores one frame of image, the FPGA transmits a stop command to an image access module, and simultaneously transmits a start signal to a subsequent processing module, then the image processing module performs image preprocessing, skin color segmentation and a gesture recognition algorithm module calculates the centroid of the image in a fixed recognition area, the key point matches, recognises the gesture after the matching, and FPGA sends the result of discernment to Arduino control panel through the serial ports, and Arduino controller drive steering wheel, actuating mechanism 4 on this manipulator promptly makes the manipulator make corresponding action, and the top of clamping jaw 3 is provided with actuating mechanism 4, and actuating mechanism 4's concrete structure and theory of operation are the well-known content of prior art personnel, do not do the perplexing here, and the inside of clamping jaw 3 is provided with elastic mechanism 5.

The elastic mechanism 5 comprises a clamping plate 51, a connecting rod 52 is fixedly connected to the top and the bottom of the right side of the clamping plate 51, one end, far away from the clamping plate 51, of the connecting rod 52 penetrates through the clamping jaw 3 and extends into the clamping jaw 3, one end, extending into the clamping jaw 3, of the connecting rod 52 is rotatably connected with a first movable rod 53, one end, far away from the connecting rod 52, of the first movable rod 53 is rotatably connected with a second movable rod 55 through a rotating piece 54, one end, far away from the rotating piece 54, of the second movable rod 55 is rotatably connected with an installation rod 56, one end, far away from the second movable rod 55, of the installation rod 56 is fixedly connected with the right side of the inner wall of the clamping jaw 3, one sides, opposite to the first movable rod 53 and the second movable rod 55, are fixedly connected with installation blocks 57, a spring 58 is fixedly connected between one sides, opposite to the surfaces of the two installation blocks 57, an elastic clamping force is provided for the clamping plate under the action of the spring 58, and damage of the product caused by the direct action of the clamping plate is avoided, a backing plate 510 is fixedly connected to one side of the clamping plate 51 far away from the clamping jaw 3, and an adsorption mechanism 59 is arranged between the inside of the backing plate 510 and the inside of the clamping jaw 3.

The adsorption mechanism 59 comprises a small air pump 591, the type of the small air pump 591 is matched with the specific size of the device, the small air pump 591 is controlled by an external control mechanism and is connected with an external power supply through a lead, one side of the small air pump 591 is fixedly connected with the right side of the inner wall of the clamping jaw 3 through a supporting plate, an air inlet of the small air pump 591 is communicated with an air exhaust tube 592, one end of the air exhaust tube 592 far away from the small air pump 591 penetrates through the clamping jaw 3 and extends into the clamping plate 51, the bottom of the air exhaust tube 592 is communicated with an air inlet tube 593, the inner wall of the air inlet tube 593 is provided with an electromagnetic valve which is controlled by the external control mechanism, air is introduced through the air inlet tube 593, air is input into a sealing groove 594 again, the sucking disc 595 is conveniently separated from a product, one end of the air inlet tube 593 far away from the air exhaust tube 592 is communicated with the right side of the clamping jaw 3, the left side of the clamping plate 51 is provided with a sealing groove 594, the middle part of the cushion plate 510 is fixedly connected with the sucking disc 595, and suction opening 596 has been seted up to the inside of sucking disc 595, and suction opening 596 is provided with a plurality ofly, and sucking disc 595 is located the dead ahead of seal groove 594, and adsorption mechanism 59 has further improved the stability of centre gripping, avoids the phenomenon that the landing appears in the clamping process.

The exhaust tube 592 extends to the inside one end of splint 51 and is linked together with the right side of seal groove 594, the top on backing plate 510 surface is connected with anti-skidding line 6 with the equal fixedly connected with in bottom, anti-skidding line 6 has increased and the product between frictional force, the centre gripping is more stable, the top of revolving stage 2 is connected with first arm 7 through rotating the joint rotation, the left surface of first arm 7 is connected with second arm 8 through rotating the joint rotation, and the surface of keeping away from first arm 7 one end of second arm 8 is connected with wrist 9 through rotating the joint rotation, one side that second arm 8 is kept away from to wrist 9 and the top fixed connection of actuating mechanism 4, the front of wrist 9 and the back fixed connection of PLA standard camera 1, it all is the same with prior art or can adopt prior art to describe the part not to describe in the device again, do not here.

When the clamping device is used, when the clamping jaw 3 is driven by the driving mechanism 4 to clamp a product, the two clamping plates 51 are in contact with the product, the clamping plates 51 are under a certain pressure, the connecting rod 52 is extruded backwards, the connecting rod 52 extrudes the first movable rod 53, the first movable rod 53 and the second movable rod 55 move relatively, the spring 58 is extruded, the clamping plates 51 are driven under the reaction force of the spring 58 to clamp the product, the elastic clamping force is provided for the clamping plates 51 under the action of the spring 58, the phenomenon that the clamping plates 51 are damaged due to overlarge force when directly acting on the product is avoided, meanwhile, the friction force between the clamping plates and the product is increased by the anti-skidding threads 6 on the base plate 510, the clamping is more stable, meanwhile, the small air pump 591 is started, the sealing groove 594 is vacuumized through the exhaust pipe 592, the product is adsorbed by the sucker 595 through the air suction hole 596, and the stability of the clamping is further improved, similarly, when the suction cup 595 is separated from the product, the electromagnetic valve of the air inlet pipe is opened, and air is input into the sealing groove 594 again through the air inlet pipe 593 and the air exhaust pipe 592.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a manipulator based on image recognition device, includes PLA standard camera (1), revolving stage (2) and two clamping jaws (3), its characterized in that: the top of the clamping jaw (3) is provided with a driving mechanism (4), and an elastic mechanism (5) is arranged inside the clamping jaw (3);

the elastic mechanism (5) comprises a clamping plate (51), a connecting rod (52) is fixedly connected to the top and the bottom on the right side of the clamping plate (51), one end, far away from the clamping plate (51), of the connecting rod (52) penetrates through the clamping jaw (3) and extends to the inside of the clamping jaw (3), one end, extending to the inside of the clamping jaw (3), of the connecting rod (52) is rotatably connected with a first movable rod (53), one end, far away from the connecting rod (52), of the first movable rod (53) is rotatably connected with a second movable rod (55) through a rotating piece (54), one end, far away from the rotating piece (54), of the second movable rod (55) is rotatably connected with an installation rod (56), one end, far away from the second movable rod (55), of the installation rod (56) is fixedly connected with the right side of the inner wall of the clamping jaw (3), and an installation block (57) is fixedly connected to one side, opposite to the first movable rod (53) and the second movable rod (55), two fixedly connected with spring (58) between the relative one side in installation piece (57) surface, splint (51) keep away from one side fixedly connected with backing plate (510) of clamping jaw (3), be provided with adsorption apparatus (59) between the inside of backing plate (510) and the inside of clamping jaw (3).

2. The manipulator based on the image recognition device of claim 1, characterized in that: the adsorption mechanism (59) comprises a small air pump (591), one side of the small air pump (591) is fixedly connected with the right side of the inner wall of the clamping jaw (3) through a supporting plate, and an air inlet of the small air pump (591) is communicated with an air exhaust pipe (592).

3. The manipulator based on the image recognition device according to claim 2, characterized in that: one end, far away from the small-size air pump (591), of the air suction pipe (592) penetrates through the clamping jaw (3) and extends to the interior of the clamping plate (51), the bottom of the air suction pipe (592) is communicated with an air inlet pipe (593), and one end, far away from the air suction pipe (592), of the air inlet pipe (593) is communicated with the right side of the clamping jaw (3).

4. The manipulator based on the image recognition device according to claim 2, characterized in that: seal groove (594) have been seted up to the left side of splint (51), middle part fixedly connected with sucking disc (595) of backing plate (510), and sucking hole (596) have been seted up to the inside of sucking disc (595), sucking disc (595) are located the dead ahead of seal groove (594).

5. The manipulator based on the image recognition device according to claim 4, wherein: the one end that exhaust tube (592) extended to splint (51) inside is linked together with the right side of seal groove (594), the top and the equal fixedly connected with on bottom on backing plate (510) surface antiskid line (6).

6. The manipulator based on the image recognition device of claim 1, characterized in that: the top of revolving stage (2) is connected with first arm (7) through rotating the joint rotation, the left surface of first arm (7) is connected with second arm (8) through rotating the joint rotation, and the surface of keeping away from first arm (7) one end of second arm (8) is connected with wrist (9) through rotating the joint rotation.

7. The manipulator based on the image recognition device of claim 6, wherein: one side of the wrist (9) far away from the second arm (8) is fixedly connected with the top of the driving mechanism (4), and the front side of the wrist (9) is fixedly connected with the back side of the PLA system camera (1).