CN107745752B - Outdoor automatic grabbing electromechanical equipment with camera device - Google Patents
Outdoor automatic grabbing electromechanical equipment with camera device Download PDFInfo
- Publication number
- CN107745752B CN107745752B CN201711094760.3A CN201711094760A CN107745752B CN 107745752 B CN107745752 B CN 107745752B CN 201711094760 A CN201711094760 A CN 201711094760A CN 107745752 B CN107745752 B CN 107745752B
- Authority
- CN
- China
- Prior art keywords
- manipulator
- rod
- controller
- rotating shaft
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 229910052751 metal Inorganic materials 0.000 claims abstract description 19
- 239000002184 metal Substances 0.000 claims abstract description 19
- 239000000758 substrate Substances 0.000 claims description 17
- 239000003990 capacitor Substances 0.000 claims description 14
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 9
- 239000002253 acid Substances 0.000 claims description 6
- 239000004519 grease Substances 0.000 claims description 6
- 230000001050 lubricating effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000010962 carbon steel Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005684 electric field Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000005672 electromagnetic field Effects 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 229910052681 coesite Inorganic materials 0.000 description 4
- 229910052906 cristobalite Inorganic materials 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000000377 silicon dioxide Substances 0.000 description 4
- 235000012239 silicon dioxide Nutrition 0.000 description 4
- 229910052682 stishovite Inorganic materials 0.000 description 4
- 229910052905 tridymite Inorganic materials 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000004566 building material Substances 0.000 description 3
- -1 mechanical parts Substances 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001704 evaporation Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001590 oxidative effect Effects 0.000 description 2
- 229910021420 polycrystalline silicon Inorganic materials 0.000 description 2
- 229920005591 polysilicon Polymers 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of automatic electromechanical equipment, in particular to field automatic grabbing electromechanical equipment carrying a camera device. The equipment consists of a sensor, a walking controller, a driving wheel, a crawler belt, crawler wheels, a manipulator controller, a lifter and the like; the crawler belt driving wheel and the crawler belt wheel are wound around, a manipulator controller is arranged above the bottom plate, a lifter is arranged above the manipulator controller, a height-adjustable metal rod is arranged above the lifter, a hinge is arranged at the top end of the metal rod, the left end of the connecting rod is connected with the hinge, and a lifting rod is arranged below the connecting rod. The invention has CCD camera set up above the manipulator, take picture of the position, size of the object accurately with CCD, thus facilitate the mechanical equipment to grasp the object, the invention has designed the track in order to adapt to the field operation, can be practical to the field ground operation of the suburb in the bottom of the vehicle, in addition the vehicle can command remotely, can also be driven by manpower at the same time.
Description
Technical Field
The invention relates to the field of automatic electromechanical equipment, in particular to field automatic grabbing electromechanical equipment carrying a camera device.
Background
With the development of industrial automation technology, the benefits brought by automation are more and more, and the advantages of industrial automation are as follows: 1. greatly improves the labor productivity. That is, more products can be manufactured per unit time, and each labor input can create a higher yield; 2. the product quality has high repeatability and consistency, and the reject ratio can be greatly reduced; 3. greatly reduces the manufacturing cost. The automatic assembly production of the machine has a very short beat, can achieve higher productivity, and can continuously run, so that the manufacturing cost can be greatly reduced under the condition of mass production. 4. The product precision is high. Various high-precision guiding, positioning, feeding, adjusting, detecting and vision systems or components are adopted on the machine equipment, so that the high precision of product assembly production can be ensured; 5. shortens the manufacturing period and reduces the number of products. The machine automation shortens the manufacturing period of the product, can enable enterprises to realize quick delivery, improves the competitiveness of the enterprises in the market, can reduce the quantity of raw materials and products, and reduces the mobile capital cost; 6. the method can replace manual operation in an environment harmful to human bodies and dangerous; 7. in some cases, only machine-automated production is possible. At present, products on the market are increasingly miniaturized, parts are greatly reduced in size, various micro-electromechanical systems are rapidly developed, and the manufacture and assembly of the products such as micro-mechanisms, micro-sensors, micro-actuators and the like can be realized only by means of machines.
Particularly, when workers work outdoors, the field automatic grabbing electromechanical equipment carrying the camera device is expected to complete automatic grabbing of building materials, mechanical parts, chemical raw materials and auxiliary materials and the like. Thereby increasing the level of automation.
Disclosure of Invention
The invention provides a field automatic grabbing electromechanical device with a camera device, which is provided with a CCD camera frame arranged above a manipulator, and the CCD camera is used for accurately shooting the azimuth and the size of an object, so that the mechanical device is convenient to grab. In addition, the vehicle can be remotely controlled and commanded, and meanwhile, the vehicle can be driven manually, and the vehicle is provided with a direct current power supply to facilitate the field occasion without alternating current. The anti-collision radar is arranged in front of the anti-collision device, so that the anti-collision radar can avoid collision to obstacles such as trees, stones and the like, is very convenient and practical, and has wide popularization and application prospects.
The technical scheme of the invention is as follows:
the field automatic grabbing electromechanical device carrying the camera device is characterized by comprising a sensor 1, a walking controller 2, a driving wheel 3, a crawler belt 4, a crawler belt wheel 5, a bottom plate 6, a manipulator controller 7, a lifter 8, a hinge 9, a servo motor B10, a camera 11, a manipulator 12, a lifting rod 13, a servo motor A14, a seat 15, a direction handle 16, a storage battery 17, a remote controller 18, a horizontal swinging rod 19, a gear 20, a fixed shaft 21 and a connecting rod 22; the crawler belt 4 is wound around the driving wheel 3 and the crawler wheel 5, the crawler belt 4 is a metal pin hinged crawler belt, the crawler belt 4 consists of a crawler plate and a crawler pin, the crawler belt 4 is driven by the driving wheel 3, and a driving motor is arranged in the driving wheel 3; the bottom plate 6 is arranged above the crawler belt 4, the bottom plate 6 is formed by welding rectangular carbon steel plates, the walking controller 2 is arranged in the bottom plate 6, the controller 2 is provided with a digital signal processing chip, and a control circuit of the controller 2 consists of a control chip, a chip driving system, an AD sampling system, a power module driving system, a hardware protection system, a position detection system and a bus supporting capacitor; a manipulator controller 7 is arranged above the bottom plate 6, a lifter 8 is arranged above the manipulator controller 7, a metal rod with adjustable height is arranged above the lifter 8, a hinge 9 is arranged at the top end of the metal rod, the left end of a connecting rod 22 is linked with the hinge 9, a lifting rod 13 is arranged below the connecting rod 22, and a servo motor A14 is arranged below the lifting rod 13; the right end of the connecting rod 22 is provided with a servo motor B10, the servo motor B10 drives a gear 20 through an output shaft, the gear 20 drives a semicircular rack at the left end of a horizontal swinging rod 19, and the horizontal swinging rod 19 and a fixed shaft 21 form clearance fit so that the horizontal swinging rod 19 horizontally rotates around the fixed shaft 21; the modulus of gear teeth of the gear 20 and the semicircular rack is 2mm, and the pressure angle is 20 degrees; the right end of the horizontal swinging rod 19 is connected with the manipulator 12, and a camera 11 is arranged above the manipulator 12; the right end of the bottom plate 6 is provided with a sensor 1, a seat 15 and a direction handle 16 are arranged above the right end of the bottom plate 6 so as to facilitate the driving of the whole equipment, and in order to save space, a storage battery 17 is arranged below the seat 15, and the whole equipment can be controlled by a remote controller 18 in a remote control way.
The invention further adopts the technical proposal that:
the utility model discloses a servo motor, including lifter 13, servo motor A14, the lifter 13 below be equipped with the rack, the output shaft of servo motor A14 on install the pinion, the rack meshing of pinion and lifter 13 below, the inside rotor of servo motor A14 be the permanent magnet, the three-phase electricity of driver control forms the electromagnetic field, the rotor rotates under the effect of this magnetic field, servo motor A14 is from the encoder feedback signal who takes for the driver simultaneously, the driver compares with the target value according to the feedback value, adjusts rotor pivoted angle, servo motor A14's precision is unanimous rather than the precision of supporting encoder.
The manipulator 12 consists of a manipulator base 30, a rotating shaft A31, a supporting plate 32, a rotating shaft B33, an encoder 34, a rotating motor 35, a magic cube 36, a manipulator finger 37, a manipulator rotating base 38 and a rotating shaft C39; the supporting plate 32 is arranged above the manipulator base 30 through a central shaft, the supporting plate 32 and the central shaft form clearance fit, the supporting plate 32 can rotate 360 degrees along a horizontal plane, all parts above the supporting plate 32 can horizontally rotate under the command of the remote controller 18, and the manipulator disclosed by the invention has the advantages of flexible space and high freedom degree. The rotating shaft A31 is arranged on the supporting plate 32, the manipulator rotating base 38 and the supporting plate 32 are welded into a whole, the manipulator rotating base 38 is 0.5-0.6 mm thicker than the supporting plate 32, and 8-15 pits for storing lubricating grease are arranged below the manipulator rotating base 38, so that two contact surfaces are in a good lubrication state; three titanium alloy connecting rods are arranged between the rotating shaft A31 and the rotating shaft B33, and the titanium alloy connecting rods have light weight and high strength, so that the service life of the manipulator can be obviously prolonged, and the invention has unexpected technical effects; the rotating shaft B33 is connected with the rotating shaft C39 by two titanium alloy connecting rods; the end parts of the rotating shaft A31, the rotating shaft B33 and the rotating shaft C39 are respectively provided with a micro servo motor for driving the three shafts to operate, and the micro servo motors are controlled by the remote controller 18 or by a control switch beside the steering handle 16. An encoder 34 is mounted at one end of the rotary motor 35; the magic cube is fast 36 is installed to the rotating electrical machines 35 other end, and magic cube is fast 36 and the mechanical finger 37 on both sides is connected, and the mechanical finger 37 on both sides has two sections to constitute, and magic cube is fast 36 and mechanical finger 37 internally mounted have metal spring and hinge mechanism to the mechanical finger 37 is nimble snatchs or puts down the object.
The encoder 34 is a rotary incremental encoder, that is, the encoder 34 sends out a pulse signal every time it rotates by one unit angle, the encoder 34 subdivides the pulse signal, and the pulse signal with higher frequency is chopped, that is, the phase A, the phase B and the phase Z are output. The phase A and the phase B are pulse outputs which are delayed by 1/4 period, positive and negative rotation can be distinguished according to a delay relation, and 2 or 4 frequency multiplication can be carried out by taking rising and falling edges of the phase A and the phase B; the Z phase is a single pulse, i.e., one pulse is sent out per turn. The rotary incremental encoder outputs pulses when rotated, the position of which is known by the counting device, and the position is remembered by means of the internal memory of the counting device when the encoder is stationary or powered off. Thus, when the power is cut, the encoder cannot move at all, and when the power is cut, the encoder cannot interfere and lose the pulse in the pulse outputting process.
The lifter 8 is composed of a direct-current hydraulic motor 40, a hydraulic rod 41, an upper bottom surface 42, a moving rod 43, a transverse shaft 44, a supporting sliding rod 45, a lower bottom surface 46 and a sliding groove 47; the direct current hydraulic motor 40 is arranged on a fixed shaft on the lower bottom surface 46, a direct current hydraulic cylinder is arranged on an output shaft of the direct current hydraulic motor 40, a hydraulic rod 41 is arranged on an output shaft of the direct current hydraulic cylinder through a coupler, moving rods 43 are arranged in a cross mode, a horizontal shaft 44 which is arranged horizontally is arranged between the moving rods 43, and an upper bottom surface 42 is arranged on the top of the moving rods 43; the upper bottom surface 42 and the lower bottom surface 46 are made of 50Ti35V15Cr titanium alloy materials; two sliding grooves 47 are arranged on the right side of the lower bottom surface 46, the sliding grooves 47 are provided with T-shaped flanges, meanwhile, the lower ends of the supporting sliding rods 45 are provided with T-shaped flanges so as to form a sliding pair with the two sliding grooves 47, and micro grooves for storing lithium-based lubricating grease are further formed in the sliding pair so that the sliding grooves 47 can be lubricated in time.
The remote controller 18 consists of an infrared transmitting tube, an infrared receiving head, a display nixie tube and keys; the remote controller 18 adopts a centralized control mode, takes an MSP430 singlechip as a main controller, and adopts a remote control mode of taking infrared light as a carrier, transmitting control coding signals, receiving signals by the robot and decoding; the control software of the remote controller (18) adopts programming of C language to complete the coding and modulation functions of remote control signals. The remote controller realizes the remote control functions of rotation, forward movement, lifting, descending, backward movement, speed regulation, autonomy, manual operation mode, switching and the like of the robot.
The sensor 1 is provided with an alarm display module, a receiving module mainly comprising CX20106A chips, a controller which takes a singlechip AT89S51 as a ranging module, a Flash which takes 4kbit as a Flash memory, 1288 bytes of internal RAM, 2 16-bit counters and 6 interrupt sources. Aiming at the problems of narrow range and high price of ultrasonic radar products in the market, the sensor 1 designed by the invention uses an intermediate frequency transformer and a Sony CX20106A chip to redesign a circuit of a transmitting and receiving module from the aspects of improving the transmitting power and the receiving sensitivity, thereby improving the transmitting power and the receiving sensitivity of the ranging module well. The reliable ranging range of the invention can reach 5m, and the manufacturing cost can be limited to 80 yuan/platform, so that the sensor with low cost and large ranging range is designed to prevent the field automatic grabbing electromechanical equipment carrying the camera device from being impacted.
The controller 7 is provided with a program counter, an instruction register, an instruction decoder, a pulse source, a start-stop line and a time sequence control signal forming part; the storage battery 17 is a lead-acid battery, the lead-acid battery is divided into 6 pieces, the rated voltage of each small battery is 12V, the rated voltage capacity of each small battery is 15 ampere hours, and the length, the width and the height of each small battery are respectively 149mm, 102mm and 100mm.
The camera 11 internally carries a charge coupled device image sensor, and the charge coupled device image sensor is formed by arranging photosensitive pixels, each pixel is a MOS capacitor (mostly a photosensitive diode), and 1 MOS capacitor is formed by adding 1 bias voltage between a substrate and a metal electrode on a P-type Si substrate surface; when 1 beam of light is projected onto the MOS capacitor, photons pass through the transparent electrode and the oxide layer and enter the P-type Si substrate, and electrons in the valence band in the substrate absorb the energy of the photons and jump into the conduction band; the electron transition generated when photons enter the substrate forms electron-hole pairs, and the electron-hole pairs respectively move towards the two ends of the electrode under the action of an external electric field; this is the signal charge; the CCD image sensor, namely CCD camera (Charge Coupled Device), which converts light into electric charge, converts the electric charge into digital signals through the analog-to-digital converter chip, and the digital signals are stored by a flash memory or a built-in hard disk card in the camera after compression, so that the data can be easily transmitted to a computer, and the image can be modified according to the need by means of the processing means of the computer; each pixel is a MOS capacitor (mostly a photodiode), which is formed by oxidizing a P-type Si substrate to form 1 layer of SiO2 with a thickness of about 1000A to 1500A, and evaporating a metal layer (polysilicon) on the SiO2 surface, and these signal charges are stored in a "potential well" formed by the electrodes.
The invention has the beneficial effects that:
1. the invention has CCD camera set up above the manipulator, take picture of the position, size of the object accurately with CCD, thus facilitate the mechanical equipment to grasp the object, the invention has designed the track in order to adapt to the field operation, can be practical to the field ground operation of the suburb in the bottom of the vehicle, in addition the vehicle can command remotely, can also be driven by manpower at the same time. The vehicle is provided with a direct current power supply, so that the vehicle is convenient for the field to have no alternating current, and the front of the vehicle is provided with the anti-collision radar so as to avoid collision to trees, stones and other obstacles.
2. The invention has wide popularization and application prospect, and can be widely applied to the completion of automatic grabbing of building materials, mechanical parts, chemical raw and auxiliary materials and the like, thereby improving the automation level. The invention can also be used for picking ripe tomatoes.
Drawings
Fig. 1 is a general diagram of a mechanism:
in fig. 1: sensor 1, walking controller 2, drive wheel 3, track 4, track wheel 5, bottom plate 6, manipulator controller 7, lift 8, hinge 9, servo motor B10, camera 11, manipulator 12, lifter 13, servo motor A14, seat 15, steering handle 16, battery 17, remote controller 18, horizontal swinging rod 19, connecting rod 22.
FIG. 2 is a specific structural view of the robot 12
In fig. 2: the manipulator base 30, the rotation axis A31, the support plate 32, the rotation axis B33, the encoder 34, the rotation motor 35, the magic cube 36, the manipulator 37, the manipulator rotation base 38 and the rotation axis C39.
Fig. 3 is a detailed construction diagram of the lifter 8
In fig. 3: direct current hydraulic motor 40, hydraulic rod 41, upper bottom surface 42, moving rod 43, transverse shaft 44, support slide rod 45, lower bottom surface 46, and slide groove 47
FIG. 4 is a transmission diagram of the servo motor 10 driving the horizontal swing rod 19
In fig. 4: servo motor 10, gear 20, horizontal swinging rod 19, fixed shaft 21
Detailed Description
As shown in fig. 1, the present invention is opened to the field when there is cargo in the field to be grasped. The invention is remotely controlled by a remote controller 18, the invention can move forward, backward and rotate towards the object to be grabbed under the drive of the remote controller 18, the mechanical equipment of the invention is also provided with a lifter 8, the lifting position of the manipulator 12 is convenient, and the invention designs a horizontal swinging rod 19, so that the movable range of the manipulator 12 on a certain horizontal plane is greatly enlarged. The driving wheel 3 of the invention is driven by a driving motor which is driven by a storage battery 17. The crawler belt 4 is wound around the driving wheel 3 and the crawler wheel 5, the crawler belt 4 is a metal pin hinged crawler belt (the crawler belt is one of the strongest crawler belts in the mechanical industry so far), the crawler belt 4 consists of a crawler plate and a crawler pin, the crawler belt 4 is driven by the driving wheel 3, and a driving motor is arranged in the driving wheel 3; the bottom plate 6 is arranged above the crawler belt 4, the bottom plate 6 is formed by welding rectangular carbon steel plates, the bottom plate 6 is hollow paper-box-shaped rectangular, the walking controller 2 is arranged in the bottom plate 6, the controller 2 is provided with a digital signal processing chip, and a control circuit of the controller 2 consists of a control chip, a chip driving system, an AD sampling system, a power module driving system, a hardware protection system, a position detection system and a bus supporting capacitor; the controller 2 is used to control the forward, backward, turning, parking and accelerating of the whole vehicle of the present invention, and the control turning device is installed on the right side of the steering handle 16 when the vehicle is driven manually (of course, the forward and backward actions can also be controlled by the remote controller 18). A manipulator controller 7 is arranged above the bottom plate 6, a lifter 8 is arranged above the manipulator controller 7, a metal rod with adjustable height is arranged above the lifter 8, a hinge 9 is arranged at the top end of the metal rod, the left end of a connecting rod 22 is linked with the hinge 9, a lifting rod 13 is arranged below the connecting rod 22, and a servo motor A14 is arranged below the lifting rod 13; the servo motor A14 can drive the lifting rod 13 to ascend or descend under the command of the remote controller 18, and can drive the connecting rod 22 to ascend or descend, so that the manipulator 12 is driven to ascend or descend, and the grabbing range of the invention is larger. The right end of the connecting rod 22 is provided with a servo motor B10, the servo motor B10 drives a gear 20 through an output shaft, the gear 20 drives a semicircular rack at the left end of a horizontal swinging rod 19, and the horizontal swinging rod 19 and a fixed shaft 21 form clearance fit so that the horizontal swinging rod 19 horizontally rotates around the fixed shaft 21; the modulus of gear teeth of the gear 20 and the semicircular rack is 2mm, and the pressure angle is 20 degrees; the right end of the horizontal swinging rod 19 is connected with the manipulator 12, and a camera 11 is arranged above the manipulator 12; the right end of the bottom plate 6 is provided with a sensor 1, a seat 15 and a direction handle 16 are arranged above the right end of the bottom plate 6 so as to facilitate the driving of the whole equipment, and in order to save space, a storage battery 17 is arranged below the seat 15, and the whole equipment can be controlled by a remote controller 18 in a remote control way.
The utility model discloses a servo motor, including lifter 13, servo motor A14, the lifter 13 below be equipped with the rack, the output shaft of servo motor A14 on install the pinion, the rack meshing of pinion and lifter 13 below, the inside rotor of servo motor A14 be the permanent magnet, the three-phase electricity of driver control forms the electromagnetic field, the rotor rotates under the effect of this magnetic field, servo motor A14 is from the encoder feedback signal who takes for the driver simultaneously, the driver compares with the target value according to the feedback value, adjusts rotor pivoted angle, servo motor A14's precision is unanimous with the precision of encoder. When the servo motor A14 receives the ascending instruction of the remote controller 18, the pinion arranged on the output shaft of the servo motor A14 drives the rack below the lifting rod 13 to move upwards, and the position of the connecting rod 22 is pushed up so that the manipulator 12 can grasp the goods at the high position.
The remote controller 18 cooperates with the robot controller 7 to control the raising and lowering of the robot 12, horizontal rotation, gripping of an object, and releasing of an object. The remote controller 18 consists of an infrared transmitting tube, an infrared receiving head, a display nixie tube and keys; the remote controller 18 adopts a centralized control mode, takes an MSP430 singlechip as a main controller, and adopts a remote control mode of taking infrared light as a carrier, transmitting control coding signals, receiving signals by the robot and decoding; the control software of the remote controller 18 is programmed by adopting a language C to complete the coding and modulation functions of remote control signals.
In order to prevent the device of the invention from striking other objects, a sensor 1 is mounted at the right end of the bottom plate 6. The sensor 1 is provided with an alarm display module, a receiving module mainly comprising CX20106A chips, a controller which takes a singlechip AT89S51 as a ranging module, a Flash which takes 4kbit as a Flash memory, 1288 bytes of internal RAM, 2 16-bit counters and 6 interrupt sources.
The controller 7 is provided with a program counter, an instruction register, an instruction decoder, a pulse source, a start-stop line and a time sequence control signal forming part; the storage battery 17 is a lead-acid battery, the lead-acid battery is divided into 6 pieces, the rated voltage of each small battery is 12V, the rated voltage capacity of each small battery is 15 ampere hours, and the length, the width and the height of each small battery are respectively 149mm, 102mm and 100mm.
In order to accurately capture the accurate information of the position of the grabbed object, the camera 11 is arranged above the manipulator 12, so that the real-time situation is shot by the position of the manipulator 12 where the camera 11 is. The camera 11 is internally provided with a charge coupled device image sensor, the charge coupled device image sensor is formed by arranging photosensitive pixels, each pixel is a MOS capacitor (mostly a photosensitive diode), and 1 MOS capacitor is formed by adding 1 bias voltage between a substrate and a metal electrode on a P-type Si substrate surface; when 1 beam of light is projected onto the MOS capacitor, photons pass through the transparent electrode and the oxide layer and enter the P-type Si substrate, and electrons in the valence band in the substrate absorb the energy of the photons and jump into the conduction band; the electron transition generated when photons enter the substrate forms electron-hole pairs, and the electron-hole pairs respectively move towards the two ends of the electrode under the action of an external electric field; this is the signal charge; the CCD image sensor, namely CCD camera (Charge Coupled Device), which converts light into electric charge, converts the electric charge into digital signals through the analog-to-digital converter chip, and the digital signals are stored by a flash memory or a built-in hard disk card in the camera after compression, so that the data can be easily transmitted to a computer, and the image can be modified according to the need by means of the processing means of the computer; each pixel is a MOS capacitor (mostly a photodiode), which is formed by oxidizing a P-type Si substrate to form 1 layer of SiO2 with a thickness of about 1000A to 1500A, and evaporating a metal layer (polysilicon) on the SiO2 surface, and these signal charges are stored in a "potential well" formed by the electrodes.
As shown in fig. 2, fig. 2 is a specific structure diagram of the manipulator 12, the right end of the horizontal swinging rod 19 is linked with the manipulator 12, and a camera 11 is arranged above the manipulator 12; the manipulator 12 consists of a manipulator base 30, a rotating shaft A31, a supporting plate 32, a rotating shaft B33, an encoder 34, a rotating motor 35, a magic cube 36, a manipulator finger 37, a manipulator rotating base 38 and a rotating shaft C39; the supporting plate 32 is arranged above the manipulator base 30 through a central shaft, the supporting plate 32 and the central shaft form clearance fit, the supporting plate 32 can rotate 360 degrees along a horizontal plane, all parts above the supporting plate 32 can horizontally rotate under the command of the remote controller 18, and the manipulator disclosed by the invention has the advantages of flexible space and high freedom degree. The rotating shaft A31 is arranged on the supporting plate 32, the manipulator rotating base 38 and the supporting plate 32 are welded into a whole, the manipulator rotating base 38 is 0.5-0.6 mm thicker than the supporting plate 32, and pits for storing lubricating grease are arranged below the manipulator rotating base 38, so that two contact surfaces are in a good lubrication state; three titanium alloy connecting rods are arranged between the rotating shaft A31 and the rotating shaft B33, and the titanium alloy connecting rods have light weight and high strength, so that the service life of the manipulator can be obviously prolonged, and the invention has unexpected technical effects; the rotating shaft B33 is connected with the rotating shaft C39 by two titanium alloy connecting rods; the end parts of the rotating shaft A31, the rotating shaft B33 and the rotating shaft C39 are respectively provided with a micro servo motor for driving the three shafts to operate, and the micro servo motors are controlled by the remote controller 18 or by a control switch beside the steering handle 16. An encoder 34 is mounted at one end of the rotary motor 35; the other end of the rotating motor 35 is provided with a magic cube speed 36, the magic cube speed 36 is connected with mechanical fingers 37 on two sides, the mechanical fingers 37 on two sides are respectively formed by two sections, metal springs and hinge mechanisms are arranged in the magic cube speed 36 and the mechanical fingers 37 so that the mechanical fingers 37 can grasp or put down objects flexibly, and the manipulator 1 can drive a rotating shaft A31, a rotating shaft B33 and a rotating shaft C39 to rotate under the command of the remote controller 18 so as to drive the whole manipulator to move; an encoder 34 is mounted at one end of the rotary motor 35; the other end of the rotating motor 35 is provided with a magic cube 36, and the magic cube 36 is connected with mechanical fingers 37 on two sides. The rotary motor 35 is controlled by the encoder 34. The encoder 34 is a rotary incremental encoder, that is, the encoder 34 sends out a pulse signal every time it rotates by one unit angle, the encoder 34 subdivides the pulse signal, and the pulse signal with higher frequency is chopped, that is, the phase A, the phase B and the phase Z are output.
As shown in fig. 3, fig. 3 is a detailed structural diagram of the lifter 8 in the present invention, where the purpose of the lifter 8 in the present invention is to greatly raise or lower the movement range of the manipulator 12, so that the grabbing range is greatly increased, and at the same time, the space for the mechanical equipment to rotate after grabbing the object is further increased, that is, the application range of the present invention is widened. The lifter 8 is composed of a direct-current hydraulic motor 40, a hydraulic rod 41, an upper bottom surface 42, a moving rod 43, a transverse shaft 44, a supporting sliding rod 45, a lower bottom surface 46 and a sliding groove 47; the direct current hydraulic motor 40 is installed on a fixed shaft of the lower bottom surface 46, the output shaft of the direct current hydraulic motor 40 is provided with a vertical lifting hydraulic cylinder, the hydraulic rod 41 is installed on the output shaft of the vertical lifting hydraulic cylinder through a coupling, and the moving rods 43 are arranged in a cross manner so as to be beneficial to the lifting of the moving rods 43. Meanwhile, a horizontal shaft 44 which is horizontally arranged is also arranged between the moving rods 43, and an upper bottom surface 42 is arranged at the top of the moving rods 43; the upper bottom surface 42 and the lower bottom surface 46 are both 50Ti35V15Cr titanium alloy materials, which are high strength titanium alloy materials recently developed in the united states, and have very high mechanical strength. Two sliding grooves 47 are arranged on the right side of the lower bottom surface 46, the sliding grooves 47 are provided with T-shaped flanges, meanwhile, the lower ends of the supporting sliding rods 45 are provided with T-shaped flanges so as to form a sliding pair with the two sliding grooves 47, and micro grooves for storing lithium-based lubricating grease are further formed in the sliding pair so that the sliding grooves 47 can be lubricated in time. The invention uses the direct current hydraulic motor 40 to lift up fast, raise the availability factor of the invention. When the direct current hydraulic motor 40 is started, the direct current hydraulic motor 40 drives the hydraulic rod 41 to ascend, the hydraulic rod 41 drives the transverse shaft 44, the transverse shaft 44 drives the moving rod 43 to ascend, the moving rod 43 can drive the upper bottom surface 42 to ascend, and the whole lifter 8 ascends. The direction of movement of the elevator 8 when it is lowered is exactly opposite to that described above.
As shown in fig. 4, fig. 4 is a transmission diagram of the servo motor 10 driving the horizontal swing lever 19. The servo motor B10 drives a gear 20 through an output shaft, the gear 20 drives a semicircular rack at the left end of the horizontal swinging rod 19, and the horizontal swinging rod 19 and the fixed shaft 21 form clearance fit so that the horizontal swinging rod 19 horizontally rotates around the fixed shaft 21; the modulus of gear teeth of the gear 20 and the semicircular rack is 2mm, and the pressure angle is 20 degrees; the right end of the horizontal swing lever 19 is linked to the robot arm 12. The horizontal swinging rod 19 is designed to be horizontally arranged and can horizontally swing, so that the movement range of the manipulator 12 is obviously enlarged, and the space range of the manipulator grabbing of the invention is improved. The gear 20 and the horizontal swinging rod 19 are designed to be meshed through gears, so that the transmission ratio is accurate, that is, the manipulator 12 can grasp the motion more accurately under the assistance of the camera 11.
In conclusion, the field automatic grabbing electromechanical device with the camera device can complete automatic grabbing work of building materials, mechanical parts, chemical raw materials, auxiliary materials, crops and other materials in severe environments such as the field and a pond.
Claims (5)
1. The field automatic grabbing electromechanical device carrying the camera device is characterized by comprising a sensor (1), a walking controller (2), a driving wheel (3), a crawler belt (4), a crawler wheel (5), a bottom plate (6), a manipulator controller (7), a lifter (8), a hinge (9), a servo motor B (10), a camera (11), a manipulator (12), a lifting rod (13), a servo motor A (14), a seat (15), a direction handle (16), a storage battery (17), a remote controller (18), a horizontal swinging rod (19), a gear (20), a fixed shaft (21) and a connecting rod (22); the crawler belt (4) is wound around the driving wheel (3) and the crawler wheel (5), the crawler belt (4) is a metal pin hinged crawler belt, the crawler belt (4) is composed of a crawler plate and a crawler belt pin, the crawler belt (4) is driven by the driving wheel (3), and a driving motor is arranged in the driving wheel (3); the bottom plate (6) is arranged above the crawler belt (4), the bottom plate (6) is formed by welding cuboid carbon steel plates, a walking controller (2) is arranged in the bottom plate (6), the walking controller (2) is provided with a digital signal processing chip, and a control circuit of the walking controller (2) consists of a control chip, a chip driving system, an AD sampling system, a power module driving system, a hardware protection system, a position detection system and a bus supporting capacitor; a manipulator controller (7) is arranged above the bottom plate (6), a lifter (8) is arranged above the manipulator controller (7), a metal rod with adjustable height is arranged above the lifter (8), a hinge (9) is arranged at the top end of the metal rod, the left end of a connecting rod (22) is linked with the hinge (9), a lifting rod (13) is arranged below the connecting rod (22), and a servo motor A (14) is arranged below the lifting rod (13); a rack is arranged below the lifting rod (13), a pinion is arranged on an output shaft of the servo motor A (14) and is meshed with the rack below the lifting rod (13), a rotor inside the servo motor A (14) is a permanent magnet, three-phase electricity controlled by a driver forms an electromagnetic field, the rotor rotates under the action of the magnetic field, meanwhile, a coder feedback signal of the servo motor A (14) is fed back to the driver, the driver compares a feedback value with a target value, the rotating angle of the rotor is adjusted, and the precision of the servo motor A (14) is consistent with that of a matched coder; the right end of the connecting rod (22) is provided with a servo motor B (10), the servo motor B (10) drives a gear (20) through an output shaft, the gear (20) drives a semicircular rack at the left end of a horizontal swinging rod (19), and the horizontal swinging rod (19) and a fixed shaft (21) form clearance fit so that the horizontal swinging rod (19) horizontally rotates around the fixed shaft (21); the modulus of gear teeth of the gear (20) and the semicircular rack is 2mm, and the pressure angle is 20 degrees; the right end of the horizontal swinging rod (19) is connected with a manipulator (12), and a camera (11) is arranged above the manipulator (12); the manipulator (12) consists of a manipulator base (30), a rotating shaft A (31), a supporting plate (32), a rotating shaft B (33), an encoder (34), a rotating motor (35), a magic cube (36), a manipulator finger (37), a manipulator rotating base (38) and a rotating shaft C (39); the supporting plate (32) is arranged above the manipulator base (30) through a central shaft, the supporting plate (32) and the central shaft form clearance fit, the supporting plate (32) can rotate 360 degrees along a horizontal plane, the rotating shaft A (31) is arranged on the supporting plate (32), the manipulator rotating base (38) and the supporting plate (32) are welded into a whole, the manipulator rotating base (38) is 0.5-0.6 mm thicker than the supporting plate (32), and 8-15 pits for storing lubricating grease are arranged below the manipulator rotating base (38); three titanium alloy connecting rods are arranged between the rotating shaft A (31) and the rotating shaft B (33); the rotating shaft B (33) and the rotating shaft C (39) are connected by two titanium alloy connecting rods; the miniature servo motors are arranged at the end parts of the rotating shaft A (31), the rotating shaft B (33) and the rotating shaft C (39) to drive the three shafts to operate; an encoder (34) is mounted at one end of the rotary motor (35); a magic cube (36) is arranged at the other end of the rotating motor (35), the magic cube (36) is connected with mechanical fingers (37) at two sides, the mechanical fingers (37) at two sides are respectively formed by two sections, and metal springs and hinge mechanisms are arranged in the magic cube (36) and the mechanical fingers (37); the camera (11) is internally provided with a charge coupled device image sensor, the charge coupled device image sensor is formed by arranging photosensitive pixels, each pixel is a MOS capacitor, and 1 bias voltage is added between a substrate and a metal electrode in a P-type Si substrate surface to form 1 MOS capacitor; when 1 beam of light is projected onto the MOS capacitor, photons pass through the transparent electrode and the oxide layer and enter the P-type Si substrate, and electrons in the valence band in the substrate absorb the energy of the photons and jump into the conduction band; the electron transition generated when photons enter the substrate forms electron-hole pairs, and the electron-hole pairs respectively move towards the two ends of the electrode under the action of an external electric field; the sensor (1) is arranged at the right end of the bottom plate (6), the seat (15) and the direction handle (16) are arranged above the right end of the bottom plate (6) so as to facilitate the driving of the whole equipment, and the storage battery (17) is arranged below the seat (15) or the whole equipment is controlled by a remote controller (18) in a remote control way in order to save space; the remote controller (18) consists of an infrared transmitting tube, an infrared receiving head, a display nixie tube and keys; the remote controller (18) adopts a centralized control mode, takes an MSP430 singlechip as a main controller, and adopts a remote control mode of taking infrared light as a carrier, transmitting control coding signals, receiving signals by the robot and decoding; the control software of the remote controller (18) adopts programming of C language to complete the coding and modulation functions of remote control signals.
2. The field automation grasping electromechanical device carrying a camera device according to claim 1, wherein: the encoder (34) is a rotary incremental encoder, namely, the encoder (34) sends out a pulse signal every time the encoder (34) rotates for one unit angle, and the encoder (34) subdivides the pulse signal to chop the pulse with higher frequency.
3. The field automation grasping electromechanical device carrying a camera device according to claim 1, wherein: the lifter (8) consists of a direct-current hydraulic motor (40), a hydraulic rod (41), an upper bottom surface (42), a moving rod (43), a transverse shaft (44), a supporting sliding rod (45), a lower bottom surface (46) and a sliding groove (47); the direct-current hydraulic motor (40) is arranged on a fixed shaft on the lower bottom surface (46), a direct-current hydraulic cylinder is arranged on an output shaft of the direct-current hydraulic motor (40), a hydraulic rod (41) is arranged on the output shaft of the direct-current hydraulic cylinder through a coupler, moving rods (43) are arranged in a cross mode, a horizontal shaft (44) which is horizontally arranged is arranged between the moving rods (43), and an upper bottom surface (42) is arranged at the top of the moving rods (43); the upper bottom surface (42) and the lower bottom surface (46) are made of 50Ti35V15Cr titanium alloy materials; two sliding grooves (47) are arranged on the right side of the lower bottom surface (46), the sliding grooves (47) are formed in a T shape, a T-shaped flange is arranged at the lower end of the supporting sliding rod (45) so as to form a sliding pair with the two sliding grooves (47), and a micro groove for storing lithium-based lubricating grease is further formed in the sliding pair so that the sliding grooves (47) can be lubricated in time.
4. The field automation grasping electromechanical device carrying a camera device according to claim 1, wherein: the sensor (1) is provided with an alarm display module, a receiving module mainly comprising CX20106A chips, a controller which takes a singlechip AT89S51 as a ranging module, flash with 4kbit as a Flash memory, an internal RAM with l288 bytes, 2 16-bit counters and 6 interrupt sources.
5. The field automation grasping electromechanical device carrying a camera device according to claim 1, wherein: the manipulator controller (7) is provided with a program counter, an instruction register, an instruction decoder, a pulse source, a start-stop line and a time sequence control signal forming part; the storage battery (17) is a lead-acid battery, the lead-acid battery is divided into 6 pieces, the rated voltage of each small battery is 12V, the rated voltage capacity of each small battery is 15 ampere hours, and the length, the width and the height of each small battery are respectively 149mm, 102mm and 100mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711094760.3A CN107745752B (en) | 2017-10-30 | 2017-10-30 | Outdoor automatic grabbing electromechanical equipment with camera device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711094760.3A CN107745752B (en) | 2017-10-30 | 2017-10-30 | Outdoor automatic grabbing electromechanical equipment with camera device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107745752A CN107745752A (en) | 2018-03-02 |
| CN107745752B true CN107745752B (en) | 2024-02-06 |
Family
ID=61252059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711094760.3A Active CN107745752B (en) | 2017-10-30 | 2017-10-30 | Outdoor automatic grabbing electromechanical equipment with camera device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107745752B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108391041A (en) * | 2018-05-07 | 2018-08-10 | 广东电网有限责任公司 | Wear-type high-definition camera instrument |
| CN108656098A (en) * | 2018-07-02 | 2018-10-16 | 芜湖易迅生产力促进中心有限责任公司 | A kind of robot leg telescoping mechanism |
| CN111017054B (en) * | 2019-12-24 | 2020-12-25 | 中国人民解放军空军勤务学院 | Good-protection-performance object supporting robot |
| CN114055217B (en) * | 2022-01-14 | 2022-04-08 | 苏州德扬数控机械有限公司 | Digit control machine tool convenient to change anchor clamps |
| CN114684286A (en) * | 2022-06-01 | 2022-07-01 | 岩石(徐州)空间信息技术有限公司 | Multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land surveying vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU870107A1 (en) * | 1979-10-26 | 1981-10-07 | Особое Конструкторское Бюро Технической Кибернетики Ленинградского Политехнического Института Им. М.И.Калинина | Manipulator arm |
| JPH09240521A (en) * | 1997-02-13 | 1997-09-16 | Komatsu Ltd | Disaster relief robot |
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
| CN203919049U (en) * | 2014-05-08 | 2014-11-05 | 昆明理工大学 | A kind of novel pneumatic manipulator |
| CN203977321U (en) * | 2014-07-09 | 2014-12-03 | 江汉大学 | A kind of liftable brake flap based on speed of a motor vehicle sensing control |
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN106258182A (en) * | 2016-08-17 | 2017-01-04 | 山西省农业科学院作物科学研究所 | A kind of maize-straw harvestor |
| CN106585769A (en) * | 2017-01-24 | 2017-04-26 | 淮海工学院 | Automatic navigation transport vehicle for materials in machining process of thin-wall aluminium alloy housing |
| CN206166695U (en) * | 2016-08-29 | 2017-05-17 | 康海建 | Automatic brochette machine |
-
2017
- 2017-10-30 CN CN201711094760.3A patent/CN107745752B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU870107A1 (en) * | 1979-10-26 | 1981-10-07 | Особое Конструкторское Бюро Технической Кибернетики Ленинградского Политехнического Института Им. М.И.Калинина | Manipulator arm |
| JPH09240521A (en) * | 1997-02-13 | 1997-09-16 | Komatsu Ltd | Disaster relief robot |
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
| CN203919049U (en) * | 2014-05-08 | 2014-11-05 | 昆明理工大学 | A kind of novel pneumatic manipulator |
| CN203977321U (en) * | 2014-07-09 | 2014-12-03 | 江汉大学 | A kind of liftable brake flap based on speed of a motor vehicle sensing control |
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN106258182A (en) * | 2016-08-17 | 2017-01-04 | 山西省农业科学院作物科学研究所 | A kind of maize-straw harvestor |
| CN206166695U (en) * | 2016-08-29 | 2017-05-17 | 康海建 | Automatic brochette machine |
| CN106585769A (en) * | 2017-01-24 | 2017-04-26 | 淮海工学院 | Automatic navigation transport vehicle for materials in machining process of thin-wall aluminium alloy housing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107745752A (en) | 2018-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107745752B (en) | Outdoor automatic grabbing electromechanical equipment with camera device | |
| CN202934565U (en) | Five-shaft double-arm multifunctional robot | |
| CN209852459U (en) | Multi-legged robot | |
| CN104973151A (en) | Microminiature robot capable of walking up and down stairs automatically | |
| CN106477257B (en) | Trolley controlled by Android smart phone | |
| CN113119139A (en) | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm | |
| CN107322637B (en) | Four-degree-of-freedom mechanical arm | |
| CN204079280U (en) | The hoisting crane crane carriage of easy access | |
| CN106956253B (en) | Three Degree Of Freedom cylindrical coordinates industrial robot | |
| CN106239546A (en) | A kind of sucker mechanical hand of climbing robot | |
| CN204111188U (en) | A kind of hoisting crane crane carriage with multi-angle monitoring function | |
| CN204525524U (en) | A kind of material transfer vehicle | |
| CN107053125A (en) | A kind of novel traffic bores recycling machine people | |
| CN207014347U (en) | A kind of novel traffic bores recycling machine people | |
| CN110155640A (en) | A kind of obstacleable industrial production material transfer robot | |
| CN213081464U (en) | Wall-mounted manipulator | |
| CN209478176U (en) | A kind of walking feeder device people certainly in solar components production | |
| CN209868581U (en) | Six-shaft four-claw type movable lifting mechanical arm | |
| CN215769476U (en) | Automatic navigation transport vehicle | |
| CN204111193U (en) | Crane span structure type hoisting crane crane carriage dedicated monitoring device | |
| CN204111194U (en) | Crane span structure type hoisting crane crane carriage multi-angle monitoring equipment | |
| CN220051829U (en) | Industrial robot interaction platform based on VR | |
| CN103802087A (en) | Five-shaft double-arm multifunctional manipulator | |
| CN212352019U (en) | Double-arm cooperative robot | |
| CN213092415U (en) | Mobile vending robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200092 Li Ye, major in Mathematical Finance, Level 20, School of Economics and Management, Tongji University, No. 1239, Siping Road, Yangpu District, Shanghai Applicant after: Li Ye Address before: Li Ye, Class 8, Grade 1, Zhenghe Avenue, Huishan New City, Huishan District, Wuxi City, Jiangsu Province, China, 214174 Applicant before: Li Ye |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |