CN217626399U - Desktop-level cooperation mechanical arm workbench - Google Patents
Desktop-level cooperation mechanical arm workbench Download PDFInfo
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- CN217626399U CN217626399U CN202220102809.5U CN202220102809U CN217626399U CN 217626399 U CN217626399 U CN 217626399U CN 202220102809 U CN202220102809 U CN 202220102809U CN 217626399 U CN217626399 U CN 217626399U
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Abstract
The utility model discloses a desktop level cooperation arm workstation, include: an object placing area, a stacking area and an installation area are formed on the table top of the workbench; the binocular camera assembly comprises a support frame and binocular cameras, the support frame is installed in one of the installation areas, and the binocular cameras are arranged on the support frame; the mechanical arm comprises a six-degree-of-freedom mechanical arm, a clamping mechanism and a pressure sensor, the six-degree-of-freedom mechanical arm is arranged in the other mounting area, the output end of the six-degree-of-freedom mechanical arm is connected with the clamping mechanism, and the pressure sensor is electrically connected with the output end of the six-degree-of-freedom mechanical arm; the stacking table is arranged in the stacking area, and a groove and an extending ring surface are arranged on the surface of the stacking table; the upper computer is arranged on the workbench and is respectively and electrically connected with the binocular camera, the pressure sensor and the six-degree-of-freedom mechanical arm. Through this desktop level cooperation arm workstation can have the tapering material to the bottom and carry out more accurate location pile up neatly.
Description
Technical Field
The utility model relates to a mechanical arm technical field especially relates to a desktop level cooperation arm workstation.
Background
With the continuous development of mechanical arm technology and the improvement of the intelligent level of a robot, the mechanical arm is applied in various fields, and with the popularization of the application of the mechanical arm, a robot workbench convenient to deploy is also more and more important, one mechanical arm is a typical mechanical and electrical integration product, and a mechanical and electrical integration system mainly comprises five elements of a mechanical device, a power source, a sensor, an execution device and a controller.
However, most of the existing mechanical arms are pneumatic mechanical arms in the stacking process, and the existing mechanical arms are high in air compressibility, poor in working stability and difficult in speed control. Publication No. CN104555472A discloses a simple and easy arm hacking machine, and this arm hacking machine adopts diaxon control, when realizing the automatic pile up neatly of arm, though saved equipment cost, nevertheless its precision is low in the pile up neatly in-process for stability when the pile up neatly arm is difficult to effectively accomplish the goods pile up neatly when transport and pile up neatly goods, so cause the turnover phenomenon of goods easily.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need for a table-top cooperative robotic arm table that solves the above-mentioned problems of the prior art.
According to the utility model discloses an aspect provides a desktop level cooperation arm workstation for wait to press from both sides the material to having the tapering and carry out the pile up neatly, include:
the workbench is provided with a storage area, a stacking area and two mounting areas on the table top, and materials to be clamped are placed in the storage area;
the binocular camera assembly comprises a support frame and binocular cameras, the support frame is installed in one of the installation areas, and the binocular cameras are arranged on the support frame to identify materials to be clamped in the placement area;
the mechanical arm comprises a six-degree-of-freedom mechanical arm, a clamping mechanism and a pressure sensor, the six-degree-of-freedom mechanical arm is arranged in the installation area, the output end of the six-degree-of-freedom mechanical arm is connected with the clamping mechanism and controls the clamping mechanism to clamp materials, and the pressure sensor is electrically connected with the output end of the six-degree-of-freedom mechanical arm to sense the lower pressure degree of the clamping mechanism;
the stacking platform is arranged in the stacking area, a groove matched with a material to be clamped is formed in the surface of the stacking platform, and an extending ring surface which extends upwards in an inclined mode towards the top surface of the stacking platform is formed in the edge of the groove;
and the upper computer is arranged on the workbench and is electrically connected with the binocular camera, the pressure sensor and the six-degree-of-freedom mechanical arm respectively.
According to some embodiments, the clamping mechanism comprises a rotating arm, a telescopic assembly, two fixing rods, two hinged rods and two clamping plates, the rotating arm is connected with the output end of the six-degree-of-freedom mechanical arm, an installation cavity is formed in the rotating arm, the telescopic assembly is fixedly installed in the installation cavity, openings are formed in two opposite ends of the installation cavity respectively, the two fixing rods are correspondingly fixed at the two openings respectively, one ends of the two clamping plates are hinged to the two fixing rods respectively, one ends of the two hinged rods are arranged at intervals with the two fixing rods respectively and hinged to the two clamping plates, and the output end of the telescopic assembly is hinged to the other ends of the two hinged rods.
According to some embodiments, the rotating arm comprises a motor, a rotating shaft and an arm body, the motor is connected with the output end of the six-degree-of-freedom mechanical arm, the output end of the motor is connected with the rotating shaft, the rotating shaft is connected with the arm body, and the mounting cavity is located inside the arm body.
According to some embodiments, the support frame is a telescopic structure, and the binocular camera is rotatably connected with the support frame.
According to some embodiments, the device further comprises a display mounted on the support frame and electrically connected with the upper computer.
According to some embodiments, the display further comprises an input unit mounted on the display and electrically connected with the upper computer.
According to some embodiments, the material clamping device further comprises a carrying tray for placing materials to be clamped, and the carrying tray is installed in the material placing area.
According to some embodiments, the stacking device further comprises a limiting part arranged on the table top of the workbench, and the object carrying disc and the stacking table are both in sliding connection with the table top of the workbench through the limiting part.
According to some embodiments, the limiting parts are arranged in a plurality of numbers, the limiting parts are arranged on the table top of the workbench in parallel at intervals, the bottoms of the limiting parts are fixedly connected with the table top of the workbench, the bottom of the object carrying disc and the bottom of the stacking table are respectively provided with a limiting groove, and the limiting parts are in matched sliding connection with the limiting grooves.
According to some embodiments, the bottom of the table is provided with a plurality of casters, each of which is provided with a service brake.
Compared with the prior art, the beneficial effects of the utility model are as follows:
the arm carries out the pile up neatly in-process, the interior material that waits to press from both sides of two mesh camera discernment placing object district, the three-dimensional positional information who will wait to press from both sides the material is carried to the host computer, the fixture centre gripping of host computer control arm waits to press from both sides the material, and forward on the pile up neatly bench of pile up neatly region the material by six degree of freedom arms, when six degree of freedom arms placed the material to the pile up neatly bench, pressure sensor perception fixture's lower pressure degree, the lower pressure degree diminishes until fixture, when the material is located the extension anchor ring promptly, fixture pine puts the material, make the material fall into the recess in the same direction as extending the anchor ring, in order to carry out accurate pile up neatly with the material.
Drawings
In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly introduced, it is obvious that the drawings in the description below are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a table top-level cooperative mechanical arm workbench according to the present invention;
fig. 2 is a schematic partial structural view of a table top-level cooperative mechanical arm workbench provided by the present invention;
fig. 3 is the utility model provides a structural schematic diagram of a hacking table of desktop level cooperation arm workstation.
In the figure: the robot comprises a workbench 100, an object placing area 110, a stacking area 120, an installation area 130, a limiting member 140, an object carrying disc 150, a binocular camera assembly 200, a supporting frame 210, a binocular camera 220, a mechanical arm 300, a six-degree-of-freedom mechanical arm 310, a clamping mechanism 320, a rotating arm 321, a fixing rod 322, a hinge rod 323, a clamping plate 324, a stacking table 400, a groove 410, an extension ring surface 420, an upper computer 500 and a display 600.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Referring to fig. 1-3, the utility model provides a table top level cooperation mechanical arm workstation, can carry out more accurate location pile up neatly to the material that the bottom has the tapering through this table top level cooperation mechanical arm workstation, its concrete scheme as follows.
The table top level cooperative mechanical arm workbench comprises a workbench 100, a binocular camera 220 assembly 200, a mechanical arm 300, a stacking table 400 and an upper computer 500. An object placing area 110, a stacking area 120 and two mounting areas 130 are formed on the table top of the workbench 100, and materials to be clamped are placed in the object placing area 110. The binocular camera 220 assembly 200 includes a support frame 210 and a binocular camera 220, the support frame 210 is mounted in one of the mounting regions 130, and the binocular camera 220 is mounted on the support frame 210 to identify the material to be clamped in the storage region 110. The robot 300 includes a six-dof robot 310, a clamping mechanism 320, and a pressure sensor, the six-dof robot 310 is mounted in the other mounting region 130, an output end of the six-dof robot 310 is connected to the clamping mechanism 320, and the pressure sensor for controlling the clamping mechanism 320 to clamp the material is electrically connected to an output end of the six-dof robot 310 to sense a lower pressure of the clamping mechanism 320. The stacking platform 400 is arranged in the stacking area 120, a groove 410 matched with the materials to be clamped is formed in the surface of the stacking platform 400, and an extending annular surface 420 extending upwards in an inclined mode towards the top surface of the stacking platform 400 is formed in the edge of the groove 410. The upper computer 500 is installed on the worktable 100 and is electrically connected with the binocular camera 220, the pressure sensor and the six-degree-of-freedom robot arm 310, respectively.
It should be noted that, because the binocular camera 220 is located above the object to be clamped and has a height with the object to be clamped, the binocular camera 220 can shoot the object to be clamped in the object placing area 110, algorithms such as image recognition can be realized through the binocular camera 220, three-dimensional position information of the object to be clamped is sensed, and information such as visual depth is provided for the grabbing of the mechanical arm 300.
In the above scheme, in the process of stacking the mechanical arm 300, the binocular camera 220 identifies the materials to be clamped in the object placing region 110, three-dimensional position information of the materials to be clamped is conveyed to the upper computer 500, the clamping mechanism 320 of the mechanical arm 300 is controlled by the upper computer 500 to clamp the materials to be clamped, the materials are transferred to the stacking table 400 of the stacking region 120 through the six-degree-of-freedom mechanical arm 310, when the materials are placed on the stacking table 400 through the six-degree-of-freedom mechanical arm 310, the pressure sensor senses the lower pressure degree of the clamping mechanism 320 until the lower pressure degree of the clamping mechanism 320 is reduced, namely, the bottom of the materials with the taper is located on the extension ring surface 420, the materials are released through the clamping mechanism 320, the materials fall into the groove 410 along the extension ring surface 420, and the materials are accurately stacked.
As shown in fig. 2, the clamping mechanism 320 includes a rotating arm 321, a telescopic assembly (not shown in the figure), two fixing rods 322, two hinged rods 323, and two clamping plates 324, the rotating arm 321 is connected to an output end of the six-degree-of-freedom mechanical arm 310, an installation cavity is formed in the rotating arm 321, the telescopic assembly is fixedly installed in the installation cavity, two opposite ends of the installation cavity are respectively provided with an opening, the two fixing rods 322 are correspondingly fixed at the two openings, one end of each of the two clamping plates 324 is hinged to the corresponding fixing rod 322, one end of each of the two hinged rods 323 is spaced from the corresponding fixing rod 322 and hinged to the corresponding clamping plate 324, and an output end of the telescopic assembly is hinged to the other end of each of the two hinged rods 323. The telescopic assembly can be a cylinder, a hydraulic cylinder, an electric push rod or a mechanism assembly with a telescopic function.
Further, the rotating arm 321 includes a motor, a rotating shaft and an arm body, the motor is connected to the output end of the six-degree-of-freedom mechanical arm 310, the output end of the motor is connected to the rotating shaft, the rotating shaft is connected to the arm body, and the installation cavity is located inside the arm body.
According to some embodiments, in order to make the visual range of the binocular camera 220 adjustable, the position of the binocular camera 220 may be adjusted, preferably, the support frame 210 is a telescopic structure, the binocular camera 220 is rotatably connected with the support frame 210, and in particular, the binocular camera 220 is connected with the support frame 210 via a universal joint.
Further, the table top level cooperative mechanical arm workbench further comprises a display 600 and an input unit, the display 600 and the input unit are mounted on the support frame 210 and electrically connected with the upper computer 500, and the input unit is mounted on the display 600 and electrically connected with the upper computer 500. The display screen displays data information sensed by the pressure sensor and the binocular camera 220, a worker inputs a control signal through the input unit according to the data information to control the upper computer 500, and the mechanical arm 300 corresponding to the upper computer 500 is controlled to work.
According to some embodiments, the table top-level cooperative mechanical arm workbench further includes a carrier tray 150 for placing the material to be clamped and a plurality of stoppers 140, the carrier tray 150 is installed in the placing region 110, the stoppers 140 are disposed on the table top of the workbench 100, and both the carrier tray 150 and the pallet 400 are slidably connected to the table top of the workbench 100 through the stoppers 140. Wherein, the bottom of workstation 100 is equipped with a plurality of truckles, and the truckle all is equipped with the service brake for workstation 100 can freely shift the position.
Furthermore, a plurality of limiting members 140 are provided, the limiting members 140 are arranged on the table top of the workbench 100 in parallel and at intervals, the bottoms of the limiting members 140 are fixedly connected with the table top of the workbench 100, the bottoms of the object carrying disc 150 and the stacking table 400 are respectively provided with a limiting groove, and the limiting members 140 are in sliding connection with the limiting grooves in a matched manner, so that the object carrying disc 150 and the stacking table 400 slide on the table top of the workbench 100 through the limiting members 140.
From this, in the process of the mechanical arm 300 carrying out the pile up neatly, binocular camera 220 discerns the material of waiting to press from both sides in putting the thing region 110, will wait to press from both sides the three-dimensional positional information of material and carry to host computer 500, wait to press from both sides the material by the fixture 320 centre gripping of host computer 500 control mechanical arm 300, and pass on the pile up neatly platform 400 of pile up neatly region 120 with the material by six degrees of freedom arm 310, when six degrees of freedom arm 310 placed the material to pile up neatly platform 400, pressure sensor perception fixture 320's lower pressure degree, until fixture 320 lower pressure degree diminishes, the material has the tapered bottom to be located extension anchor ring 420, fixture 320 releases the material, make the material fall into recess 410 along extension anchor ring 420, in order to carry out accurate pile up neatly with the material.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Claims (10)
1. The utility model provides a desktop level cooperation arm workstation for to having the tapering wait to press from both sides the material and carry out the pile up neatly, its characterized in that includes:
the workbench is provided with a storage area, a stacking area and an installation area on the table top, and materials to be clamped are placed in the storage area;
the binocular camera assembly comprises a support frame and binocular cameras, the support frame is installed in one of the installation areas, and the binocular cameras are arranged on the support frame to identify materials to be clamped in the placement area;
the mechanical arm comprises a six-degree-of-freedom mechanical arm, a clamping mechanism and a pressure sensor, the six-degree-of-freedom mechanical arm is arranged in the other installation area, the output end of the six-degree-of-freedom mechanical arm is connected with the clamping mechanism and controls the clamping mechanism to clamp materials, and the pressure sensor is electrically connected with the output end of the six-degree-of-freedom mechanical arm to sense the lower pressure degree of the clamping mechanism;
the stacking platform is arranged in the stacking area, a groove matched with a material to be clamped is formed in the surface of the stacking platform, and an extending ring surface which extends upwards in an inclined mode towards the top surface of the stacking platform is formed in the edge of the groove;
and the upper computer is arranged on the workbench and is electrically connected with the binocular camera, the pressure sensor and the six-degree-of-freedom mechanical arm respectively.
2. A table-top-level collaborative robotic arm workstation according to claim 1,
the clamping mechanism comprises a rotating arm, a telescopic assembly, two fixing rods, two hinged rods and two clamping plates, wherein the rotating arm is connected with the output end of the six-degree-of-freedom mechanical arm, an installation cavity is formed in the rotating arm, the telescopic assembly is fixedly installed in the installation cavity, openings are formed in the two opposite ends of the installation cavity respectively, the fixing rods are correspondingly fixed at the two openings, the two ends of the clamping plates are hinged with the two fixing rods respectively, one end of each hinged rod is arranged at an interval with the two fixing rods respectively and hinged with the two clamping plates, and the output end of the telescopic assembly is hinged with the other end of each hinged rod.
3. The table-top cooperative arm work station of claim 2,
the rotating arm comprises a motor, a rotating shaft and an arm body, the motor is connected with the output end of the six-degree-of-freedom mechanical arm, the output end of the motor is connected with the rotating shaft, the rotating shaft is connected with the arm body, and the mounting cavity is located inside the arm body.
4. A table-top-level collaborative robotic arm workstation according to claim 1,
the support frame is retractable structure, the binocular camera with the support frame rotates to be connected.
5. A table-top-level collaborative robotic arm workstation according to claim 4,
the display is arranged on the support frame and electrically connected with the upper computer.
6. A table-top-level collaborative robotic arm workstation according to claim 5,
the display device further comprises an input unit which is arranged on the display and electrically connected with the upper computer.
7. A table-top-level collaborative robotic arm workstation according to claim 1,
the material clamping device is characterized by further comprising a carrying tray for placing materials to be clamped, wherein the carrying tray is installed in the material placing area.
8. The table-top cooperative arm work station of claim 7,
the stacking table is characterized by further comprising a limiting part arranged on the table top of the working table, and the carrying disc and the stacking table are both connected with the table top of the working table in a sliding mode through the limiting part.
9. A table-top-level collaborative robotic arm workstation according to claim 8,
the locating part is equipped with a plurality ofly, and is a plurality of locating part is parallel and the interval is located on the mesa of workstation, the bottom of locating part with the mesa fixed connection of workstation, carry the thing dish with the bottom of hacking platform is equallyd divide and is do not be equipped with the spacing groove, the locating part with spacing groove cooperation sliding connection.
10. A table-top-level collaborative robotic arm workstation according to claim 1,
the bottom of workstation is equipped with a plurality of truckles, the truckle all is equipped with the service brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220102809.5U CN217626399U (en) | 2022-01-14 | 2022-01-14 | Desktop-level cooperation mechanical arm workbench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220102809.5U CN217626399U (en) | 2022-01-14 | 2022-01-14 | Desktop-level cooperation mechanical arm workbench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217626399U true CN217626399U (en) | 2022-10-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220102809.5U Active CN217626399U (en) | 2022-01-14 | 2022-01-14 | Desktop-level cooperation mechanical arm workbench |
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| Country | Link |
|---|---|
| CN (1) | CN217626399U (en) |
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- 2022-01-14 CN CN202220102809.5U patent/CN217626399U/en active Active
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