CN216180571U

CN216180571U - Small-sized simulation manipulator and OCR electronic device

Info

Publication number: CN216180571U
Application number: CN202122735685.2U
Authority: CN
Inventors: 李敏; 王泽新; 马骏; 方言; 周小雪
Original assignee: Shanghai Aikesheng Information Technology Co ltd; Shanghai Hangen Intelligent Technology Co ltd; Shanghai Qianniao Information Technology Co ltd
Current assignee: Shanghai Aikesheng Information Technology Co ltd; Shanghai Hangen Intelligent Technology Co ltd; Shanghai Qianniao Information Technology Co ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-04-05
Anticipated expiration: 2031-11-08

Abstract

The utility model provides a small simulation manipulator and OCR electronic equipment, wherein the small simulation manipulator comprises a mechanical arm, a finger simulation mechanism, an arm rotating shaft and a lifting shaft, the finger simulation mechanism is connected with the lifting shaft, the lifting shaft is connected with the mechanical arm and can slide relative to the mechanical arm along the axial direction of the mechanical arm, and the arm rotating shaft is rotatably connected with the mechanical arm and is used for driving the mechanical arm to rotate in a vertical plane so as to drive the finger simulation mechanism to rotate. During specific operation, the finger simulation mechanism simulates hands to clamp an object to be processed and the like, and then the finger simulation mechanism is driven by the matching of the arm rotating shaft and the lifting shaft to move and rotate the object and the like, so that the automation degree is high, and the occupied space is small.

Description

Small-sized simulation manipulator and OCR electronic device

Technical Field

The utility model relates to the technical field of robots, in particular to a small simulation manipulator and OCR electronic equipment.

Background

With the rapid development of digitization, various fields urgently hope to acquire information from a traditional paper carrier and convert the information into a digital language usable by a computer, so that the digital application scenes are further enriched.

With the advent of the OCR (optical character recognition) technology, it is realized to acquire text and image information from carriers such as books and cards, but the work of sorting and copying physical materials such as a large number of books and cards makes the work of digital conversion very complicated.

At present, OCR image-text recognition electronic equipment uses a traditional mechanical automation mode to replace manual work to complete related operations, but has obvious defects: the operation of only providing single carrier (books or cards) can not be effectively matched with the adsorption mechanism to improve the automatic page turning or carrier moving capacity, the mechanical motion can not accurately control the output of force, and the carrier protection has hidden danger and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a small simulation manipulator and an OCR electronic device, which can simulate hands to operate different objects through the cooperation of a plurality of mechanisms, and have high automation degree and small occupied space.

In order to achieve the purpose, the utility model provides a small simulation manipulator which comprises a mechanical arm, a finger simulation mechanism, an arm rotating shaft and a lifting shaft, wherein the finger simulation mechanism is connected with the lifting shaft, the lifting shaft is connected with the mechanical arm and can slide relative to the mechanical arm along the axial direction of the mechanical arm, and the arm rotating shaft is rotatably connected with the mechanical arm and is used for driving the mechanical arm to rotate in a vertical plane so as to drive the finger simulation mechanism to rotate.

Optionally, small-size simulation manipulator still includes the wrist rotation axis, finger simulation mechanism passes through the wrist rotation axis with the lift hub connection, just finger simulation mechanism with the wrist rotation axis rotates and connects, the wrist rotation axis is used for driving finger simulation mechanism is at vertical in-plane rotation.

Optionally, the finger simulation mechanism rotates in a vertical plane by an angle not greater than 90 °.

Optionally, the mechanical arm rotates in a vertical plane by an angle of not more than 180 °.

Optionally, the small-size simulation manipulator still includes the horizontal migration axle, the horizontal migration axle set up in the below of arm and with the arm reaches the arm rotation axis is connected, the horizontal migration axle is used for driving arm and arm rotation axis remove along the horizontal direction.

Optionally, the small simulation manipulator further comprises an adsorption mechanism, the adsorption mechanism is arranged on the finger simulation mechanism, and when the finger simulation mechanism touches an object to be processed, the adsorption mechanism adsorbs the object.

Optionally, the adsorption mechanism is a vacuum chuck.

Optionally, the vacuum chuck is made of silica gel.

Optionally, a sensor is arranged on the finger simulation mechanism, and the sensor is used for detecting whether the finger simulation mechanism contacts with an object to be processed.

Based on the above, the utility model also provides an OCR electronic device, which comprises the small simulation manipulator.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the utility model and do not constitute any limitation to the scope of the utility model. Wherein:

fig. 1 is a schematic structural diagram of a small simulation manipulator provided in an embodiment of the present invention;

in the drawings:

1-a mechanical arm; 2-a finger simulation mechanism; 3-arm rotation axis; 4-a lifting shaft; 5-an adsorption mechanism; 6-wrist rotation axis; 7-horizontal movement axis.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this disclosure, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this disclosure, the term "plurality" is generally employed in its sense including "at least one" unless the content clearly dictates otherwise. As used in this disclosure, the term "at least two" is generally employed in a sense including "two or more" unless the content clearly dictates otherwise. Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or at least two of the features.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a small simulation manipulator according to an embodiment of the present invention. The embodiment of the utility model provides a small simulation manipulator which comprises a mechanical arm 1, a finger simulation mechanism 2, an arm rotating shaft 3 and a lifting shaft 4, wherein the finger simulation mechanism 2 is connected with the lifting shaft 4, the lifting shaft 4 is connected with the mechanical arm 1, the lifting shaft 4 can slide relative to the mechanical arm 1 along the axial direction of the mechanical arm 1, and the arm rotating shaft 3 is rotatably connected with the mechanical arm 1 and is used for driving the mechanical arm 1 to rotate in a vertical plane so as to drive the finger simulation mechanism 2 to rotate.

Specifically, in this embodiment, a page turning is taken as an example to describe the working mode of the small simulation manipulator.

The finger simulation mechanism 2 simulates a hand design and can be attached to a to-be-turned paper sheet of a book, the finger simulation mechanism 2 is connected with the lifting shaft 4, the lifting shaft 4 is connected with the mechanical arm 1, when the lifting shaft 4 slides relative to the mechanical arm 1 along the axial direction of the mechanical arm 1, the finger simulation mechanism 2 is driven to slide along the axial direction of the mechanical arm 1, meanwhile, the arm rotating shaft 3 drives the mechanical arm 1 to rotate in a vertical plane, and the finger simulation mechanism 2 rotates in the vertical plane. That is, when the pages are turned, the finger simulation mechanism 2 simultaneously performs a sliding motion in the axial direction of the robot arm 1 and a rotation motion in a vertical plane, so that the pages can be turned from the right end to the left end.

In order to ensure that the finger simulation mechanism 2 can be stably fixed on the paper sheet, in this embodiment, the small simulation manipulator further includes an adsorption mechanism 5, the adsorption mechanism 5 is disposed on the finger simulation mechanism 2, and when the finger simulation mechanism 5 touches the object (paper sheet) to be processed, the adsorption mechanism 5 adsorbs the object (paper sheet).

In this embodiment, the adsorption mechanism 5 is a vacuum chuck. For gently attracting the sheets of paper to facilitate removal of the sheets from the book. It should be understood that the suction force of the vacuum chuck can be adjusted according to the thickness of the paper sheet to prevent excessive paper sheets from being sucked at one time.

Preferably, the vacuum chuck is made of silica gel. The silica gel is soft in material, and can avoid damaging books.

Of course, according to the object to be processed, the adsorption mechanism 5 may be replaced by other auxiliary tools for different operation scenes, such as: the vision tool is used for detecting; the flexible tool is used for sorting; the tool tooling is used for machining and the like, and the application does not limit the tool tooling. Preferably, slide rails may be provided on the robot arm 1, for example, on both sides of the robot arm 1, and the lifting shaft 4 is connected to the robot arm 1 through the slide rails, so that the lifting shaft 4 can slide relative to the robot arm 1 along the axial direction of the robot arm 1.

With reference to fig. 1, the small-sized simulated manipulator further includes a wrist rotation shaft 6, the finger simulation mechanism 2 is connected to the lifting shaft 4 through the wrist rotation shaft 6, the finger simulation mechanism 2 is rotatably connected to the wrist rotation shaft 6, and the wrist rotation shaft 6 is used for driving the finger simulation mechanism 2 to rotate in a vertical plane. As the name implies, the wrist rotation axis 6 is designed to simulate a human wrist and can be rotated at a small angle with respect to the arm rotation axis 3. For example, when the number of the pages at the right end of the book is changed, if the number of the pages is less, the inclination angle of the finger simulation mechanism 2 needs to be finely adjusted, so that the finger simulation mechanism 2 can better adhere to the pages, the adsorption mechanism 5 adsorbs the pages, and the page turning operation is smoothly realized.

In this embodiment, the wrist rotation shaft 6 may be fixed to the lifting shaft 4, and the finger simulation mechanism 2 and the wrist rotation shaft 6 may be connected by a rotation shaft or a pin.

The finger simulator 2 is rotated in a vertical plane through an angle of not more than 90 °. In this embodiment, for the continuous page turning operation, the rotation angle of the finger simulation mechanism 2 in the vertical plane is not more than 5 °.

In this embodiment, the rotation angle of the mechanical arm 1 in the vertical plane is not more than 180 °. It should be understood that the arm rotation shaft 3 is designed to simulate an arm of a human, and is mainly used to realize the integral rotation of the mechanisms including the mechanical arm 1, the finger simulation mechanism 2, the lifting shaft 4 and the wrist rotation shaft 6, so as to realize the page turning operation, and therefore, the rotation angle is much larger than the rotation angle of the finger simulation mechanism 2 in a vertical plane.

With reference to fig. 1, the small-sized simulation manipulator further includes a horizontal moving shaft 7, the horizontal moving shaft 7 is disposed below the mechanical arm 1 and connected to the mechanical arm 1 and the arm rotating shaft 3, and the horizontal moving shaft 7 is configured to drive the mechanical arm 1 and the arm rotating shaft 3 to move in a horizontal direction, so as to drive the finger simulation mechanism 2 to move in the horizontal direction. It should be understood that, since the sizes of the sheets are different, the initial position of the finger simulation mechanism 2 needs to be adjusted before the sheet is sucked, so that the finger simulation mechanism 2 can smoothly fit the sheet. In this embodiment, the moving direction of the horizontal moving shaft 7 is the left-right direction shown in fig. 1.

In addition, it should be noted that the small-sized simulation manipulator provided by the embodiment is not only suitable for performing page turning operation on bound books, but also suitable for sorting physical materials such as loose-leaf cards. Specifically, when the loose-leaf cards are arranged, the angle of the finger simulation mechanism 2 can be adjusted, then the lifting shaft 4 drives the finger simulation mechanism 2 to descend to the surface of the card on the right side, the adsorption mechanism 5 adsorbs the card, then the lifting shaft 4 drives the finger simulation mechanism 2 to ascend to a proper height, and then the horizontal moving shaft 7 drives the mechanical arm 1 and the arm rotating shaft 3 to move leftwards so as to drive the finger simulation mechanism 2 to move leftwards, and then the lifting shaft 4 drives the finger simulation mechanism 2 to descend to the place of the card, so that the cards are arranged.

Preferably, a sensor is arranged on the finger simulation mechanism 2, and the sensor is used for detecting whether the finger simulation mechanism 2 contacts with an object to be processed. For example, when the sheet is not adsorbed by the adsorption mechanism 5 or fails to be adsorbed during the page turning process, the sheet returns to the original position, and the sensor sends a signal to reset the finger simulation mechanism 2 and adsorb the sheet again.

Preferably, the small simulation manipulator further comprises an industrial personal computer, and the industrial personal computer is electrically connected with the adsorption mechanism 5, the arm rotating shaft 3 and the driving part connected with the lifting shaft 4. The industrial personal computer is mainly used for setting the operation parameters of each mechanism according to the parameters such as the type of a carrier, the working mode, the size of paper and the like, and the automation of the arrangement and the leaf turning work of physical materials such as books or cards is realized. For example, the suction force of the suction mechanism 5 is adjusted according to the thickness of the paper, the rotation angle of the arm rotation shaft 3 is adjusted according to the thickness of the left and right books, and the movement of the horizontal movement shaft 7 is controlled according to the width of the paper.

Based on the above, the embodiment of the utility model further provides an OCR electronic device, which includes the small simulation manipulator.

To sum up, the embodiment of the utility model provides a small simulation manipulator and an OCR electronic device, the small simulation manipulator comprises a mechanical arm, a finger simulation mechanism, an arm rotating shaft and a lifting shaft, the finger simulation mechanism is connected with the lifting shaft, the lifting shaft is connected with the mechanical arm, the lifting shaft can slide relative to the mechanical arm along the axial direction of the mechanical arm, and the arm rotating shaft is rotatably connected with the mechanical arm and used for driving the mechanical arm to rotate in a vertical plane so as to drive the finger simulation mechanism to rotate. During specific operation, the finger simulation mechanism simulates hands to clamp an object to be processed and the like, and then the finger simulation mechanism is driven by the matching of the arm rotating shaft and the lifting shaft to move and rotate the object and the like, so that the automation degree is high, and the occupied space is small.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. The small simulation manipulator is characterized by comprising a mechanical arm, a finger simulation mechanism, an arm rotating shaft and a lifting shaft, wherein the finger simulation mechanism is connected with the lifting shaft, the lifting shaft is connected with the mechanical arm, the lifting shaft can be arranged along the axial direction of the mechanical arm to be opposite to the mechanical arm to slide, and the arm rotating shaft is connected with the mechanical arm in a rotating mode and used for driving the mechanical arm to rotate in a vertical plane, so that the finger simulation mechanism is driven to rotate.

2. The compact emulation manipulator of claim 1 further comprising a wrist rotation axis, wherein the finger simulation mechanism is coupled to the lift shaft via the wrist rotation axis, and wherein the finger simulation mechanism is rotatably coupled to the wrist rotation axis, and wherein the wrist rotation axis is configured to rotate the finger simulation mechanism in a vertical plane.

3. The miniature simulated manipulator of claim 2, wherein said finger simulation mechanism rotates in a vertical plane through an angle of no more than 90 °.

4. The compact mock manipulator according to any of claims 1 to 3, wherein said robotic arm rotates in a vertical plane through an angle not greater than 180 °.

5. The small-sized simulation manipulator according to claim 1, further comprising a horizontal movement shaft disposed below the robot arm and connected to the robot arm and the arm rotation shaft, the horizontal movement shaft being configured to move the robot arm and the arm rotation shaft in a horizontal direction.

6. The small-sized simulation manipulator according to claim 1, further comprising an adsorption mechanism provided on the finger simulation mechanism, the adsorption mechanism adsorbing the object to be processed when the finger simulation mechanism touches the object.

7. The robotic simulator of claim 6, wherein said suction mechanism is a vacuum chuck.

8. The small-sized simulation manipulator according to claim 7, wherein the vacuum chuck is made of silicon gel.

9. The compact emulation manipulator of claim 1 wherein said finger simulator mechanism has a sensor disposed thereon for detecting whether said finger simulator mechanism is in contact with an object to be treated.

10. An OCR electronic device comprising a compact simulated manipulator as claimed in any of claims 1-9.