CN112809677A - Visual six-axis manipulator and control system - Google Patents
Visual six-axis manipulator and control system Download PDFInfo
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- CN112809677A CN112809677A CN202110046078.7A CN202110046078A CN112809677A CN 112809677 A CN112809677 A CN 112809677A CN 202110046078 A CN202110046078 A CN 202110046078A CN 112809677 A CN112809677 A CN 112809677A
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- shaft
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- manipulator
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
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Abstract
The invention discloses a visual six-axis manipulator and a control system, which belong to the technical field of anchor clamp piece production and transportation, and comprise a manipulator, a visual recognition system and a visual recognition platform for placing anchor clamp pieces, wherein the manipulator comprises a support seat for supporting and a first shaft sliding on the support seat, a second shaft is arranged at the top of the first shaft, a first mechanical arm is arranged on the second shaft, and a third shaft is arranged at the other end of the first mechanical arm. When the device is used, the identification, calculation and control are all completed by the control system, no strict requirement is made on the placement position of the anchor clamping piece, the noise is low compared with a feeding mode of a vibration disc, the use of personnel is reduced, the labor cost is reduced, and the personal safety accidents are correspondingly reduced due to the reduction of the personnel; the labor intensity of personnel is reduced, the control system has low cost after completing the main functions and takes the cost into consideration, and the control system is an automatic product which can be borne by medium and small enterprises.
Description
Technical Field
The invention relates to a manipulator and a control system, in particular to a visual six-axis manipulator and a control system, and belongs to the technical field of anchor clamp piece production and transportation.
Background
In order to maintain the tension of the tendon and transmit it to the anchoring tool inside the concrete, also called prestressed anchorage, the anchorage defines the use of the anchorage pre-stressed in order to have the following uses: the clamping piece type anchorage device is used for anchoring steel strands by applying the wedging principle of a taper hole, and has a certain angle, so that the clamping piece is high in labor intensity when being produced and manufactured, certain danger is caused to workers in the production process, and the carrying cost is high.
Disclosure of Invention
The invention mainly aims to solve the problems that the clamping piece clamping labor intensity is high, certain danger is caused to workers in the production process, and the carrying cost is high when anchor device clamping pieces are produced and manufactured, and provides a visual six-axis manipulator and a control system.
The purpose of the invention can be achieved by adopting the following technical scheme:
the utility model provides a six manipulators of vision, includes manipulator, vision recognition system and is used for placing the vision recognition platform of ground tackle clamping piece, the manipulator including be used for the supporting seat and gliding primary shaft on the supporting seat, the top of primary shaft is provided with the secondary shaft, be provided with first arm on the secondary shaft, the other end of first arm is provided with the third axle, be provided with the second arm on the third axle, the inside of second arm is run through there is the fourth axle, the other end of fourth axle is provided with the fifth axle, be provided with the sixth axle on the fifth axle, the other end of sixth axle is provided with the anchor clamps mount pad, be provided with the weight sensor who is used for detecting ground tackle clamping piece weight on the anchor clamps mount pad.
Preferably, the supporting seat is internally provided with a slide way for the first shaft to slide.
Preferably, the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft and the sixth shaft are all driven by servo motors.
Preferably, the manipulator is fixed on the side surface of the visual recognition platform, and the visual recognition platform is positioned below the visual recognition system.
A control system of a visual six-axis manipulator comprises a visual identification system, a visual identification platform and a power supply;
the visual recognition system comprises a data processing module, a data memory and a camera, wherein the data processing module is used for processing information shot by the camera and weight information transmitted by the weight sensor, the data memory is used for storing the information processed by the processor, and the camera is used for shooting the visual recognition platform;
the data processing module processes the information transmitted by the weight sensor and screens the clamping pieces through weight.
Preferably, the camera in the visual recognition system covers the visual recognition platform completely.
Preferably, the data processor issues instructions to control the manipulator.
Preferably, the visual recognition system performs recognition detection on the clamping piece placed on the visual recognition platform, and after the clamping piece is detected, the recognition algorithm performs calculation to obtain the coordinate value of the clamping piece on the visual recognition platform.
Preferably, the information stored in the data memory is used for later data statistics and for overhauling the manipulator according to the clamping piece grabbing times.
Preferably, the power supply is connected with the data processing module, the data memory and the camera.
The invention has the beneficial technical effects that: according to the visual six-axis manipulator and the control system, when in use, the identification, calculation and control are all completed by the control system, no strict requirement is made on the placement position of the anchor clamping piece, the noise is low relative to a feeding mode of a vibration disc, the use of personnel is reduced, the labor cost is reduced, and the personal safety accidents are correspondingly reduced due to the reduction of the personnel; personnel intensity of labour reduces because this control system is after accomplishing the primary function and compromise the cost, and this control system low cost is the automatic product that medium and small enterprise also can bear, through setting up primary shaft, secondary shaft, third axle, fourth shaft, fifth shaft and sixth shaft, can press from both sides the clamping piece through the accurate quick pair of clamp of manipulator, snatchs article back and is controlled by the system and carry out the pile up neatly, perhaps carries out subsequent operation to the article that snatchs.
Drawings
FIG. 1 is a schematic overall elevational view of a preferred embodiment of a vision six-axis robot and control system in accordance with the present invention;
FIG. 2 is a schematic diagram of the overall extension of a preferred embodiment of the vision six-axis robot and control system in accordance with the present invention;
FIG. 3 is a schematic diagram of the overall side view of a preferred embodiment of a visual six-axis robot and control system in accordance with the present invention;
figure 4 is a robot control system block diagram of a preferred embodiment of a visual six-axis robot and control system in accordance with the present invention.
In the figure: 1-first shaft, 2-second shaft, 3-third shaft, 4-fourth shaft, 5-fifth shaft, 6-sixth shaft, 7-fixture mounting seat and 8-supporting seat.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1-4, the visual six-axis manipulator and control system provided in this embodiment includes a manipulator, a visual recognition system, and a visual recognition platform for placing an anchor clip, where the manipulator includes a support seat 8 for supporting and a first axis 1 sliding on the support seat 8, a second axis 2 is disposed at the top of the first axis 1, a first mechanical arm is disposed on the second axis 2, a third axis 3 is disposed at the other end of the first mechanical arm, a second mechanical arm is disposed on the third axis 3, a fourth axis 4 penetrates through the second mechanical arm, a fifth axis 5 is disposed at the other end of the fourth axis 4, a sixth axis 6 is disposed on the fifth axis 5, a clamp mounting seat 7 is disposed at the other end of the sixth axis 6, and a weight sensor for detecting the weight of the anchor clip is disposed on the clamp mounting seat 7. When the device is used, the identification, calculation and control are all completed by the control system, no strict requirement is imposed on the placement position of the anchor clamping piece, the noise is low compared with a feeding mode of a vibration disc, the use of personnel is reduced, the labor cost is reduced, and the personal safety accidents are correspondingly reduced due to the reduction of the personnel; personnel intensity of labour reduces because this control system is after accomplishing the primary function and compromise the cost, and this control system low cost is the automatic product that medium and small enterprise also can bear, through setting up primary shaft 1, secondary shaft 2, third axle 3, fourth axle 4, fifth axle 5 and sixth axle 6, can press from both sides the clamping piece through the accurate quick pair of clamp of manipulator, snatch article back and control by the system and carry out the pile up neatly, perhaps carry out subsequent operation to the article of snatching.
In this embodiment, as shown in fig. 1 to 3, a slide way for the first shaft 1 to slide is provided inside the supporting seat 8, the first shaft 1, the second shaft 2, the third shaft 3, the fourth shaft 4, the fifth shaft 5 and the sixth shaft 6 are all driven by a servo motor, the manipulator is fixed on a side surface of the visual recognition platform, and the visual recognition platform is located below the visual recognition system. The clamping piece on the visual recognition platform can be effectively detected by arranging the visual recognition platform below the visual recognition system, the accuracy during detection is improved, the clamping piece is fixed on the side surface of the visual recognition platform through the manipulator, the stability can be improved, the flexibility of the manipulator is not influenced, and the clamping piece can be clamped and carried conveniently.
As shown in fig. 1 to 4, the control system of the visual six-axis manipulator provided in this embodiment includes a visual recognition system, a visual recognition platform, and a power supply;
the visual recognition system comprises a data processing module, a data memory and a camera, wherein the data processing module is used for processing information shot by the camera and weight information transmitted by the weight sensor, the data memory is used for storing the information processed by the processor, and the camera is used for shooting the visual recognition platform;
the data processing module processes the information transmitted by the weight sensor and screens the clamping pieces through the weight.
In this embodiment, as shown in fig. 4, the camera in the vision recognition system covers the vision recognition platform completely, and the data processor sends out an instruction to control the manipulator. The visual identification platform is comprehensively covered by the camera, so that the monitoring range is increased, a monitoring dead angle is avoided, the accurate calculation of the coordinates of the clamping piece is increased, and the clamping and carrying manipulator is more accurate.
In this embodiment, as shown in fig. 4, the vision recognition system performs recognition and detection on the clips placed on the vision recognition platform, after the clips are detected, the recognition algorithm performs calculation to obtain coordinate values of the clips on the vision recognition platform, the information stored in the data memory is used for later data statistics and maintenance of the manipulator according to the number of times of grabbing the clips, and the power supply is connected to the data processing module, the data memory and the camera. Through the number of times and the various data storage in the use that will snatch the clamping piece in data memory, make things convenient for the call in later stage, can be through the number of times of snatching of manipulator, the operating condition of accurate understanding manipulator is convenient for inspect and maintain the manipulator.
In summary, in this embodiment, according to the visual six-axis manipulator and the control system of this embodiment, when in use, recognition, calculation, and control are all completed by the control system, there is no strict requirement on the placement position of the anchor clamping piece, and compared with the feeding mode of the vibration plate, the feeding mode has low noise, reduces the use of personnel, reduces the labor cost, and accordingly reduces personal safety accidents due to the reduction of personnel; personnel intensity of labour reduces because this control system is after accomplishing the primary function and compromise the cost, and this control system low cost is the automatic product that medium and small enterprise also can bear, through setting up primary shaft 1, secondary shaft 2, third axle 3, fourth axle 4, fifth axle 5 and sixth axle 6, can press from both sides the clamping piece through the accurate quick pair of clamp of manipulator, snatch article back and control by the system and carry out the pile up neatly, perhaps carry out subsequent operation to the article of snatching. The clamping piece on the visual recognition platform can be effectively detected by arranging the visual recognition platform below the visual recognition system, the accuracy during detection is improved, the clamping piece is fixed on the side surface of the visual recognition platform through the manipulator, the stability can be improved, the flexibility of the manipulator is not influenced, and the clamping piece can be clamped and carried conveniently. Through the number of times and the various data storage in the use that will snatch the clamping piece in data memory, make things convenient for the call in later stage, can be through the number of times of snatching of manipulator, the operating condition of accurate understanding manipulator is convenient for inspect and maintain the manipulator.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (10)
1. A visual six-axis manipulator is characterized by comprising a manipulator, a visual recognition system and a visual recognition platform for placing anchor clamps, the manipulator comprises a supporting seat (8) for supporting and a first shaft (1) sliding on the supporting seat (8), a second shaft (2) is arranged at the top of the first shaft (1), a first mechanical arm is arranged on the second shaft (2), the other end of the first mechanical arm is provided with a third shaft (3), the third shaft (3) is provided with a second mechanical arm, a fourth shaft (4) penetrates through the inside of the second mechanical arm, a fifth shaft (5) is arranged at the other end of the fourth shaft (4), a sixth shaft (6) is arranged on the fifth shaft (5), a clamp mounting seat (7) is arranged at the other end of the sixth shaft (6), and a weight sensor for detecting the weight of the anchor device clamping piece is arranged on the clamp mounting seat (7).
2. The visual six-axis manipulator according to claim 1, wherein a slide way for the first shaft (1) to slide is provided inside the support base (8).
3. A visual six-axis manipulator according to claim 1, characterized in that the first axis (1), the second axis (2), the third axis (3), the fourth axis (4), the fifth axis (5) and the sixth axis (6) are all driven by servo motors.
4. The vision six-axis manipulator of claim 1, wherein the manipulator is fixed to a side of the vision recognition platform, and the vision recognition platform is located below the vision recognition system.
5. The control system of the visual six-axis manipulator is characterized by comprising a visual identification system, a visual identification platform and a power supply;
the visual recognition system comprises a data processing module, a data memory and a camera, wherein the data processing module is used for processing information shot by the camera and weight information transmitted by the weight sensor, the data memory is used for storing the information processed by the processor, and the camera is used for shooting the visual recognition platform;
the data processing module processes the information transmitted by the weight sensor and screens the clamping pieces through weight.
6. The control system of claim 5, wherein the camera of the vision recognition system covers the vision recognition platform.
7. The control system of claim 5, wherein the data processor issues commands to control the robot.
8. The control system of claim 5, wherein the vision recognition system performs recognition detection on the clamping piece placed on the vision recognition platform, and after the clamping piece is detected, a recognition algorithm performs calculation to obtain coordinate values of the clamping piece on the vision recognition platform.
9. The control system of claim 5, wherein the information stored in the data memory is used for later data statistics and for servicing the robot based on the number of clips grasped.
10. The control system of claim 5, wherein the power source is coupled to the data processing module, the data storage device, and the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110046078.7A CN112809677A (en) | 2021-01-14 | 2021-01-14 | Visual six-axis manipulator and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110046078.7A CN112809677A (en) | 2021-01-14 | 2021-01-14 | Visual six-axis manipulator and control system |
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| CN112809677A true CN112809677A (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110046078.7A Pending CN112809677A (en) | 2021-01-14 | 2021-01-14 | Visual six-axis manipulator and control system |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0415016D0 (en) * | 2004-07-03 | 2004-08-04 | Khodabandehloo Koorosh | Apparatus for moving products |
| CN104626144A (en) * | 2015-02-11 | 2015-05-20 | 苏州荣威工贸有限公司 | Six-axis robot based on servo electric cylinders |
| CN105196311A (en) * | 2015-10-21 | 2015-12-30 | 国机集团科学技术研究院有限公司 | Quick zero point calibration method for six-axis robot |
| CN107598915A (en) * | 2017-10-30 | 2018-01-19 | 广东腾山机器人有限公司 | A kind of six-joint robot |
| CN107758247A (en) * | 2017-10-10 | 2018-03-06 | 深圳市极维度智能科技有限公司 | A kind of automated production producing line and automatic production method |
| CN109013384A (en) * | 2018-07-10 | 2018-12-18 | 华侨大学 | A kind of sorting equipment and its method for sorting of building waste material |
| CN110103008A (en) * | 2019-05-06 | 2019-08-09 | 江苏金猫机器人科技有限公司 | A kind of robot workstation suitable for large-size box docking |
| 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 |
-
2021
- 2021-01-14 CN CN202110046078.7A patent/CN112809677A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0415016D0 (en) * | 2004-07-03 | 2004-08-04 | Khodabandehloo Koorosh | Apparatus for moving products |
| CN104626144A (en) * | 2015-02-11 | 2015-05-20 | 苏州荣威工贸有限公司 | Six-axis robot based on servo electric cylinders |
| CN105196311A (en) * | 2015-10-21 | 2015-12-30 | 国机集团科学技术研究院有限公司 | Quick zero point calibration method for six-axis robot |
| CN107758247A (en) * | 2017-10-10 | 2018-03-06 | 深圳市极维度智能科技有限公司 | A kind of automated production producing line and automatic production method |
| CN107598915A (en) * | 2017-10-30 | 2018-01-19 | 广东腾山机器人有限公司 | A kind of six-joint robot |
| CN109013384A (en) * | 2018-07-10 | 2018-12-18 | 华侨大学 | A kind of sorting equipment and its method for sorting of building waste material |
| CN110103008A (en) * | 2019-05-06 | 2019-08-09 | 江苏金猫机器人科技有限公司 | A kind of robot workstation suitable for large-size box docking |
| 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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Application publication date: 20210518 |
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| RJ01 | Rejection of invention patent application after publication |