CN109940608A - A kind of Operation Van equipped with mechanical arm - Google Patents
A kind of Operation Van equipped with mechanical arm Download PDFInfo
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- CN109940608A CN109940608A CN201910131612.7A CN201910131612A CN109940608A CN 109940608 A CN109940608 A CN 109940608A CN 201910131612 A CN201910131612 A CN 201910131612A CN 109940608 A CN109940608 A CN 109940608A
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- mechanical arm
- arm
- operation van
- clamping jaw
- image capturing
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Abstract
The present invention relates to a kind of Operation Vans equipped with mechanical arm, including mechanical arm, for issuing the host computer of job information, for receiving the slave computer of information, for controlling the controller of Operation Van's movement, image capturing system and wireless module, information transmission is carried out by wireless module between the upper computer and lower computer, the first image acquisition system includes rotating lens, second image capturing system includes fixed lens and rangefinder, the clamping jaw for clamping article is provided on the mechanical arm, the pressure sensor for adjusting clamping degree is equipped on the clamping jaw, several utility boxes are provided in the Operation Van, each utility box is equipped with corresponding electronic tag, the reader for reading the electronic tag is equipped in one end that the clamping jaw is arranged in the mechanical arm.Operation Van in the present invention can not have the function that carry article, and can substantially increase classification effectiveness directly by taxonomy of goods, reduce human cost.
Description
Technical field
The present invention relates to a kind of intelligent operation vehicle more particularly to a kind of Operation Vans equipped with mechanical arm.
Background technique
With the development of the society, more and more things can be intelligent, all kinds of robots come into being, and robot is complete
At be also no longer simple duplicate work, but more complicated and more demanding precision work, this has just been needed to configure
The mechanical arm of vision system, vision system can extract characteristics of image, accurately find target by edge analysis, by vision system
Applied to the accuracy that will greatly improve mechanical arm on mechanical arm.Article is picked and placed using intelligent operation vehicle and is divided article
Class will greatly save human cost.
Summary of the invention
It can be realized the accurate intelligence for picking and placing article and article being classified the purpose of the present invention is to provide a kind of
Operation Van, the Operation Van is equipped with mechanical arm and image capturing system.
The present invention to achieve the goals above, the technical solution taken are as follows: a kind of Operation Van equipped with mechanical arm,
Be characterized in that: the host computer including mechanical arm, for issuing job information, the slave computer for receiving information are made for controlling
Controller, image capturing system and the wireless module of industry vehicle movement, between the upper computer and lower computer by wireless module into
Row information transmission, the slave computer and image capturing system are all connected with the controller, and described image acquisition system includes first
Image capturing system and the second image capturing system, the first image acquisition system include rotating lens, second image
Acquisition system includes fixed lens and rangefinder, and the clamping jaw for clamping article is provided on the mechanical arm, in the clamping jaw
It is equipped with the pressure sensor for adjusting clamping degree, several utility boxes, each utility box are provided in the Operation Van
It is equipped with corresponding electronic tag, is equipped in one end that the clamping jaw is arranged in the mechanical arm for reading the electronic tag
Reader.
Further, the clamping jaw is that two be oppositely arranged refer to that clamping jaw, the pressure sensor are set to the clamping jaw
Medial surface.
Further, the rangefinder is infrared range-measurement system.
Further, the mechanical arm is four-degree-of-freedom mechanical arm.
Further, the mechanical arm includes steering pitman arm, telescopic arm and clamping jaw, and the telescopic arm is set to the steering
On steering wheel, the clamping jaw is set to the one end of the telescopic arm far from the steering pitman arm, and the telescopic arm includes passing through steering
Forearm, middle arm and the postbrachium of joint connection, the postbrachium connect the steering pitman arm, and the rear wall is scalable.
Further, the controller is connected with the reseting module resetted for the telescopic arm.
Further, on the telescopic arm be equipped with first angle sensor and second angle sensor, described first jiao
Degree sensor is used to detect angle between the forearm and middle arm, the second angle sensor for detect the middle arm and
Angle between the postbrachium, the first angle sensor and second angle sensor are connect with the controller.
Further, the reseting module includes the first reseting module resetted for upper arm angle, for middle arm angle
The second reseting module resetted.
Further, several utility boxes are disposed side by side in the compartment of car body.
Beneficial effect caused by the present invention includes: that the Operation Van in the present invention issues operation information by host computer, under
Position machine passes the information on after receiving the operation information that host computer issues to controller, controller initiating task vehicle, the first image
Acquisition system finds target position by rotating lens, and controller approaches target position according to the orientation rotation path of target position
It sets, the range information with target position is sent to controller by the second image capturing system, and controller will be made according to range information
Stop Operation Van when industry vehicle moves near target position, starts mechanical arm, and mechanical arm takes article, and root using clamping jaw clamping generation
According to the electronic tag on the reader identification utility box on clamping jaw, article is put in accurate location.
The clamping force for incuding clamping jaw by the way that pressure sensor is arranged on clamping jaw, prevents article from falling in clamping process
Damage.Infrared range-measurement system is set on the second image collecting device, the range information with article can be accurately measured.
Mechanical arm in the present invention include for adjust forearm that the steering pitman arm in orientation connects with by steering connections, in
Arm and postbrachium can adjust jaw position according to article position, reach taking for fast accurate and hold.
Reseting module is provided in the present invention, can after mechanical arm is completed to pick and place classification movement, to the angle in each joint into
Row resets, in order to movement next time.
Telescopic arm in the present invention is equipped with angular transducer, is convenient for detection angles information, and angle information transfer is given
Controller has the function that adjust position and angle.
Operation Van in the present invention can not have the function that carrying article, and can be directly by taxonomy of goods, greatly
Classification effectiveness is improved greatly, reduces human cost.
Detailed description of the invention
The information transmission structure schematic diagram of Operation Van equipped with mechanical arm in Fig. 1 present invention；
The structural schematic diagram of Operation Van equipped with mechanical arm in Fig. 2 present invention；
1, forearm in figure, 2, middle arm, 3, postbrachium, 4, clamping jaw, 5, steering pitman arm, 6, pressure sensor, 7, utility box, 8, electronics mark
Label, 9, steering connections, 10, rotating lens, 11, fixed lens.
Specific embodiment
Further details of explanation is done to the present invention with reference to the accompanying drawings and detailed description, it should be appreciated that
The protection scope of the present invention is not limited by the specific implementation manner.
As shown in Figure 1, Operation Van of one of the present invention equipped with mechanical arm, including mechanical arm, for issuing operation
The host computer of information, the slave computer for receiving information, controller, image capturing system and nothing for controlling Operation Van's movement
Wire module passes through wireless module between the upper computer and lower computer and carries out information transmission, the slave computer and Image Acquisition system
System is all connected with the controller, and described image acquisition system includes the first image capturing system and the second image capturing system, institute
Stating the first image capturing system includes rotating lens 10, and second image capturing system includes fixed lens 11 and rangefinder,
It is provided with the clamping jaw 4 for clamping article on the mechanical arm, the pressure for adjusting clamping degree is equipped on the clamping jaw 4
Sensor 6 is provided with several utility boxes 7 in the Operation Van, and each utility box 7 is equipped with corresponding electronic tag 8, in institute
It states mechanical arm and one end of the clamping jaw 4 is set equipped with the reader for reading the electronic tag 8.Operation Van passes through host computer
Operation information is issued, slave computer passes the information on after receiving the operation information that host computer issues to controller, controller starting
Operation Van, the first image capturing system find target position by rotating lens 10, and controller is revolved according to the orientation of target position
Turn path and approach target position, the range information with target position is sent to controller, controller by the second image capturing system
Stop Operation Van when being moved to Operation Van near target position according to range information, starts mechanical arm, and mechanical arm utilizes clamping jaw 4
In clamping generation, takes article, and according to the electronic tag 8 on the reader identification utility box 7 on clamping jaw 4, article is put in accurate position
It sets.
Clamping jaw 4 in the present invention is that two be oppositely arranged refer to that clamping jaw 4, pressure sensor 6 are set to the medial surface of clamping jaw 4,
Rangefinder is infrared range-measurement system.The clamping force for incuding clamping jaw 4 by the way that pressure sensor 6 is arranged on clamping jaw 4, prevents article from existing
Damage is fallen in clamping process.Infrared range-measurement system is set on the second image collecting device, can be accurately measured at a distance from article
Information.
In order to reach the multi-faceted movement of mechanical arm, mechanical arm is four-degree-of-freedom mechanical arm.Specifically, mechanical arm includes turning to
Steering wheel 5, telescopic arm and clamping jaw 4, the telescopic arm are set on the steering pitman arm 5, and the clamping jaw 4 is set to the telescopic arm
One end far from the steering pitman arm 5, the telescopic arm includes the forearm 1, middle arm 2 and postbrachium 3 connected by steering connections 9,
The postbrachium 3 connects the steering pitman arm 5, and the rear wall is scalable.Steering pitman arm 5 is used to adjust the whole orientation of mechanical arm,
Steering connections 9 for adjust forearm 1, the angle of middle arm 2 and postbrachium 3 between any two with according to article position adjust 4 position of clamping jaw,
Reach taking for fast accurate to hold.
Controller in the present invention is connected with the reseting module and angular transducer resetted for the telescopic arm.Described
Telescopic arm is equipped with first angle sensor and second angle sensor, and the first angle sensor is for detecting the forearm
Angle between 1 and middle arm 2, the second angle sensor are used to detect the angle between the middle arm 2 and the postbrachium 3,
The first angle sensor and second angle sensor are connect with the controller.The reseting module includes being used for upper arm
First reseting module of angle reset, the second reseting module resetted for middle 2 angle of arm.Reseting module in the present invention, can
After mechanical arm is completed to pick and place classification movement, the angle in each joint is resetted, in order to movement next time.In the present invention
Telescopic arm be equipped with angular transducer, be convenient for detection angles information, and by angle information transfer to controller, reach adjustment position
Set the effect with angle.
Operation Van in the present invention can not have the function that carrying article, and can be directly by taxonomy of goods, greatly
Classification effectiveness is improved greatly, reduces human cost.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in the content of embodiment.For in this field
Technical staff for, can have various change and change within the scope of technical solution of the present invention, made any variation and
Change, within that scope of the present invention.
Claims (9)
1. a kind of Operation Van equipped with mechanical arm, it is characterised in that: including mechanical arm, for issuing the upper of job information
Machine, the slave computer for receiving information, controller, image capturing system and wireless module for controlling Operation Van's movement, institute
It states and information transmission is carried out by wireless module between upper computer and lower computer, the slave computer and image capturing system are all connected with institute
Controller is stated, described image acquisition system includes the first image capturing system and the second image capturing system, the first image
Acquisition system includes rotating lens, and second image capturing system includes fixed lens and rangefinder, is set on the mechanical arm
It is equipped with the clamping jaw for clamping article, the pressure sensor for adjusting clamping degree is equipped on the clamping jaw, in the work
Several utility boxes are provided on industry vehicle, each utility box is equipped with corresponding electronic tag, and the folder is arranged in the mechanical arm
One end of pawl is equipped with the reader for reading the electronic tag.
2. the Operation Van according to claim 1 equipped with mechanical arm, it is characterised in that: the clamping jaw is oppositely arranged
Two refer to that clamping jaw, the pressure sensor are set to the medial surface of the clamping jaw.
3. the Operation Van according to claim 1 equipped with mechanical arm, it is characterised in that: the rangefinder is infrared distance measurement
Instrument.
4. the Operation Van according to claim 1 equipped with mechanical arm, it is characterised in that: the mechanical arm is four-degree-of-freedom
Mechanical arm.
5. the Operation Van according to claim 1 equipped with mechanical arm, it is characterised in that: the mechanical arm includes turning to rudder
Disk, telescopic arm and clamping jaw, the telescopic arm are set on the steering pitman arm, and the clamping jaw is set to the telescopic arm far from institute
One end of steering pitman arm is stated, the telescopic arm includes forearm, middle arm and the postbrachium connected by steering connections, the postbrachium connection
The steering pitman arm, the rear wall are scalable.
6. the Operation Van according to claim 5 equipped with mechanical arm, it is characterised in that: the controller, which is connected with, to be used for
The reseting module that the telescopic arm resets.
7. the Operation Van according to claim 5 equipped with mechanical arm, it is characterised in that: be equipped with the on the telescopic arm
One angular transducer and second angle sensor, the first angle sensor are used to detect the folder between the forearm and middle arm
Angle, the second angle sensor are used to detect the angle between the middle arm and the postbrachium, the first angle sensor
It is connect with the controller with second angle sensor.
8. the Operation Van according to claim 6 equipped with mechanical arm, it is characterised in that: the reseting module includes being used for
First reseting module of upper arm angle reset, the second reseting module resetted for middle arm angle.
9. the Operation Van according to claim 1 equipped with mechanical arm, it is characterised in that: several utility boxes are disposed side by side on
In the compartment of car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131612.7A CN109940608A (en) | 2019-02-22 | 2019-02-22 | A kind of Operation Van equipped with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131612.7A CN109940608A (en) | 2019-02-22 | 2019-02-22 | A kind of Operation Van equipped with mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109940608A true CN109940608A (en) | 2019-06-28 |
Family
ID=67007987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910131612.7A Pending CN109940608A (en) | 2019-02-22 | 2019-02-22 | A kind of Operation Van equipped with mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109940608A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421542A (en) * | 2019-08-02 | 2019-11-08 | 浙江创联信息技术股份有限公司 | One plants case class package handling intelligent robot |
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| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
| CN106976499A (en) * | 2017-05-03 | 2017-07-25 | 东莞理工学院 | A kind of intelligent carrier applied to Automatic Production System |
| CN206436227U (en) * | 2016-12-14 | 2017-08-25 | 华南理工大学广州学院 | A kind of floor truck |
| EP3357648A1 (en) * | 2017-02-01 | 2018-08-08 | Toyota Jidosha Kabushiki Kaisha | Moving robot, method of controlling moving robot, and control program |
| CN108436907A (en) * | 2018-02-28 | 2018-08-24 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of Intelligent transfer robot trolley and its management method |
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2019
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
| CN206436227U (en) * | 2016-12-14 | 2017-08-25 | 华南理工大学广州学院 | A kind of floor truck |
| EP3357648A1 (en) * | 2017-02-01 | 2018-08-08 | Toyota Jidosha Kabushiki Kaisha | Moving robot, method of controlling moving robot, and control program |
| CN106976499A (en) * | 2017-05-03 | 2017-07-25 | 东莞理工学院 | A kind of intelligent carrier applied to Automatic Production System |
| CN108436907A (en) * | 2018-02-28 | 2018-08-24 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of Intelligent transfer robot trolley and its management method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421542A (en) * | 2019-08-02 | 2019-11-08 | 浙江创联信息技术股份有限公司 | One plants case class package handling intelligent robot |
| CN110421542B (en) * | 2019-08-02 | 2024-04-05 | 浙江创联信息技术股份有限公司 | Intelligent robot for loading and unloading box packages |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190628 |
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| RJ01 | Rejection of invention patent application after publication |