CN105184813B - A kind of moving object two dimension trajectory track mechanism - Google Patents
A kind of moving object two dimension trajectory track mechanism Download PDFInfo
- Publication number
- CN105184813B CN105184813B CN201510433391.0A CN201510433391A CN105184813B CN 105184813 B CN105184813 B CN 105184813B CN 201510433391 A CN201510433391 A CN 201510433391A CN 105184813 B CN105184813 B CN 105184813B
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- Prior art keywords
- rack
- point infrared
- harvester
- moving object
- robot device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
Abstract
The invention discloses a kind of moving object two dimension trajectory track mechanism, including：Rack, Multi-point infrared harvester, robot device and driving device, wherein, Multi-point infrared harvester is movably disposed at below machine frame inside, for capturing the movement locus of moving object；Robot device is fixed in rack, and is liftably located at the top of Multi-point infrared harvester, for object to be compressed on Multi-point infrared harvester；Driving device is fixed in rack, and for driving manipulator device, the present invention is easy to operate, and capture track is more accurate, working efficiency higher.
Description
Technical field
The present invention relates to a kind of moving object two dimension trajectory track mechanisms.
Background technology
The research of moving object two dimension track is mainly used in product layout optimization field.The theory of product layout optimization is
Through being widely used in the production and people’s lives of enterprise, in industrial machinery production field, rational deployment design can subtract
Cost is manufactured less, performance is improved, reduces transportation cost etc., and in physical construction planning field, rational layout can be with Economization on land
Resource reduces municipal pollution.
In the prior art, with mechanics in physics and kinematic principle and product layout optimization method, it is thus proposed that
Convex hull+rubber band intends ratio method, and this method is widely used in product layout design, and has developed simulation system and experiment
Platform.But it is all to capture movement locus using high-speed camera instrument that convex hull+rubber band, which intends most of ratio method, then using people
Work captures strokes and dots trajectory diagram, and the trajectory diagram error manually drawn is larger, and efficiency is low.
Invention content
It it is an object of the invention to be directed to drawbacks described above of the prior art, provides a kind of easy to operate, captures track more
Accurately, the higher moving object two dimension trajectory track mechanism of working efficiency.
For achieving the above object, present invention employs following technical solutions：A kind of moving object two dimension trajectory track
Mechanism, including：Rack, Multi-point infrared harvester, robot device and driving device, wherein, Multi-point infrared acquisition dress
It puts and is movably disposed at below machine frame inside, for capturing the movement locus of moving object；Robot device is fixed at
In rack, and liftably it is located at the top of Multi-point infrared harvester, for object to be compressed on Multi-point infrared acquisition dress
It puts；Driving device is fixed in rack, for driving manipulator device.
In addition, the present invention also provides following attached technical schemes：
The both sides of the rack set a vertical connecting plate respectively, this is mutual to connecting plate and the robot device
It is fixedly connected.
The Multi-point infrared harvester includes Multi-point infrared collector and supports the support of the Multi-point infrared collector
Frame.
The robot device includes being mutually permanently connected with the rack, and can carry out two roller bearings of elevating movement
Screw, two clamp jigs for connecting roller bearing screw and pressing plate, is consolidated the pressing plate right over the Multi-point infrared harvester
Multiple compression bars of the Dingan County below the pressing plate, the multiple bolsters for being respectively and fixedly installed to compression bar lower end.
The driving device includes shaft coupling, servo motor and servo controller, and the robot device passes through shaft coupling
Device is connected with each other with servo motor, and servo controller can control servo motor to drive the robot device by setting speed.
Compared with the prior art, advantage of the invention is that：A kind of moving object two dimension trajectory track mechanism is disclosed, it should
The methods of mechanism is easy to operate, and integrated use physics, artificial intelligence, Optimal Design of Mechanical Structure principle and PLC program design,
So that capture track it is more accurate, solve traditional hand design track caused by error problem, improve work efficiency, and increase
Research direction, can be under the premise of ensure product performance requirements, and the compression that pass through space obtains optimal product layout.
Description of the drawings
Fig. 1 is the structure diagram of the moving object two dimension trajectory track mechanism of the present invention.
Fig. 2 is the structure diagram of rack in Fig. 1.
Fig. 3 is the structure diagram of Multi-point infrared harvester in Fig. 1.
Fig. 4 is the structure diagram of robot device in Fig. 1.
Fig. 5 is the structure diagram of driving device and roller bearing screw in Fig. 1.
Reference numeral：1- racks, 2- supporting racks, 3- Multi-point infrared collectors, 4- moving objects, 5- pressing plates, 6- roller bearing silks
Bar, 7- clamp jigs, 8- compression bars, 9- bolsters, 10- shaft couplings, 11- servo motors, 20- connecting plates.
Specific embodiment
Technical solution of the present invention is further non-limitingly described in detail below in conjunction with preferred embodiment and its attached drawing.
With reference to Fig. 1, shown is moving object two dimension trajectory track mechanism, which is mainly used for tracing movement object
4 two-dimentional track, and carry out product layout optimization.By diagram it is found that the mechanism of the present invention includes rack 1, Multi-point infrared acquires
Device, robot device and driving device, wherein, Multi-point infrared harvester is movably disposed at subordinate in rack 1
Side, for capturing the movement locus of moving object 4；Robot device is fixed in rack 1, and is liftably to be located at
The top of Multi-point infrared harvester, for object to be compressed on Multi-point infrared harvester；Driving device is fixed at
In rack 1, elevating movement occurs for driving manipulator device.
With reference to Fig. 2, rack 1 is in symmetrical structure, is synthesized by side is logical with alloy sheets welding, the both sides of rack 1 set one respectively
The vertical connecting plate 20 of root, this is mutually permanently connected to connecting plate 20 with robot device.Precision, two companies are detected to improve
Fishplate bar 20 must ensure vertical with absolute 90 ° of horizontal plane holding.
With reference to Fig. 3, Multi-point infrared harvester includes Multi-point infrared collector 3 and supports the Multi-point infrared collector 3
Supporting rack 2, Multi-point infrared collector 3 can capture multiple objects movement locus, while can export data simultaneously
It does and analyzes in next step.
With reference to Fig. 4, robot device include two roller bearing screws 6,5, two clamp jigs 7 of pressing plate, multiple compression bars 8, with
And multiple bolsters 9, specifically, connecting plate of two roller bearing screws 6 respectively with 1 both sides of rack is mutually permanently connected, and pressing plate 5 is in
The surface of Multi-point infrared collector 3 is horizontally located at, two roller bearing screws 6 are mutually solid by clamp jig 7 and pressing plate 5 respectively
Fixed connection, and elevating movement can occur with dynamic pressure plate 5, multiple compression bars 8 are fixedly mounted on the lower end of pressing plate 5, and bolster 9 is fixed
Mounted on the lower section of compression bar 8, with pressing plate 5 elevating movement can occur for compression bar 8 and bolster 9.It installs and buffers in the lower end of compression bar 8
Part 9 is conducive to be avoided when suppressing object block because of hard collision damage Multi-point infrared collector 3.
With reference to Fig. 5, driving device includes two shaft couplings, 10, two servo motors 11 and servo controller (is schemed not
Show), two roller bearing screws 6 of robot device are connected with each other respectively by two shaft couplings 10 and two servo motors 11, are watched
Controller is taken as single-chip computer control system, the design that is synchronized with the movement is played to two servo motors 11 so that two roller bearing screws 6 are same
Step lifting ensures that pressing plate 5 keeps horizontality in lifting process.
The detectable substance block of the present invention is selected as nylon object block, and the work process of the mechanism is substantially：First make rubber band in iron hook
Under the action of stretch sufficiently large space, then the nylon object block that will be studied be placed on rubber band stretching space in；Start driving
Device, driving device driving roller bearing screw 6 decline, and roller bearing screw 6 declines with dynamic pressure plate 5, compression bar 8 and bolster 9；Work as bolster
9 will decontrol iron hook after the compacting of nylon object block makes rubber band all embrace nylon object block, since nylon object block is in the compacting of bolster 9
Under it is stationary, after the defined time, driving device driving roller bearing screw 6 rises, and roller bearing screw 6 can be according to the program of setting
Rise specified altitude assignment, at this moment nylon object block is drawn close under the pulling force of rubber band to centre, and Multi-point infrared collector 3 can be with catch
Block movement path exports data and is studied later.When detectable substance block is other object blocks, detection process is similar to the above.
It is integrated use physics, artificial in conclusion the moving object two dimension trajectory track mechanism of the present invention is easy to operate
The methods of intelligence, Optimal Design of Mechanical Structure principle and PLC program design so that capture track is more accurate, solves traditional hand
Error problem caused by track is painted, is improved work efficiency, and increases research direction, can ensure product properties
Under the premise of it is required that, optimal product layout is obtained by the compression in space.
It is pointed out that the technical concepts and features of above-mentioned preferred embodiment only to illustrate the invention, its object is to
It allows person skilled in the art that can understand present disclosure and implements according to this, the protection of the present invention can not be limited with this
Range.Any equivalent change or modification in accordance with the spirit of the invention should be covered by the protection scope of the present invention.
Claims (2)
1. a kind of moving object two dimension trajectory track mechanism, it is characterised in that it includes：Rack, Multi-point infrared harvester, machine
Tool arm device and driving device, wherein,
Multi-point infrared harvester is movably disposed at below machine frame inside, for capturing the movement locus of moving object；It should
Multi-point infrared harvester includes Multi-point infrared collector and supports the supporting rack of the Multi-point infrared collector；
Robot device is fixed in rack, and is liftably located at the top of Multi-point infrared harvester, for inciting somebody to action
Object is compressed on Multi-point infrared harvester；The robot device includes being mutually permanently connected with rack, and can be risen
Two roller bearing screws, the pressing plate right over the Multi-point infrared harvester, connection roller bearing screw and the pressing plate of movement drop
Two clamp jigs, multiple compression bars for being fixedly mounted below pressing plate and be respectively and fixedly installed to the multiple of compression bar lower end
Bolster；
Driving device is fixed in rack, for driving manipulator device；The driving device includes shaft coupling, servo electricity
Machine and servo controller, the robot device are connected with each other by shaft coupling and servo motor, and servo controller can control
Servo motor drives the robot device by setting speed.
2. moving object two dimension trajectory track mechanism according to claim 1, which is characterized in that the both sides of the rack point
Not She Zhi a vertical connecting plate, this is mutually permanently connected to connecting plate and the robot device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510433391.0A CN105184813B (en) | 2015-07-22 | 2015-07-22 | A kind of moving object two dimension trajectory track mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510433391.0A CN105184813B (en) | 2015-07-22 | 2015-07-22 | A kind of moving object two dimension trajectory track mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN105184813A CN105184813A (en) | 2015-12-23 |
| CN105184813B true CN105184813B (en) | 2018-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510433391.0A Active CN105184813B (en) | 2015-07-22 | 2015-07-22 | A kind of moving object two dimension trajectory track mechanism |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538598A (en) * | 2011-12-30 | 2012-07-04 | 洛阳理工学院 | Movement simulation system for infrared targets |
| CN104679000A (en) * | 2015-01-09 | 2015-06-03 | 中国科学院合肥物质科学研究院 | Indoor simulation testing device and testing method for target object sensing capability of mobile robot |
| CN104772286A (en) * | 2015-03-19 | 2015-07-15 | 浙江工业大学 | Kinect based novel sorting system and operation method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2937854B1 (en) * | 2008-10-31 | 2010-12-03 | Aripa Services Innovations Ind | DEVICE FOR POSITIONING A PATIENT IN RELATION TO RADIATION. |
-
2015
- 2015-07-22 CN CN201510433391.0A patent/CN105184813B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538598A (en) * | 2011-12-30 | 2012-07-04 | 洛阳理工学院 | Movement simulation system for infrared targets |
| CN104679000A (en) * | 2015-01-09 | 2015-06-03 | 中国科学院合肥物质科学研究院 | Indoor simulation testing device and testing method for target object sensing capability of mobile robot |
| CN104772286A (en) * | 2015-03-19 | 2015-07-15 | 浙江工业大学 | Kinect based novel sorting system and operation method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 凸壳+橡皮球模拟布局模型构建研究;韦佳洵 等;《机械设计与制造》;20150531(第5期);第220-223页 * |
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| Publication number | Publication date |
|---|---|
| CN105184813A (en) | 2015-12-23 |
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