CN207189661U - A kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing - Google Patents
A kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing Download PDFInfo
- Publication number
- CN207189661U CN207189661U CN201720695345.2U CN201720695345U CN207189661U CN 207189661 U CN207189661 U CN 207189661U CN 201720695345 U CN201720695345 U CN 201720695345U CN 207189661 U CN207189661 U CN 207189661U
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- module
- central controller
- sixdegree
- voltage stabilizing
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of sixdegree-of-freedom simulation of warm image procossing to pinpoint load-engaging device, including mechanical gripper device, camera module, power module, central controller, Voltage stabilizing module, steering wheel, mechanical arm support and base composition；Base is fixed on some fixed position of ground, and mechanical arm support is mutually coupled respectively by screw with steering wheel and is installed on base, and mechanical gripper device is connected by bolt with uppermost steering wheel, and camera module is fixed on the upper end of mechanical gripper device by screw；The power module, central controller, Voltage stabilizing module are screwed on base, and wherein power module is installed on centre position behind base, and central controller is installed on before power module, and Voltage stabilizing module is installed on the right of central controller.The advantages of the utility model patent：Some can be accomplished to replace manually going to complete than relatively hazardous or needs repetition fixed point crawl and mobile work quickly, efficiently and accurately.
Description
Technical field
The utility model patent relates generally to a kind of mechanical arm, and in particular to a kind of six degree of freedom machine of warm image procossing
Tool arm pinpoints load-engaging device.
Background technology
With the development of society, machine have started to the world into us and substitute we do some are dangerous, repeat or
Complicated work.Mechanical arm is according to bionics principle and a kind of mechanical device of arm of simulation people for producing, in recent years
To being widely applied.Meanwhile image processing techniques is a hot technology, can be obtained by the collection to image and analysis
Many useful information can apply to the control to robot, manipulator motion.Image procossing is pinpointed applied to mechanical arm
Thing is taken, so as to greatly simplify the quantity of sensor, so as to realize to the accurate reliable of control.
The content of the invention
The utility model patent is mainly solving the technical problems that provide a kind of six degree of freedom machinery of warm image procossing
Arm pinpoints load-engaging device, is combined by using camera module with mechanical arm, can accomplish to replace people quickly, efficiently and accurately
Work goes to complete some than work that is relatively hazardous or needing repetition to pinpoint crawl and movement.
In order to solve the above-mentioned technical problem, a kind of used technical scheme is the utility model patent：A kind of warm figure
As the sixdegree-of-freedom simulation fixed point load-engaging device of processing, including mechanical gripper device, camera module, power module, center control
Device, Voltage stabilizing module, steering wheel, mechanical arm support and base composition processed；It is characterized in that：Base is fixed on some fixed bit of ground
Put, mechanical arm support is mutually coupled respectively by screw with steering wheel and is installed on base, and mechanical gripper device is by bolt and most
Steering wheel above is connected, and camera module is fixed on the upper end of mechanical gripper device by screw；The power module, center control
Device processed, Voltage stabilizing module are screwed on base, and wherein power module is installed on centre position behind base, center control
Device processed is installed on before power module, and Voltage stabilizing module is installed on the right of central controller；The power module is by wire and surely
Die block is connected, and Voltage stabilizing module is connected with camera module, central controller, steering wheel by wire again；The central controller
It is connected respectively with camera module, steering wheel by signal wire.
Further, the mechanical gripper device material is aluminium alloy, and the connected mode between gripper, steering wheel uses screw
Fixation is attached with nut.
Further, the material of the mechanical arm support and base is aluminium alloy, the connected mode between mechanical arm support
Fixation is attached using screw and nut.
Further, the central controller is by MK60 control panels, its by signal wire respectively with camera module, steering wheel phase
Connection.
Further, the power module by 4S model plane lithium battery group into it is connected by wire with Voltage stabilizing module.
Further, the Voltage stabilizing module is 7,805 3 end integrated voltage-stabilized chips, it is with camera module, central controller,
Steering wheel is connected by wire.
Further, the camera module is OV7620 digital CMOS cameras, and it is screwed in mechanical arm branch
On frame, it can be moved with mechanical arm.
Further, the steering wheel is made up of the digital steering wheels of DS3511, shares six, it is screwed in mechanical arm
On support.
The beneficial effect of the utility model patent is：Using steering wheel cooperative mechanical jaw arrangement, mechanical arm support motion, make whole
Individual device is easy to operate, and efficiency is higher, reasonable in design, can be applied to a variety of different occasions, can be quickly and efficiently
Accomplish to replace manually going to complete some than relatively hazardous or needs repetition fixed point crawl and mobile work；Coordinate camera module
Collection takes thing peripheral information, makes whole device running more accurate.
Brief description of the drawings
Fig. 1 is the structure chart of the utility model patent.
Fig. 2 is the left view of the utility model patent.
Fig. 3 is the structure chart of the mechanical gripper device of the utility model patent.
It is attached：The mark of each part is as follows in figure：1st, mechanical gripper device, 2, camera module, 3, power module, 4, center control
Device processed, 5, Voltage stabilizing module, 6, steering wheel, 7, mechanical arm support, 8, base.
Embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that the advantages of the utility model
It is easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to be made to the scope of protection of the utility model
Define.
Fig. 1-3 are referred to, the utility model embodiment includes：A kind of sixdegree-of-freedom simulation fixed point of warm image procossing
Load-engaging device, including mechanical gripper device 1, camera module 2, power module 3, central controller 4, Voltage stabilizing module 5, steering wheel 6, machine
Tool arm support 7 and base 8 form；It is characterized in that：Base 8 is fixed on some fixed position of ground, mechanical arm support 7 and steering wheel
6 are mutually coupled respectively by screw and are installed on base 8, and mechanical gripper device 1 is connected by bolt with uppermost steering wheel 6
Connect, camera module 2 is fixed on the upper end of mechanical gripper device 1 by screw；The power module 3, central controller 4, voltage stabilizing
Module 5 is screwed on base 8, and wherein power module 3 is installed on the centre position below of base 8, central controller 4
It is installed on before power module 3, Voltage stabilizing module 5 is installed on the right of central controller 4；The power module 3 is by wire and surely
Die block 5 is connected, and Voltage stabilizing module 5 is connected with camera module 2, central controller 4, steering wheel 6 by wire again；The center control
Device 4 processed is connected with camera module 2, steering wheel 6 respectively by signal wire.
The material of mechanical gripper device 1 is aluminium alloy, and the connected mode between mechanical gripper device 1, steering wheel 6 uses screw and spiral shell
Mother is attached fixation.Mechanical gripper device 1 takes the fixture of thing primarily as whole device, with steering wheel 6 complete take thing process.
The material of mechanical arm support 7 and base 8 is aluminium alloy, and the connected mode between mechanical arm support 7 uses screw
Fixation is attached with nut.Mechanical arm support 7 is primarily as fixed support part.
By MK60 control panels, it is connected central controller 4 with camera module 2, steering wheel 6 respectively by signal wire.Energy
Enough images gathered to camera module 2 carry out Treatment Analysis, and then send work order to steering wheel 6.
Power module 3 is by 4S model plane lithium battery group into it is connected by wire with Voltage stabilizing module 5, mainly as whole dress
The power supply power pack put.
Voltage stabilizing module 5 is 7,805 3 end integrated voltage-stabilized chips, and it passes through with camera module 2, central controller 4, steering wheel 6
Wire connects.
Camera module 2 is OV7620 digital CMOS cameras, and it is screwed on mechanical arm support 7, can
Moved with mechanical arm, it is main to be responsible for collection image information.
Steering wheel 6 is made up of the digital steering wheels 6 of DS3511, shares six, and it is screwed on mechanical arm support 7,
The instruction of central processing unit is received, and performs work.
Control program of the present utility model is：
（1）Central controller realizes timing to IMAQ, image procossing and servos control by the chip of inside.Wherein
Timing to IMAQ is 10ms, and the size for gathering image is 80*60, and data are transmitted by DMA channel；To figure
As the timing of processing is 5ms；Timing to servos control is 10ms；
（2）Current image information is gathered by the camera module, figure is carried out after being received by the central controller
As processing and computing；
（3）The deviation data that described central controller obtain computing after image procossing and computing substitutes into PID
In algorithm, the control to steering wheel is realized, so as to complete the control to whole system；
（4）The energy of whole system is provided by power module, and power module is supplied to steering wheel, camera by Voltage stabilizing module
Electricity consumption needed for module and central processing unit.
Operation principle of the present utility model is as follows：After turning on the power module, central controller is realized by the chip of inside
The image information that timing acquisition is transmitted by camera module, then carried out by corresponding image processing algorithm at image
Reason, the deviation of current location and target location can be obtained, so as to realize the control to steering wheel by pid algorithm, completed
Goal task.Timing wherein to IMAQ is 10ms, and the pixel size for gathering image is 80*60, is controlled by center
The DMA channel carried inside device 4 processed is transmitted data；Timing to image procossing is 5ms；Timing to servos control
Time is 10ms.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or other phases are used in indirectly
The technical field of pass, similarly it is included in the utility model patent protection domain.
Claims (8)
1. a kind of warm image procossing sixdegree-of-freedom simulation fixed point load-engaging device, including mechanical gripper device, camera module,
Power module, central controller, Voltage stabilizing module, steering wheel, mechanical arm support and base composition；It is characterized in that：Base is fixed on
Some fixed position of ground, mechanical arm support are mutually coupled respectively by screw with steering wheel and are installed on base, gripper dress
Put and be connected by bolt with uppermost steering wheel, camera module is fixed on the upper end of mechanical gripper device by screw；It is described
Power module, central controller, Voltage stabilizing module are screwed on base, and wherein power module is installed on behind base
Centre position, central controller are installed on before power module, and Voltage stabilizing module is installed on the right of central controller；The power supply mould
Block is connected by wire with Voltage stabilizing module, and Voltage stabilizing module is connected with camera module, central controller, steering wheel by wire again；
The central controller is connected with camera module, steering wheel respectively by signal wire.
2. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：Mechanical gripper device material is aluminium alloy, and the connected mode between gripper, steering wheel is attached using screw and nut
It is fixed.
3. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：The material of mechanical arm support and base is aluminium alloy, and the connected mode between mechanical arm support uses screw and nut
It is attached fixation.
4. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：By MK60 control panels, it is connected central controller with camera module, steering wheel respectively by signal wire.
5. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：Power module is by 4S model plane lithium battery group into it is connected by wire with Voltage stabilizing module.
6. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：Voltage stabilizing module is 7,805 3 end integrated voltage-stabilized chips, and it is connected with camera module, central controller, steering wheel by wire
Connect.
7. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：Camera module is OV7620 digital CMOS cameras, and it is screwed on mechanical arm support, can be with machinery
Arm moves together.
8. a kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing according to claim 1, its feature
It is：Steering wheel is made up of the digital steering wheels of DS3511, shares six, and it is screwed on mechanical arm support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720695345.2U CN207189661U (en) | 2017-06-15 | 2017-06-15 | A kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720695345.2U CN207189661U (en) | 2017-06-15 | 2017-06-15 | A kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207189661U true CN207189661U (en) | 2018-04-06 |
Family
ID=61784996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720695345.2U Expired - Fee Related CN207189661U (en) | 2017-06-15 | 2017-06-15 | A kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207189661U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111136646A (en) * | 2020-01-07 | 2020-05-12 | 浙江科技学院 | Garbage sorting method based on voice recognition and garbage sorting robot thereof |
| CN113211421A (en) * | 2021-06-10 | 2021-08-06 | 浙江工业大学 | Stable in structure's arm |
-
2017
- 2017-06-15 CN CN201720695345.2U patent/CN207189661U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111136646A (en) * | 2020-01-07 | 2020-05-12 | 浙江科技学院 | Garbage sorting method based on voice recognition and garbage sorting robot thereof |
| CN113211421A (en) * | 2021-06-10 | 2021-08-06 | 浙江工业大学 | Stable in structure's arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103962833B (en) | A kind of hi-Fix automatic screw-driving system | |
| CN103894583B (en) | The control method of die casting six axis robot and die casting six axis robot | |
| CN207189661U (en) | A kind of sixdegree-of-freedom simulation fixed point load-engaging device of warm image procossing | |
| CN207309951U (en) | A kind of intelligent ball collecting robot | |
| CN103252790A (en) | Control system of watermelon-picking mechanical arm | |
| CN105123127A (en) | Wolfberry picking robot and control method thereof | |
| CN104802181A (en) | Three-finger flexible hand performing device of robot | |
| CN104552308A (en) | Magic-cube-solving robot with symmetrical structures in four surfaces | |
| CN205030148U (en) | Machine people is plucked to matrimony vine | |
| CN206840135U (en) | A kind of robot device | |
| CN107831667A (en) | The tracking and controlling method of the man-machine interreaction force of compensation of rehabilitation ambulation training robot | |
| CN107703762A (en) | The man-machine interreaction force identification of rehabilitation ambulation training robot and control method | |
| CN203460183U (en) | Self-vision bionic robot | |
| CN103406910A (en) | Self-vision bionic-robot | |
| CN203221507U (en) | SDOF intermediate-speed full-automatic tin soldering robot servo control system based on image processing | |
| CN203899136U (en) | Exterior structure of embedded vision-based competitive entertainment-type humanoid robot | |
| CN204431257U (en) | A kind of solution magic square robot of tetragonal symmetry structure | |
| CN108044608A (en) | A kind of wearable body-sensing robot | |
| CN105751225A (en) | Intelligent safety protection and explosive handling robot on basis of internet of things | |
| CN205253596U (en) | Control system of intelligence tracking colour letter sorting transfer robot | |
| CN204471381U (en) | A kind of solution magic square device carrying out three-dimensional artificial | |
| CN208051910U (en) | A kind of transhipment conditioning machines people | |
| CN204772522U (en) | Bionical manipulator of writing | |
| CN204276785U (en) | A kind of engine link hot-forging die system with finish forge robot gripper | |
| CN105557198A (en) | Picker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180406 Termination date: 20180615 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |