WO2019007427A1 - 可视觉的机械手结构 - Google Patents
可视觉的机械手结构 Download PDFInfo
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- WO2019007427A1 WO2019007427A1 PCT/CN2018/094890 CN2018094890W WO2019007427A1 WO 2019007427 A1 WO2019007427 A1 WO 2019007427A1 CN 2018094890 W CN2018094890 W CN 2018094890W WO 2019007427 A1 WO2019007427 A1 WO 2019007427A1
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- camera
- operating system
- robot
- visual
- operation area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Definitions
- the invention relates to the technical field of a manipulator structure, in particular to a visual manipulator structure.
- the existing manipulator structure usually does not have a visual aid system.
- the position of the end of the arm and the corresponding environment are observed by the human eye.
- the robot "blindly" grasps the workpiece at a fast pace. In the production, the workpiece is slightly offset, it will catch empty, and even damage the workpiece.
- the existing robot cannot perform direct operation because the human eye cannot observe it, and a plurality of fixed cameras are built in the closed operation environment, which is not only inconvenient to switch the angle of view of the camera, but also high cost.
- an embodiment of the present invention provides a visual robot structure, the robot structure includes a robot arm and an operating system, and the robot structure further includes a camera connected to the operating system, A camera is mounted on the robot arm and disposed toward an operation area, the camera is configured to acquire an operation area image, and the operating system is configured to control the robot arm operation according to the operation area image.
- the end of the mechanical arm has an end surface facing the operation area and a mounting portion on the end surface, and the camera is disposed at the mounting portion.
- the number of the mounting portions is set to two, and the camera is detachably assembled at the mounting portion.
- the number of the cameras is set to two corresponding to the two mounting portions, and a camera with a suitable focal length can be selected according to requirements, for example, one of the cameras can be set to a telephoto The camera, the other camera can be set as a short focus camera.
- the mounting portion is provided as a groove formed on the end surface, and the camera is embedded in the groove.
- the robot structure further includes a light source module mounted on the mechanical arm and disposed toward the operation area, the light source module for illuminating the operation area.
- the light source module is connected to the operating system, and the operating system can control the light source module to be turned on or off.
- the camera is connected to the operating system through a transmission line, and the camera may transmit the operation area image to the operating system through the transmission line, and the operating system The operation area image is processed and the robot arm operation is controlled with reference to the processing result.
- the robot structure further includes a moving mechanism, a swinging mechanism and a rotating mechanism sequentially connected to the proximal end of the mechanical arm;
- the moving mechanism includes a first transmission seat that moves in a first direction; a proximal end of the swing mechanism is coupled to the first transmission seat and is swingable in a first plane that is perpendicular to the first direction; the rotation The mechanism is mounted at a distal end of the swinging mechanism and drives the mechanical arm to rotate about a rotating axis, the rotating shaft being perpendicular to the first direction.
- the beneficial effects of the present invention are as follows: by assembling and combining the camera on the robot arm, not only the camera can be used to acquire the image of the operation area, but then the control arm can accurately and accurately match the workpiece to ensure the structure of the robot can be accurately The work, and with the movement of the robot arm, the operating area of the camera is flexibly changed to obtain real-time images, further improving work efficiency and precision, reducing environmental layout costs and operator workload.
- FIG. 1 is a perspective view of a robot arm according to an embodiment of the present invention.
- FIG. 2 is a perspective view showing the structure of a manipulator according to an embodiment of the present invention.
- the robot structure is coupled to a console.
- the robot structure includes a robot arm 1 and an operating system.
- the robot arm 1 is movably located above the operation area, and the robot arm 1 grasps and sucks the workpiece placed in the operation area of the console under the control of the operating system. Handling, assembly, grinding, measuring, dismantling and other operations.
- the robot structure is configured as a visually configurable structure of the end visible operating area.
- the robot structure further includes a camera 3 connected to the operating system, and the camera 3 is mounted on the robot arm 1 and To the operation area setting (that is, to align the operation area), the camera 3 is used to acquire an operation area image, and the operating system is used to control the robot 1 operation according to the operation area image.
- the operating area of the camera 3 is flexibly changed to obtain real-time images, further improving work efficiency and accuracy, and reducing environmental layout costs and operator workload.
- the camera 3 is connected to the operating system through a transmission line, and after the camera 3 acquires the image of the operation area, the image of the operation area can be transmitted to the operating system through the transmission line.
- the “the operating system is used to control the robot 1 according to the operation area image” is specifically; after the operating system receives the image of the operation area transmitted by the camera 3, the operating system pairs
- the operation area image is processed (eg, analyzing the boundary of the workpiece, determining the geometric center of the workpiece, etc.), and controlling the operation of the robot arm 1 with reference to the processing result.
- the mechanical arm 1 is disposed at an end of the robot structure, and the end of the mechanical arm 1 has an end surface facing the operation area and a mounting portion 2 on the end surface, and the camera 3 is disposed at the mounting portion 2.
- the camera 3 By arranging the camera 3 on the end face of the end of the mechanical arm 1 facing the operation area, it is convenient for the camera 3 to be easily aligned with the operation area, and the camera 3 can accurately acquire the corresponding correspondence of the robot arm 1 regardless of how the mechanical arm 1 moves during the operation. The image of the operating area at the location.
- the mounting portion 2 is provided as a recess recessed inwardly on the end surface, and the camera 3 is fitted in the recess 2.
- the outer end surface of the camera 3 is flush with the end surface, thereby avoiding collision of the camera 3 with the workpiece and improving the appearance of the robot arm 1.
- the number of the mounting portions 2 is set to two, and the camera 3 is detachably assembled to the mounting portion 2, so that the operator can be easily adapted to actual needs (for example, the size of the workpiece, the area of the operating area, and the workpiece). Boundary shape, precision requirements, etc.), the appropriate camera is assembled in a targeted manner, and the maintenance and replacement of the camera can be facilitated.
- the number of cameras 3 is set to two corresponding to the two mounting portions 2, that is, one camera 3 is mounted at each mounting portion 2.
- the lithography further facilitates the operator to select a suitable camera according to actual needs, for example, one of the cameras 3 is configured as a telephoto camera for accurately imaging the workpiece in the operation area, and is convenient for identifying the detailed structure of the workpiece;
- the other camera 3 is set as a short-focus camera for obtaining a wider range of operating area images.
- the manipulator structure further includes a light source module 8.
- the light source module 8 is specifically configured as an LED light source, and the light source module 8 is disposed adjacent to the camera 3.
- the light source module 8 is mounted on the robot arm 1 Up and towards the operating area setting for illuminating to illuminate the operating area. In this way, by arranging the light source module 8 to illuminate the operation area, it is convenient for the image of the operation area acquired by the camera 3 to have sufficient contrast.
- the light source module 8 is connected to the operating system, and the operating system can control the light source module 8 to be turned on or off. In this way, when the contrast of the image of the operation area acquired by the camera 3 is insufficient due to the low brightness of the operating area, the operating system controls the light source module 8 to be turned on to increase the brightness of the operating area, thereby improving the operating area acquired by the camera 3. The contrast of the image.
- the manipulator structure further includes a horizontally arranged base 10, a moving mechanism, a swinging mechanism and a rotating mechanism, and the base 10, the moving mechanism, the swinging mechanism, the rotating mechanism, and the mechanical arm 1 are sequentially connected.
- the direction defined by the base 10 toward the end of the robot arm 1 is defined as "far”
- the direction from the end of the robot arm 1 to the base 10 is defined as "near”.
- the base 10, the moving mechanism, the swinging mechanism, the rotating mechanism, and the mechanical arm 1 are connected in sequence from near to far, that is, the base 10, the moving mechanism, the swinging mechanism, and the The rotating mechanism is sequentially connected to the proximal end of the robot arm 1.
- the moving mechanism includes a first transmission seat 12 and a first motor 11 that drives the first transmission base 12 to move in a first direction.
- the first motor 11 is fixed to one end of the base 10.
- the base 10 is provided with two shaft guiding rods 20 along the length thereof.
- the two shaft guiding rods 20 are parallel to the output shaft of the first motor 11, and the first transmission seat 12
- the set is placed in the shaft guide rod 20.
- the output end of the first motor 11 is screwed to a spindle nut (not shown) in the first transmission seat 12 via a lead screw 13. That is, the first direction in the present invention is configured as the longitudinal direction of the shaft guide rod 20.
- the first transmission seat 12 is horizontally movable along the length direction of the shaft guide rod 20 (ie, the first direction).
- the swing mechanism is proximally coupled to the first transmission seat 12 and is swingable in a first plane that is perpendicular to the first direction.
- the first transmission base 12 extends upwardly perpendicular to the first direction, and the first transmission base 12 is provided with a second electric motor 14;
- the swinging mechanism includes a second transmission seat 17, and the second transmission base 17 is near The end is connected to the distal end of the first transmission seat 12 via the second shaft 15; the output end of the second electric motor 14 is coupled to the second input gear 16 on the second transmission base 17 via a gear transmission mechanism.
- the second motor 14 drives the second transmission base 17 to swing about the second shaft 15 in a first plane perpendicular to the first direction (ie, the second transmission seat 17 is opposite to the second shaft 15) A transmission seat 12 is rotated).
- the swinging mechanism further includes a third transmission seat 22, the proximal end of the third transmission seat 22 is connected to the distal end of the second transmission seat 17 through the third shaft 18; the second transmission seat 17 is fixed There is a third motor 19, and the output end of the third motor 19 is coupled to the third input gear of the third transmission seat 22 via a gear transmission mechanism.
- the third motor 19 drives the third transmission 22 to oscillate about the third axis 18 in a first plane perpendicular to the first direction (ie, the third transmission 22 is opposite to the third axis 18)
- the second transmission seat 17 rotates).
- the second shaft 15 and the third shaft 18 are parallel and perpendicular to the shaft guide rod 20.
- the output shaft of the first motor 11, the output shaft of the second motor 14, and the output shaft of the third motor 19 are parallel to each other, which ensures that the entire structure has a small footprint and makes the working range of the entire robot arm large.
- the end faces of the first transmission seat 12, the second transmission base 17, and the third transmission base 22 are parallel to each other, ensuring that the range covered by the robot operation is sufficiently large.
- the rotating mechanism is mounted at a distal end of the swinging mechanism and drives the mechanical arm 1 to rotate about a rotating shaft of the fourth bearing 26, and the rotating shaft of the fourth bearing 26 is perpendicular to the first direction.
- the rotating mechanism includes a side convex mount 25 fixedly coupled to the distal end of the third transmission seat 22 and a fourth motor 23 disposed on the side convex mount 25; the output end of the fourth motor 23 is fixed to the mechanical The proximal end of the arm 1 and the fourth output of the fourth motor 23 and the proximal end of the robot arm 1 are connected in the fourth bearing 26.
- the fourth motor 23 drives the robot arm 1 to rotate about the rotation axis of the fourth bearing 26.
- the rotation axis of the fourth bearing 26 is coaxial with the output shaft of the fourth motor 23, and both are perpendicular to the first direction. That is, the fourth motor 23 allows the robot arm 1 to be swung around the central axis of the robot arm 1, thereby facilitating that the end face of the robot arm 1 faces the operation region.
- the working range of the entire robot arm 1 can be made large by the cooperation of the moving mechanism, the swinging mechanism, the rotating mechanism, and the robot arm 1.
- the mechanical arm 1 is further provided with a fifth motor 24, and the output end of the fifth motor 24 is arranged perpendicular to the longitudinal direction of the robot arm 1, that is, the output shaft of the fifth motor 24 is perpendicular to the output shaft of the fourth motor 23.
- the output shaft of the first motor 11, the output shaft of the second motor 14, and the output shaft of the third motor 19 are parallel to each other, such that the fifth motor 24 can be used to drive the angular positioning of the mechanical finger assembled to the distal end of the robot arm 1.
- the present invention controls the robot arm 1 to perform fine work by setting the manipulator structure to a five-axis manipulator.
- the robot structure further includes a first encoder connected to the first motor 11, a second encoder connected to the second motor 14, and a third encoder connected to the third motor 19. a fourth encoder connected to the fourth motor 23 and a fifth encoder connected to the fifth motor 24. That is, each of the above motors is equipped with an encoder, and each encoder is used to detect the rotation direction and the rotation angle of the gear mechanism of the corresponding motor, thereby ensuring accurate control.
- the manipulator structure of an embodiment of the present invention has the beneficial effects that: by assembling and combining the camera 3 on the robot arm 1, not only the image of the operation area can be acquired by the camera 3, but then the control arm 1 is accurately and accurately matched.
- the workpiece ensures that the structure of the robot can be accurately operated, and with the movement of the arm 1, the operating area of the camera 3 is flexibly changed, thereby obtaining real-time images, further improving work efficiency and precision, reducing environmental arrangement cost and operation of the operator. the amount.
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Abstract
一种可视觉的机械手结构，所述机械手结构包括机械臂（1）和操作系统，所述机械手结构还包括与所述操作系统相连接的摄像头（3），所述摄像头（3）安装于所述机械臂（1）上并朝向操作区域设置，所述摄像头（3）用于获取操作区域影像，所述操作系统用于根据所述操作区域影像控制所述机械臂作业。
Description
本申请要求了申请日为2017年07月07日，申请号为201710549433.6，发明名称为“一种末端可视操作区域的机械手结构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及机械手结构的技术领域，具体为一种可视觉的机械手结构。
现有的机械手结构，通常没有视觉辅助系统，在编程操作时，都是由人眼观察机械臂末端的位置和对应的环境，正常工作中机械手“盲目地”对工件进行抓取，在快节奏的生产中，工件稍有偏移，就会抓空，甚至是损坏工件。
例如，对于需要进行封闭环境操作的结构而言，由于人眼无法观察，故现有的机械手无法进行直接操作；而在封闭操作环境内内置若干固定的摄像头，不仅不便于切换摄像头的视角，而且成本高。
发明内容
本发明的目的在于提供一种可视觉的机械手结构，以解决现有技术中机械手末端不可视的问题。
为实现上述发明目的，本发明一实施例提供了一种可视觉的机械手结构，所述机械手结构包括机械臂和操作系统，所述机械手结构还包括与所述操作系统相连接的摄像头，所述摄像头安装于所述机械臂上并朝向操作区域设置，所述摄像头用于获取操作区域影像，所述操作系统用于根据所述操作区域影像控制所述机械臂作业。
作为本发明一实施例的进一步改进，所述机械臂末端具有朝向操作区域的端面以及位于所述端面上的安装部，所述摄像头设置于所述安装部处。
作为本发明一实施例的进一步改进，所述安装部的数目设置为两个，所述摄像头可拆卸地组装于所述安装部处。
作为本发明一实施例的进一步改进，所述摄像头的数目设置为与两个所述安装部相对应的两个，可根据需求选择合适焦距的摄像头，例如其一所述摄像头可以设置为长焦摄像头，另一所述摄像头可设置为短焦摄像头。
作为本发明一实施例的进一步改进，所述安装部设置为成形于所述端面上的凹槽，所述摄像头嵌装于所述凹槽内。
作为本发明一实施例的进一步改进，所述机械手结构还包括安装于所述机械臂上并朝向操作区域设置的光源模块，所述光源模块用于照亮所述操作区域。
作为本发明一实施例的进一步改进，所述光源模块连接所述操作系统，所述操作系统可控制所述光源模块打开或关闭。
作为本发明一实施例的进一步改进，所述摄像头通过传输线连接至所述操作系统，所述摄像头可通过所述传输线将所述操作区域影像传输至所述操作系统，所述操作系统对所述操作区域影像进行处理并参照处理结果控制所述机械臂作业。
作为本发明一实施例的进一步改进，所述机械手结构还包括于所述机械臂近端依次连接的移动机构、摆动机构和旋转机构；
所述移动机构包括沿第一方向移动的第一传动座；所述摆动机构的近端连接至所述第一传动座上并能够在与第一方向垂直的第一平面内摆动；所述旋转机构安装在所述摆动机构远端，并带动所述机械臂围绕一旋转轴旋转，所述旋转轴与所述第一方向垂直。
与现有技术相比，本发明的有益效果体现在：通过在机械臂上组装结合摄像头，不仅可以利用摄像头获取操作区域影像，而后控制机械臂准确精准地匹配工件，保证所述机械手结构可精准作业，而且随机械臂的运动，摄像头对准的操作区域灵活变换，从而获取实时影像，进一步提升作业效率和精准度，降低环境布置成本和操作人员工作量。
图1为本发明一实施例的机械臂的立体图；
图2为本发明一实施例的机械手结构的立体图。
以下将结合附图所示的实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构或功能上的变换均包含在本发明的保护范围内。
参图1至图2所示的本发明一实施例的机械手结构，所述机械手结构配合至操作台。所述机械手结构包括机械臂1和操作系统，机械臂1活动地位于操作区域上方，机械臂1在所述操作系统的控制下对放置在操作台的操作区域内的工件进行抓取、吸取、搬运、装配、打磨、测量、拆解等作业。
在本申请中，所述机械手结构设置为末端可视操作区域的可视觉结构，具体地，所述机械手结构还包括与所述操作系统相连接的摄像头3，摄像头3安装于机械臂1上并朝向操作区域设置(也即对准操作区域)，摄像头3用于获取操作区域影像，所述操作系统用于根据所述操作区域 影像控制机械臂1作业。这样，通过在机械臂1上组装结合摄像头3，不仅可以利用摄像头3获取操作区域影像，而后控制机械臂1准确精准地匹配工件，保证所述机械手结构可精准作业，而且随机械臂1的运动，摄像头3对准的操作区域灵活变换，从而获取实时影像，进一步提升作业效率和精准度，降低环境布置成本和操作人员工作量。
摄像头3通过传输线连接至所述操作系统，当摄像头3获取操作区域影像后，其可通过所述传输线将所述操作区域影像传输至所述操作系统。对应的，上述的“所述操作系统用于根据所述操作区域影像控制机械臂1作业”具体为；所述操作系统接收到摄像头3传输来的所述操作区域影像后，所述操作系统对所述操作区域影像进行处理(如分析工件的边界、确定工件的几何中心等)，并参照处理结果控制机械臂1作业。
进一步地，机械臂1设置于所述机械手结构的末端，机械臂1的末端具有朝向操作区域的端面以及位于所述端面上的安装部2，摄像头3设置于安装部2处。通过将摄像头3设置在机械臂1末端的朝向操作区域的端面上，便于摄像头3更易于对准操作区域，而且无论机械臂1在作业过程中如何运动，摄像头3都可准确获取机械臂1对应位置处的操作区域影像。
在本实施例中，安装部2设置为向内凹陷地成形于所述端面上的凹槽，摄像头3嵌装于凹槽2内。优选地，摄像头3外端面与所述端面相齐平，从而避免摄像头3与工件发生碰撞，并且提升机械臂1美观。
在机械臂1上，安装部2的数目设置为两个，摄像头3可拆卸地组装于安装部2处，这样，可便于操作人员根据实际需求(例如工件的尺寸、操作区域的面积、工件的边界形状、精度需求等)，有针对性地组装合适地摄像头，还可便于摄像头的维修和更换。
优选地，摄像头3的数量设置为与两个安装部2相对应的两个，也即每个安装部2处安装有一个摄像头3。这样，光刻进一步地便于操作人员根据实际需求选配合适的摄像头，例如：其中一个摄像头3设置为长焦摄像头，以用于对操作区域内的工件进行精准成像，便于识别工件的细节结构；其中另一摄像头3设置为短焦摄像头，以用于获得更大范围的操作区域影像。
进一步地，所述机械手结构还包括光源模块8，在本实施例中，光源模块8具体设置为LED光源，光源模块8靠近摄像头3布置，在本实施例中，光源模块8安装于机械臂1上并朝向操作区域设置，其用于发光以照亮所述操作区域。这样，通过设置光源模块8，照亮所述操作区域，从而便于摄像头3获取到的操作区域影像具有足够对比度。
光源模块8连接所述操作系统，所述操作系统可控制光源模块8打开或关闭。这样，当由于操作区域环境亮度低而导致摄像头3获取到的操作区域影像的对比度不足时，所述操作系统控制光源模块8打开，以提升操作区域环境亮度，进而提升摄像头3获取到的操作区域影像的对比度。
进一步地，所述机械手结构还包括卧式布置的底座10、移动机构、摆动机构和旋转机构，底座10、所述移动机构、所述摆动机构、所述旋转机构、机械臂1依次连接。为便于描述，本申请中，定义由底座10指向机械臂1末端的方向定义为“远”，相反的，由机械臂1末端指向底座10的方向定义为“近”。相应的，底座10、所述移动机构、所述摆动机构、所述旋转机构、机械臂1由近及远依次连接，也就是说，底座10、所述移动机构、所述摆动机构、所述旋转机构于机械臂1近端依次连接。
所述移动机构包括第一传动座12及驱动第一传动座12沿第一方向移动的第一电机11。具体地，第一电机11固设于底座10的一端，底座10沿其长度方向设置两根轴向导杆20，两根轴向导杆20平行于第一电机11的输出轴，第一传动座12套装于轴向导杆20内。第一电机11的输出端通过丝杆13螺纹连接第一传动座12内的丝杆螺母(未示出)。也就是说，本发明中的第一方向构造为轴向导杆20的长度方向。当第一电机11工作时，第一传动座12可沿轴向导杆20的长度方向(即为第一方向)水平移动。
所述摆动机构近端连接至第一传动座12上并能够在与第一方向垂直的第一平面内摆动。具体地，第一传动座12上垂直于所述第一方向向上延伸，第一传动座12上设置有第二电机14；所述摆动机构包括第二传动座17，第二传动座17的近端通过第二轴15连接至第一传动座12的远端；第二电机14的输出端通过齿轮传动机构连接第二传动座17上的第二输入齿轮16。当第二电机14工作时，第二电机14驱动第二传动座17绕第二轴15在与第一方向垂直的第一平面内摆动(也即第二传动座17绕第二轴15相对第一传动座12转动)。
在本实施例中，所述摆动机构还包括第三传动座22，第三传动座22的近端通过第三轴18连接至第二传动座17的远端；第二传动座17上固装有第三电机19，第三电机19的输出端通过齿轮传动机构连接第三传动座22的第三输入齿轮。当第三电机19工作时，第三电机19驱动第三传动座22绕第三轴18在与第一方向垂直的第一平面内摆动(也即第三传动座22绕第三轴18相对第二传动座17转动)。
其中，第二轴15和第三轴18相平行，且均垂直于轴向导杆20。第一电机11的输出轴、第二电机14的输出轴及第三电机19的输出轴相互平行，可以确保整个结构占地面积少，并使得整个机械臂的工作范围大。并且，第一传动座12、第二传动座17、第三传动座22的端面相互平行，确保机械手工作所覆盖的范围足够大。
所述旋转机构安装在所述摆动机构远端，并带动机械臂1围绕第四轴承26的旋转轴旋转，第四轴承26的旋转轴与第一方向垂直。具体地，所述旋转机构包括固定连接于第三传动座22远端的侧凸安装座25及设置在侧凸安装座25上的第四电机23；第四电机23的输出端固接至机 械臂1近端，第四电机23的第四输出端和机械臂1的近端于第四轴承26内实现连接。当第四电机23工作时，第四电机23驱动机械臂1围绕第四轴承26的旋转轴旋转。其中，第四轴承26的旋转轴与第四电机23的输出轴同轴设置，二者均与第一方向相垂直。也即，第四电机23使得机械臂1可绕机械臂1的中心轴回转，从而便于机械臂1的所述端面正对操作区域。
这样，本发明的机械手结构，通过所述移动机构、所述摆动机构、所述旋转机构及机械臂1的配合，可使得整个机械臂1的工作范围大。
另外，机械臂1上还设置有第五电机24，第五电机24的输出端垂直于机械臂1的长度方向布置，也即第五电机24的输出轴与第四电机23的输出轴相垂直，与第一电机11的输出轴、第二电机14的输出轴及第三电机19的输出轴相互平行，这样，第五电机24可用于驱动组装至机械臂1远端的机械手指进行角度定位。本发明通过设置机械手结构为五轴机械手，从而控制机械臂1完成精细作业。
进一步地，在本实施例中，所述机械手结构还包括与第一电机11连接的第一编码器、与第二电机14连接的第二编码器、与第三电机19连接的第三编码器、与第四电机23连接的第四编码器以及与第五电机24连接的第五编码器。也即，每个上述电机均配套有编码器，各编码器分别用于检测对应的电机上齿轮机构的转动方向和转动角度，从而确保控制精确。
与现有技术相比，本发明一实施例的机械手结构的有益效果在于：通过在机械臂1上组装结合摄像头3，不仅可以利用摄像头3获取操作区域影像，而后控制机械臂1准确精准地匹配工件，保证所述机械手结构可精准作业，而且随机械臂1的运动，摄像头3对准的操作区域灵活变换，从而获取实时影像，进一步提升作业效率和精准度，降低环境布置成本和操作人员工作量。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
Claims (10)
- 一种可视觉的机械手结构，所述机械手结构包括机械臂和操作系统，其特征在于，所述机械手结构还包括与所述操作系统相连接的摄像头，所述摄像头安装于所述机械臂上并朝向操作区域设置，所述摄像头用于获取操作区域影像，所述操作系统用于根据所述操作区域影像控制所述机械臂作业。
- 根据权利要求1所述的可视觉的机械手结构，其特征在于，所述机械臂末端具有朝向操作区域的端面以及位于所述端面上的安装部，所述摄像头设置于所述安装部处。
- 根据权利要求2所述的可视觉的机械手结构，其特征在于，所述安装部的数目设置为两个。
- 根据权利要求3所述的可视觉的机械手结构，其特征在于，所述摄像头可拆卸地组装于所述安装部处。
- 根据权利要求4所述的可视觉的机械手结构，其特征在于，所述摄像头的数目设置为与两个所述安装部相对应的两个，其一所述摄像头设置为长焦摄像头，另一所述摄像头设置为短焦摄像头。
- 根据权利要求2所述的可视觉的机械手结构，其特征在于，所述安装部设置为成形于所述端面上的凹槽，所述摄像头嵌装于所述凹槽内。
- 根据权利要求1所述的可视觉的机械手结构，其特征在于，所述机械手结构还包括安装于所述机械臂上并朝向操作区域设置的光源模块，所述光源模块用于照亮所述操作区域。
- 根据权利要求7所述的可视觉的机械手结构，其特征在于，所述光源模块连接所述操作系统，所述操作系统可控制所述光源模块打开或关闭。
- 根据权利要求1所述的可视觉的机械手结构，其特征在于，所述摄像头通过传输线连接至所述操作系统，所述摄像头可通过所述传输线将所述操作区域影像传输至所述操作系统，所述操作系统对所述操作区域影像进行处理并参照处理结果控制所述机械臂作业。
- 根据权利要求1所述的可视觉的机械手结构，其特征在于，所述机械手结构还包括于所述机械臂近端依次连接的移动机构、摆动机构和旋转机构；所述移动机构包括沿第一方向移动的第一传动座；所述摆动机构的近端连接至所述第一传动座上并能够在与第一方向垂直的第一平面内摆动；所述旋转机构安装在所述摆动机构远端，并带动所述机械臂围绕一旋转轴旋转，所述旋转轴与所述第一方向垂直。
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