CN105818134A - Intelligent mechanical arm with automatic button pressing function - Google Patents

Intelligent mechanical arm with automatic button pressing function Download PDF

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Publication number
CN105818134A
CN105818134A CN201610319477.5A CN201610319477A CN105818134A CN 105818134 A CN105818134 A CN 105818134A CN 201610319477 A CN201610319477 A CN 201610319477A CN 105818134 A CN105818134 A CN 105818134A
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China
Prior art keywords
harmonic
encoder
bearing
arm
shaft
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CN201610319477.5A
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Chinese (zh)
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CN105818134B (en
Inventor
陶卫军
刘佳耀
胡洋洋
黄晶晶
蒋勇
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Priority to CN201610319477.5A priority Critical patent/CN105818134B/en
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Publication of CN105818134B publication Critical patent/CN105818134B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an intelligent mechanical arm with an automatic button pressing function. The intelligent mechanical arm with the automatic button pressing function has four degrees of freedom. Each degree of freedom is controlled by a driving module composed of a servo motor and a harmonic reducer. Four encoders are arranged and can be used for detecting the movement angles of the four degrees of freedom each time. An industrial video camera is arranged and used for automatically searching for and recognizing a target button. The intelligent mechanical arm with the automatic button pressing function is provided with two infrared distance measuring sensors, and the two infrared distance measuring sensors are used for detecting the distance between the video camera and the target button, so that the effect that a clear picture is shot by the video camera is guaranteed, and accordingly the clear picture is recognized. According to the intelligent mechanical arm with the automatic button pressing function, the target button can be automatically found out and recognized from a plurality of buttons after a task instruction is received, the button is accurately pressed for completing a work task, the pose of the intelligent mechanical arm in the space coordinate system is detected automatically every time after the movement, the next instruction can be received for completing a task without manual adjustment, and the intelligent mechanical arm has the continuous working capacity and extremely high commercial value.

Description

A kind of with the intelligent machine arm automatically pressing push button function
Technical field
The present invention relates to service robot mechanical arm technical field, a kind of with the intelligent machine arm automatically pressing push button function.
Background technology
Service robot can produce interbehavior with various objects in the course of the work, such as, capture the activity such as object, pressing button.The progress of science and technology makes extensive work pass through simply to press push-botton operation to complete, and if this type of work assigns special messenger to be responsible for, the waste of labour force can be caused.For this problem, a kind of intelligent machine arm of exploitation, can after the instruction that receives an assignment in the middle of multiple buttons Automatic-searching identify the target button, accurately pressing button completes task, and from the pose in space coordinates every time after detection is moved automatically, i.e. can accept next assignment instructions complete to work continuously without manually adjusting, there is important Research Significance.
Some mechanical arms having pointed out at present, substantially possess and capture object, the function of pressing button, but the distance that the mechanical arm of the overwhelming majority completes position that the premise of task is hard objectives thing and arm relative target thing keeps constant.Such arm cannot identify different objects automatically, its movement angle is by algorithm controls, when position or the individual change of destination object, need the position manually adjusting arm to lay equal stress on newly and write algorithm, automatization, intelligent level are low, can not work continuously, so the using value of this type of mechanical arm is not the highest, be difficulty with commercialization.
Number of patent application is the patent of invention " a kind of Apery manipulator arm " of 201510117749.9, similar to human arm structure, there is multiple degree of freedom, its each movable joint is by driven by Brush-Less DC motor, can complete to capture the action of object, but it cannot be found voluntarily and identify target, the most do not possesses the ability of work continuously.
Number of patent application is the patent of invention " a kind of lightweight mechanical arm with object accurate positioning function " of 201510222821.4, there is multiple degree of freedom, combine the multiple kind of drive, can complete to capture the action of object, and utilize colour imagery shot and point-like laser pipe, realize being accurately positioned of object, possesses the function accurately capturing object, but it is before capturing object every time, first have to exact position, hard objectives thing place, relative distance between manual detection arm and object, calculate each articulation angle, then algorithm is adjusted accordingly, just can complete task, this process relies primarily on manual operation, do not possesses automaticity.
In sum, the most automatization of prior art, intelligent level are low, function singleness, have been difficult to the task of complexity, and commercial value is the highest.
Summary of the invention:
It is an object of the invention to provide a kind of with the intelligent machine arm automatically pressing push button function.
nullThe technical solution realizing the object of the invention is: a kind of with the intelligent machine arm automatically pressing push button function，Including bottom servomotor bearing、Bottom servomotor、Bottom harmonic speed reducer bearing、Bottom harmonic speed reducer、Bottom code device axle、Bottom code device、First segment arm、First servo motor synchronous wheel、First Timing Belt、First tensioning bearing、First harmonic decelerator synchronizes wheel、First connection assist、Second servomotor、Second section arm、Second encoder fixed support、Second encoder、Second harmonic reducer shaft bearing、Section three, arm、3rd servo motor synchronous wheel、3rd Timing Belt、Third harmonic decelerator synchronizes wheel、Third harmonic reducer shaft bearing、Infrared distance sensor、Infrared distance sensor fixed support、Industrial camera fixed support、Industrial camera、Front end expansion link module、3rd encoder、3rd encoder fixed support、3rd servomotor、Second harmonic decelerator synchronizes wheel、Second Timing Belt、Second servo motor synchronous wheel、First harmonic reducer shaft bearing、First encoder、First encoder fixed support、First servomotor、Bottom code device fixed support、First harmonic decelerator flexbile gear、First harmonic decelerator is just taken turns、First harmonic decelerator wave producer；
The quantity of described bottom servomotor bearing is 2, it is symmetrically distributed in the both sides of bottom harmonic speed reducer bearing, bottom servomotor is fixed on the lower section of bottom harmonic speed reducer bearing, bottom harmonic speed reducer is fixed on the top of bottom harmonic speed reducer bearing, the bottom output shaft of servomotor is fixedly connected with the input face of bottom harmonic speed reducer, the output face of bottom harmonic speed reducer is connected first segment hands arm, also be connected on the servomotor bearing of bottom bottom code device fixed support, on bottom code device fixed support, bottom code device is set, be connected on first segment arm bottom code device axle, this first segment arm and bottom code device axle synchronous rotary, this bottom code device axle extend in the hollow hole of bottom code device simultaneously, bottom code device is for detecting the rotational angle of bottom code device axle；
Be connected on first segment arm the first servomotor, motor shaft and first servo motor synchronous wheel of the first servomotor are fixedly connected with, also be connected on first segment arm first harmonic reducer shaft bearing, first harmonic decelerator is set on the power shaft of first harmonic reducer shaft bearing and synchronizes wheel, this first harmonic decelerator synchronizes wheel with the first servo motor synchronous wheel by the first Timing Belt synchronous axial system, also be connected on first segment arm the first encoder fixed support, on first encoder fixed support, the first encoder is set, the encoder axle of first harmonic reducer shaft bearing extend in the hollow hole of the first encoder, first encoder is for detecting the rotational angle of this encoder axle, also be connected on first segment arm the first connection assist, first connection assist is fixedly connected with first harmonic reducer shaft bearing；
Be connected on the output shaft of first harmonic reducer shaft bearing second section hands arm, be connected on second section arm the second servomotor, motor shaft and second servo motor synchronous wheel of the second servomotor are fixedly connected with, also be connected on second section arm second harmonic reducer shaft bearing, second harmonic decelerator is set on the power shaft of second harmonic reducer shaft bearing and synchronizes wheel, this second harmonic decelerator synchronizes wheel with the second servo motor synchronous wheel by the second Timing Belt synchronous axial system, also be connected on second section arm the second encoder fixed support, on second encoder fixed support, the second encoder is set, the encoder axle of second harmonic reducer shaft bearing extend in the hollow hole of the second encoder, second encoder is for detecting the rotational angle of this encoder axle；
Be connected on the output shaft of second harmonic reducer shaft bearing Section of three hands arm, section three, arm is connected the 3rd servomotor, motor shaft and the 3rd servo motor synchronous wheel of the 3rd servomotor are fixedly connected with, section three, arm is also connected third harmonic reducer shaft bearing, third harmonic decelerator is set on the power shaft of third harmonic reducer shaft bearing and synchronizes wheel, this third harmonic decelerator synchronizes wheel with the 3rd servo motor synchronous wheel by the 3rd Timing Belt synchronous axial system, section three, arm is also connected the 3rd encoder fixed support, on 3rd encoder fixed support, the 3rd encoder is set, the encoder axle of third harmonic reducer shaft bearing extend in the hollow hole of the 3rd encoder, 3rd encoder is for detecting the rotational angle of this encoder axle；
Be connected on the output shaft of third harmonic reducer shaft bearing front end expansion link module, expansion link module both sides, front end are connected infrared distance sensor fixed support, on infrared distance sensor fixed support, infrared distance sensor is set, also be connected in the expansion link module of front end industrial camera fixed support, and industrial camera fixed support arranges industrial camera.
Compared with prior art, its remarkable advantage is the present invention: 1) present invention is with vision processing module, can in the middle of multiple buttons Automatic-searching identify the target button, automatically determine each articulation angle to press button, embody automaticity with intelligent；2) the angled detection module of band of the present invention, can detect after moving from the pose in space coordinates every time, when the target button changes, it also can automatically calculate and again complete to press button actions under current pose, each joint needs the angle rotated, without manually adjusting, there is the ability of work continuously；3) mechanical arm of the present invention has multiple degree of freedom, and simple in construction understands, it is easy to processing assembles and realizes commercialization.
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the tomograph with the intelligent machine arm of pressing push button function automatically.
Fig. 2 is the axial cross-sectional view with first harmonic reducer shaft bearing [33] of the intelligent machine arm of pressing push button function automatically.
Detailed description of the invention
nullIn conjunction with Fig. 1，The present invention's is a kind of with the intelligent machine arm automatically pressing push button function，Including bottom servomotor bearing 1、Bottom servomotor 2、Bottom harmonic speed reducer bearing 3、Bottom harmonic speed reducer 4、Bottom code device axle 5、Bottom code device 6、First segment arm 7、First servo motor synchronous wheel 8、First Timing Belt 9、First tensioning bearing 10、First harmonic decelerator synchronizes wheel 11、Second servomotor 13、Second section arm 14、Second encoder fixed support 15、Second encoder 16、Second harmonic reducer shaft bearing 17、Section three, arm 18、3rd servo motor synchronous wheel 19、3rd Timing Belt 20、Third harmonic decelerator synchronizes wheel 21、Third harmonic reducer shaft bearing 22、Infrared distance sensor 23、Infrared distance sensor fixed support 24、Industrial camera fixed support 25、Industrial camera 26、Front end expansion link module 27、3rd encoder 28、3rd encoder fixed support 29、3rd servomotor 30、Second harmonic decelerator synchronizes wheel 31、Second Timing Belt 32、Second servo motor synchronous wheel 33、First harmonic reducer shaft bearing 34、First encoder 35、First encoder fixed support 36、First servomotor 37、Bottom code device fixed support 38、First harmonic decelerator flexbile gear 39、First harmonic decelerator has just taken turns 40、First harmonic decelerator wave producer 41；
nullThe quantity of described bottom servomotor bearing 1 is 2，It is symmetrically distributed in the both sides of bottom harmonic speed reducer bearing 3，Bottom servomotor 2 is fixed on the lower section of bottom harmonic speed reducer bearing 3，Bottom harmonic speed reducer 4 is fixed on the top of bottom harmonic speed reducer bearing 3，The bottom output shaft of servomotor 2 is fixedly connected with the input face of bottom harmonic speed reducer 4，The output face of bottom harmonic speed reducer 4 is connected first segment arm 7，Also be connected on the servomotor bearing 1 of bottom bottom code device fixed support 38，On bottom code device fixed support 38, bottom code device 6 is set，Be connected on first segment arm 7 bottom code device axle 5，This first segment arm 7 and bottom code device axle 5 synchronous rotary，This bottom code device axle 5 extend in the hollow hole of bottom code device 6 simultaneously，Bottom code device 6 is for detecting the rotational angle of bottom code device axle 5；
Be connected on first segment arm 7 first servomotor 37, motor shaft and first servo motor synchronous wheel 8 of the first servomotor 37 are fixedly connected with, also be connected on first segment arm 7 first harmonic reducer shaft bearing 34, first harmonic decelerator is set on the power shaft of first harmonic reducer shaft bearing 34 and synchronizes wheel 11, this first harmonic decelerator synchronizes wheel 11 and the first servo motor synchronous wheel 8 by the first Timing Belt 9 synchronous axial system, also be connected on first segment arm 7 first encoder fixed support 36, first encoder 35 is set on first encoder fixed support 36, the encoder axle of first harmonic reducer shaft bearing 34 extend in the hollow hole of the first encoder 35, first encoder 35 is for detecting the rotational angle of this encoder axle；
nullBe connected on the output shaft of first harmonic reducer shaft bearing 34 second section arm 14，Be connected on second section arm 14 second servomotor 13，Motor shaft and second servo motor synchronous wheel 33 of the second servomotor 13 are fixedly connected with，Also be connected on second section arm 14 second harmonic reducer shaft bearing 17，Second harmonic decelerator is set on the power shaft of second harmonic reducer shaft bearing 17 and synchronizes wheel 31，This second harmonic decelerator synchronizes wheel 31 and the second servo motor synchronous wheel 33 by the second Timing Belt 32 synchronous axial system，Also be connected on second section arm 14 second encoder fixed support 15，Second encoder 16 is set on second encoder fixed support 15，The encoder axle of second harmonic reducer shaft bearing 17 extend in the hollow hole of the second encoder 16，Second encoder 16 is for detecting the rotational angle of this encoder axle；
nullBe connected on the output shaft of second harmonic reducer shaft bearing 17 Section of three arm 18，Section three, arm 18 is connected the 3rd servomotor 30，Motor shaft and the 3rd servo motor synchronous wheel 19 of the 3rd servomotor 30 are fixedly connected with，Section three, arm 18 is also connected third harmonic reducer shaft bearing 22，Third harmonic decelerator is set on the power shaft of third harmonic reducer shaft bearing 22 and synchronizes wheel 21，This third harmonic decelerator synchronizes wheel 21 and the 3rd servo motor synchronous wheel 19 by the 3rd Timing Belt 20 synchronous axial system，Section three, arm 18 is also connected the 3rd encoder fixed support 29，On 3rd encoder fixed support 29, the 3rd encoder 28 is set，The encoder axle of third harmonic reducer shaft bearing 22 extend in the hollow hole of the 3rd encoder 28，3rd encoder 28 is for detecting the rotational angle of this encoder axle；
Be connected on the output shaft of third harmonic reducer shaft bearing 22 front end expansion link module 27, expansion link module 27 both sides, front end are connected infrared distance sensor fixed support 24, infrared distance sensor 23 is set on infrared distance sensor fixed support 24, also be connected in front end expansion link module 27 industrial camera fixed support 25, and industrial camera fixed support 25 arranges industrial camera 26.
Described first harmonic reducer shaft bearing 34, second harmonic reducer shaft bearing 17 are identical with the internal structure of third harmonic reducer shaft bearing 22.
In conjunction with Fig. 2, described first harmonic reducer shaft bearing 34 includes the first output shaft bearing A-1, the first output shaft A-2, the first encoder axle A-3, the first copper sheathing A-4, the first synchronization wheel key A-5, the first power shaft A-6, the first input axle key A-7, the first bearing of input shaft A-8；
nullDescribed first harmonic decelerator has just been taken turns 40 and has been fixed on first segment arm 7，First harmonic decelerator flexbile gear 39 has just been taken turns 40 with first harmonic decelerator and has been engaged，First harmonic decelerator flexbile gear 39 and first harmonic decelerator have just taken turns the inside of 40 site of engagement equipped with first harmonic decelerator wave producer 41，First power shaft A-6 and first harmonic decelerator wave producer 41 are fixed together by the first input axle key A-7，First power shaft A-6 and first harmonic decelerator are synchronized wheel 11 and are fixed together by the first synchronization wheel key A-5，The first bearing of input shaft A-8 it is cased with on first power shaft A-6，This first bearing of input shaft A-8 is positioned at the side of the first power shaft A-6 shaft shoulder，First copper sheathing A-4 is fixed on first segment arm 7，The endoporus of the first copper sheathing A-4 and the outer ring of the first bearing of input shaft A-8 are fixedly connected with，The outer surface of first harmonic decelerator flexbile gear 39 and the end face of the first output shaft A-2 are fixedly connected with，Inner surface and the first encoder axle A-3 of first harmonic decelerator flexbile gear 39 are fixedly connected with，First harmonic decelerator flexbile gear 39 and the first output shaft A-2、First encoder axle A-3 synchronous axial system，The first output shaft bearing A-1 it is cased with on first output shaft A-2，First output shaft bearing A-1 is positioned at the both sides of the first output shaft A-2 shaft shoulder；
Described first power shaft A-6 is the power shaft of first harmonic reducer shaft bearing 34, and the first output shaft A-2 is the output shaft of first harmonic reducer shaft bearing 34, and the first encoder axle A-3 is the encoder axle of first harmonic reducer shaft bearing 34；
Described first harmonic decelerator synchronizes wheel 11 and drives first harmonic decelerator wave producer 41 to rotate by the first power shaft A-6, first harmonic decelerator wave producer 41 drives first harmonic decelerator flexbile gear 39 to rotate, thus drives the first output shaft A-2, the rotation of the first encoder axle A-3.
The first tensioning bearing 10 is also set up, for 9 tension of the first Timing Belt on described first segment arm 7.
The focal length of described industrial camera 26 is 20cm, and the finding range of described infrared distance sensor 23 is 10 80cm.
The described intelligent machine arm with pressing push button function automatically, also includes that the first connection assist 12, described first connection assist 12 are connected on first segment arm 7, and the first connection assist 12 is fixedly connected with first harmonic reducer shaft bearing 34.
In second harmonic reducer shaft bearing 17, described second harmonic decelerator has just been taken turns and has been fixed on second section arm 14, second harmonic decelerator flexbile gear has just been taken turns with second harmonic decelerator and has been engaged, second harmonic decelerator flexbile gear and second harmonic decelerator have just taken turns the inside of site of engagement equipped with second harmonic decelerator wave producer, the power shaft that first power shaft is second harmonic reducer shaft bearing of described second harmonic reducer shaft bearing, the output shaft that first output shaft is second harmonic reducer shaft bearing of second harmonic reducer shaft bearing, described second harmonic reducer shaft bearing the first encoder axle is the encoder axle of second harmonic reducer shaft bearing；
The structure of described third harmonic reducer shaft bearing 22 is identical with above-mentioned two harmonic speed reducer bearing block structure.
The present invention with vision processing module, can in the middle of multiple buttons Automatic-searching identify the target button, automatically determine each articulation angle to press button, embody automaticity with intelligent；The mechanical arm of the present invention has multiple degree of freedom, and simple in construction understands, it is easy to processing assembles and realizes commercialization.
The work process with the intelligent machine arm of pressing push button function automatically of the present invention is as follows: the distance of arm and button is substantially adjusted in the first position according to the target button, makes the target button coverage without departing from arm；Then the attitude of arm is adjusted by master controller so that it is be adjusted to the original state pre-set；Then performing program, make industrial camera 26 take pictures the target button, the picture obtained is identified finding out the button needing pressing by master controller, automatically calculates each electric machine rotation angle and makes arm accurately press button；After obtaining new instruction, video camera continues to take pictures the target button, and fresh target found out by master controller identification picture, repeats a upper process, it is achieved the function of work continuously.
Below in conjunction with embodiment, the present invention is done further detailed description.
Embodiment 1
nullIn conjunction with Fig. 1 and Fig. 2，The present invention is a kind of with the intelligent machine arm automatically pressing push button function，Including bottom servomotor bearing 1、Bottom servomotor 2、Bottom harmonic speed reducer bearing 3、Bottom harmonic speed reducer 4、Bottom code device axle 5、Bottom code device 6、First segment arm 7、First servo motor synchronous wheel 8、First Timing Belt 9、First tensioning bearing 10、First harmonic decelerator synchronizes wheel 11、First connection assist 12、Second servomotor 13、Second section arm 14、Second encoder fixed support 15、Second encoder 16、Second harmonic reducer shaft bearing 17、Section three, arm 18、3rd servo motor synchronous wheel 19、3rd Timing Belt 20、Third harmonic decelerator synchronizes wheel 21、Third harmonic reducer shaft bearing 22、Infrared distance sensor 23、Infrared distance sensor fixed support 24、Industrial camera fixed support 25、Industrial camera 26、Front end expansion link module 27、3rd encoder 28、3rd encoder fixed support 29、3rd servomotor 30、Second harmonic decelerator synchronizes wheel 31、Second Timing Belt 32、Second servo motor synchronous wheel 33、First harmonic reducer shaft bearing 34、First encoder 35、First encoder fixed support 36、First servomotor 37、Bottom code device fixed support 38、First harmonic decelerator flexbile gear 39、First harmonic decelerator has just taken turns 40、First harmonic decelerator wave producer 41；
nullThe quantity of described bottom servomotor bearing 1 is 2，It is symmetrically distributed in the both sides of bottom harmonic speed reducer bearing 3，Bottom servomotor 2 is fixed on the lower section of bottom harmonic speed reducer bearing 3，Bottom harmonic speed reducer 4 is fixed on the top of bottom harmonic speed reducer bearing 3，The bottom output shaft of servomotor 2 is fixedly connected with the input face of bottom harmonic speed reducer 4，The output face of bottom harmonic speed reducer 4 is connected first segment arm 7，Drive the rotation of first segment arm 7，Also be connected on the servomotor bearing 1 of bottom bottom code device fixed support 38，On bottom code device fixed support 38, bottom code device 6 is set，Be connected on first segment arm 7 bottom code device axle 5，This first segment arm 7 and bottom code device axle 5 synchronous rotary，This bottom code device axle 5 extend in the hollow hole of bottom code device 6 simultaneously，Bottom code device 6 is for detecting the rotational angle of bottom code device axle 5；
nullBe connected on first segment arm 7 first servomotor 37，Motor shaft and first servo motor synchronous wheel 8 of the first servomotor 37 are fixedly connected with，Also be connected on first segment arm 7 first harmonic reducer shaft bearing 34，First harmonic decelerator is set on the power shaft of first harmonic reducer shaft bearing 34 and synchronizes wheel 11，This first harmonic decelerator synchronizes wheel 11 and the first servo motor synchronous wheel 8 by the first Timing Belt 9 synchronous axial system，Also be connected on first segment arm 7 first encoder fixed support 36，First encoder 35 is set on first encoder fixed support 36，The encoder axle of first harmonic reducer shaft bearing 34 extend in the hollow hole of the first encoder 35，First encoder 35 is for detecting the rotational angle of this encoder axle，Also be connected on first segment arm 7 first connection assist 12，First connection assist 12 is fixedly connected with first harmonic reducer shaft bearing 34；
nullBe connected on the output shaft of first harmonic reducer shaft bearing 34 second section arm 14，Be connected on second section arm 14 second servomotor 13，Motor shaft and second servo motor synchronous wheel 33 of the second servomotor 13 are fixedly connected with，Also be connected on second section arm 14 second harmonic reducer shaft bearing 17，Second harmonic decelerator is set on the power shaft of second harmonic reducer shaft bearing 17 and synchronizes wheel 31，This second harmonic decelerator synchronizes wheel 31 and the second servo motor synchronous wheel 33 by the second Timing Belt 32 synchronous axial system，Also be connected on second section arm 14 second encoder fixed support 15，Second encoder 16 is set on second encoder fixed support 15，The encoder axle of second harmonic reducer shaft bearing 17 extend in the hollow hole of the second encoder 16，Second encoder 16 is for detecting the rotational angle of this encoder axle；
nullBe connected on the output shaft of second harmonic reducer shaft bearing 17 Section of three arm 18，Section three, arm 18 is connected the 3rd servomotor 30，Motor shaft and the 3rd servo motor synchronous wheel 19 of the 3rd servomotor 30 are fixedly connected with，Section three, arm 18 is also connected third harmonic reducer shaft bearing 22，Third harmonic decelerator is set on the power shaft of third harmonic reducer shaft bearing 22 and synchronizes wheel 21，This third harmonic decelerator synchronizes wheel 21 and the 3rd servo motor synchronous wheel 19 by the 3rd Timing Belt 20 synchronous axial system，Section three, arm 18 is also connected the 3rd encoder fixed support 29，On 3rd encoder fixed support 29, the 3rd encoder 28 is set，The encoder axle of third harmonic reducer shaft bearing 22 extend in the hollow hole of the 3rd encoder 28，3rd encoder 28 is for detecting the rotational angle of this encoder axle；
Be connected on the output shaft of third harmonic reducer shaft bearing 22 front end expansion link module 27, expansion link module 27 both sides, front end are connected infrared distance sensor fixed support 24, infrared distance sensor 23 is set on infrared distance sensor fixed support 24, also be connected in front end expansion link module 27 industrial camera fixed support 25, and industrial camera fixed support 25 arranges industrial camera 26；
First harmonic reducer shaft bearing 34, second harmonic reducer shaft bearing 17 are identical with the internal structure of third harmonic reducer shaft bearing 22, all include the first output shaft bearing A-1, the first output shaft A-2, the first encoder axle A-3, the first copper sheathing A-4, the first synchronization wheel key A-5, the first power shaft A-6, the first input axle key A-7, the first bearing of input shaft A-8；
nullDescribed first harmonic decelerator has just been taken turns 40 and has been fixed on first segment arm 7，First harmonic decelerator flexbile gear 39 has just been taken turns 40 with first harmonic decelerator and has been engaged，First harmonic decelerator flexbile gear 39 and first harmonic decelerator have just taken turns the inside of 40 site of engagement equipped with first harmonic decelerator wave producer 41，First power shaft A-6 and first harmonic decelerator wave producer 41 are fixed together by the first input axle key A-7，First power shaft A-6 and first harmonic decelerator are synchronized wheel 11 and are fixed together by the first synchronization wheel key A-5，The first bearing of input shaft A-8 it is cased with on first power shaft A-6，This first bearing of input shaft A-8 is positioned at the side of the first power shaft A-6 shaft shoulder，First copper sheathing A-4 is fixed on first segment arm 7，The endoporus of the first copper sheathing A-4 and the outer ring of the first bearing of input shaft A-8 are fixedly connected with，The outer surface of first harmonic decelerator flexbile gear 39 and the end face of the first output shaft A-2 are fixedly connected with，Inner surface and the first encoder axle A-3 of first harmonic decelerator flexbile gear 39 are fixedly connected with，First harmonic decelerator flexbile gear 39 and the first output shaft A-2、First encoder axle A-3 synchronous axial system，The first output shaft bearing A-1 it is cased with on first output shaft A-2，First output shaft bearing A-1 is positioned at the both sides of the first output shaft A-2 shaft shoulder；
Described first power shaft A-6 is the power shaft of first harmonic reducer shaft bearing 34, and the first output shaft A-2 is the output shaft of first harmonic reducer shaft bearing 34, and the first encoder axle A-3 is the encoder axle of first harmonic reducer shaft bearing 34；
Described first harmonic decelerator synchronizes wheel 11 and drives first harmonic decelerator wave producer 41 to rotate by the first power shaft A-6, first harmonic decelerator wave producer 41 drives first harmonic decelerator flexbile gear 39 to rotate, thus drive the first output shaft A-2, the rotation of the first encoder axle A-3, first output shaft A-2 will drive the rotation of second section arm 14, in like manner, the output shaft of second harmonic reducer shaft bearing 17 will drive the rotation of Section of three arm 18, the output shaft of third harmonic reducer shaft bearing 22 will drive the rotation of front end expansion link module 27；The first tensioning bearing 10 is also set up, for 9 tension of the first Timing Belt on first segment arm 7；The focal length of industrial camera 26 is 20cm, and the finding range of described infrared distance sensor 23 is 10 80cm, it is ensured that industrial camera 26 takes clear photograph thus identified in suitable distance.

Claims (6)

  1. null1. the intelligent machine arm with pressing push button function automatically，It is characterized in that，Including bottom servomotor bearing [1]、Bottom servomotor [2]、Bottom harmonic speed reducer bearing [3]、Bottom harmonic speed reducer [4]、Bottom code device axle [5]、Bottom code device [6]、First segment arm [7]、First servo motor synchronous wheel [8]、First Timing Belt [9]、First tensioning bearing [10]、First harmonic decelerator synchronizes wheel [11]、Second servomotor [13]、Second section arm [14]、Second encoder fixed support [15]、Second encoder [16]、Second harmonic reducer shaft bearing [17]、Section three, arm [18]、3rd servo motor synchronous wheel [19]、3rd Timing Belt [20]、Third harmonic decelerator synchronizes wheel [21]、Third harmonic reducer shaft bearing [22]、Infrared distance sensor [23]、Infrared distance sensor fixed support [24]、Industrial camera fixed support [25]、Industrial camera [26]、Front end expansion link module [27]、3rd encoder [28]、3rd encoder fixed support [29]、3rd servomotor [30]、Second harmonic decelerator synchronizes wheel [31]、Second Timing Belt [32]、Second servo motor synchronous wheel [33]、First harmonic reducer shaft bearing [34]、First encoder [35]、First encoder fixed support [36]、First servomotor [37]、Bottom code device fixed support [38]、First harmonic decelerator flexbile gear [39]、First harmonic decelerator just takes turns [40]、First harmonic decelerator wave producer [41]；
    nullThe quantity of described bottom servomotor bearing [1] is 2，It is symmetrically distributed in the both sides of bottom harmonic speed reducer bearing [3]，Bottom servomotor [2] is fixed on the lower section of bottom harmonic speed reducer bearing [3]，Bottom harmonic speed reducer [4] is fixed on the top of bottom harmonic speed reducer bearing [3]，The output shaft of bottom servomotor [2] is fixedly connected with the input face of bottom harmonic speed reducer [4]，The output face of bottom harmonic speed reducer [4] is connected first segment arm [7]，Also be connected on bottom servomotor bearing [1] bottom code device fixed support [38]，Bottom code device [6] is set on bottom code device fixed support [38]，Upper bottom code device axle [5] that is connected of first segment arm [7]，This first segment arm [7] and bottom code device axle [5] synchronous rotary，This bottom code device axle [5] extend in the hollow hole of bottom code device [6] simultaneously，Bottom code device [6] is used for detecting the rotational angle of bottom code device axle [5]；
    nullUpper the first servomotor [37] that is connected of first segment arm [7]，Motor shaft and first servo motor synchronous wheel [8] of the first servomotor [37] are fixedly connected with，Also be connected on first segment arm [7] first harmonic reducer shaft bearing [34]，First harmonic decelerator is set on the power shaft of first harmonic reducer shaft bearing [34] and synchronizes wheel [11]，This first harmonic decelerator synchronizes wheel [11] with the first servo motor synchronous wheel [8] by the first Timing Belt [9] synchronous axial system，Also be connected on first segment arm [7] the first encoder fixed support [36]，On first encoder fixed support [36], the first encoder [35] is set，The encoder axle of first harmonic reducer shaft bearing [34] extend in the hollow hole of the first encoder [35]，First encoder [35] is for detecting the rotational angle of this encoder axle；
    nullBe connected on the output shaft of first harmonic reducer shaft bearing [34] second section arm [14]，Upper the second servomotor [13] that is connected of second section arm [14]，Motor shaft and second servo motor synchronous wheel [33] of the second servomotor [13] are fixedly connected with，Also be connected on second section arm [14] second harmonic reducer shaft bearing [17]，Second harmonic decelerator is set on the power shaft of second harmonic reducer shaft bearing [17] and synchronizes wheel [31]，This second harmonic decelerator synchronizes wheel [31] with the second servo motor synchronous wheel [33] by the second Timing Belt [32] synchronous axial system，Also be connected on second section arm [14] the second encoder fixed support [15]，On second encoder fixed support [15], the second encoder [16] is set，The encoder axle of second harmonic reducer shaft bearing [17] extend in the hollow hole of the second encoder [16]，Second encoder [16] is for detecting the rotational angle of this encoder axle；
    nullBe connected on the output shaft of second harmonic reducer shaft bearing [17] Section of three arm [18]，Section three, upper the 3rd servomotor [30] that is connected of arm [18]，Motor shaft and the 3rd servo motor synchronous wheel [19] of the 3rd servomotor [30] are fixedly connected with，Section three, arm [18] is also connected third harmonic reducer shaft bearing [22]，Third harmonic decelerator is set on the power shaft of third harmonic reducer shaft bearing [22] and synchronizes wheel [21]，This third harmonic decelerator synchronizes wheel [21] with the 3rd servo motor synchronous wheel [19] by the 3rd Timing Belt [20] synchronous axial system，Section three, arm [18] is also connected the 3rd encoder fixed support [29]，On 3rd encoder fixed support [29], the 3rd encoder [28] is set，The encoder axle of third harmonic reducer shaft bearing [22] extend in the hollow hole of the 3rd encoder [28]，3rd encoder [28] is for detecting the rotational angle of this encoder axle；
    Be connected on the output shaft of third harmonic reducer shaft bearing [22] front end expansion link module [27], expansion link module [27] both sides, front end are connected infrared distance sensor fixed support [24], infrared distance sensor [23] is set on infrared distance sensor fixed support [24], also be connected on front end expansion link module [27] industrial camera fixed support [25], and industrial camera fixed support [25] arranges industrial camera [26].
  2. The most according to claim 1 with the intelligent machine arm automatically pressing push button function, it is characterized in that, first harmonic reducer shaft bearing [34], second harmonic reducer shaft bearing [17] are identical with the internal structure of third harmonic reducer shaft bearing [22].
  3. The most according to claim 2 with the intelligent machine arm automatically pressing push button function, it is characterized in that, described first harmonic reducer shaft bearing [34] includes the first output shaft bearing [A-1], the first output shaft [A-2], the first encoder axle [A-3], the first copper sheathing [A-4], the first synchronization wheel key [A-5], the first power shaft [A-6], the first input axle key [A-7], the first bearing of input shaft [A-8]；
    nullDescribed first harmonic decelerator is just taken turns [40] and is fixed on first segment arm [7]，First harmonic decelerator flexbile gear [39] is just taken turns [40] and is engaged with first harmonic decelerator，First harmonic decelerator flexbile gear [39] and first harmonic decelerator just take turns the inside of [40] site of engagement equipped with first harmonic decelerator wave producer [41]，First power shaft [A-6] and first harmonic decelerator wave producer [41] are fixed together by the first input axle key [A-7]，First power shaft [A-6] and first harmonic decelerator are synchronized wheel [11] and are fixed together by the first synchronization wheel key [A-5]，The first bearing of input shaft [A-8] it is cased with on first power shaft [A-6]，This first bearing of input shaft [A-8] is positioned at the side of the first power shaft [A-6] shaft shoulder，First copper sheathing [A-4] is fixed on first segment arm [7]，The endoporus of the first copper sheathing [A-4] and the outer ring of the first bearing of input shaft [A-8] are fixedly connected with，The outer surface of first harmonic decelerator flexbile gear [39] and the end face of the first output shaft [A-2] are fixedly connected with，Inner surface and the first encoder axle [A-3] of first harmonic decelerator flexbile gear [39] are fixedly connected with，First harmonic decelerator flexbile gear [39] and the first output shaft [A-2]、First encoder axle [A-3] synchronous axial system，The first output shaft bearing [A-1] it is cased with on first output shaft [A-2]，First output shaft bearing [A-1] is positioned at the both sides of the first output shaft [A-2] shaft shoulder；
    Described first power shaft [A-6] is the power shaft of first harmonic reducer shaft bearing [34], first output shaft [A-2] is the output shaft of first harmonic reducer shaft bearing [34], and the first encoder axle [A-3] is the encoder axle of first harmonic reducer shaft bearing [34]；
    Described first harmonic decelerator synchronizes wheel [11] and drives first harmonic decelerator wave producer [41] to rotate by the first power shaft [A-6], first harmonic decelerator wave producer [41] drives first harmonic decelerator flexbile gear [39] to rotate, thus drives the first output shaft [A-2], the rotation of the first encoder axle [A-3].
  4. It is the most according to claim 1 with the intelligent machine arm automatically pressing push button function, it is characterised in that on first segment arm [7], to also set up the first tensioning bearing [10], for the first Timing Belt [9] is played tension.
  5. The most according to claim 1 with the intelligent machine arm automatically pressing push button function, it is characterised in that the focal length of industrial camera [26] is 20cm, and the finding range of described infrared distance sensor [23] is 10 80cm.
  6. The most according to claim 1 with the intelligent machine arm automatically pressing push button function, it is characterized in that, also include the first connection assist [12], described first connection assist [12] is connected on first segment arm [7], and the first connection assist [12] is fixedly connected with first harmonic reducer shaft bearing [34].
CN201610319477.5A 2016-05-12 2016-05-12 A kind of intelligent machine arm with automatic pressing push button function Expired - Fee Related CN105818134B (en)

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CN109781172A (en) * 2018-12-10 2019-05-21 广东恒鑫智能装备股份有限公司 A kind of wind speed and pressure detection machine
CN111141968A (en) * 2019-11-20 2020-05-12 贵州电网有限责任公司 Fault monitoring and self-healing device applied to electronic equipment and self-starting mechanism thereof
CN111390948A (en) * 2020-04-17 2020-07-10 敬科(深圳)机器人科技有限公司 Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions
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CN106597354A (en) * 2016-11-23 2017-04-26 云南电网有限责任公司电力科学研究院 Electric energy meter detection method and device
CN108608422A (en) * 2018-06-01 2018-10-02 昀智科技（北京）有限责任公司 A kind of high-precision attitude rotary system
CN109738054A (en) * 2018-12-10 2019-05-10 广东恒鑫智能装备股份有限公司 A kind of noise detecting system
CN109781172A (en) * 2018-12-10 2019-05-21 广东恒鑫智能装备股份有限公司 A kind of wind speed and pressure detection machine
CN111141968A (en) * 2019-11-20 2020-05-12 贵州电网有限责任公司 Fault monitoring and self-healing device applied to electronic equipment and self-starting mechanism thereof
CN111141968B (en) * 2019-11-20 2022-06-28 贵州电网有限责任公司 Fault monitoring and self-healing device applied to electronic equipment and self-starting mechanism thereof
CN111390948A (en) * 2020-04-17 2020-07-10 敬科(深圳)机器人科技有限公司 Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions
CN113721485A (en) * 2020-05-26 2021-11-30 由田新技股份有限公司 Automatic pressing device
CN112828906A (en) * 2021-01-21 2021-05-25 三江学院 Indoor electric power inspection operation robot

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