CN207387664U - Robot vision guides equipment and robot - Google Patents
Robot vision guides equipment and robot Download PDFInfo
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- CN207387664U CN207387664U CN201721290800.7U CN201721290800U CN207387664U CN 207387664 U CN207387664 U CN 207387664U CN 201721290800 U CN201721290800 U CN 201721290800U CN 207387664 U CN207387664 U CN 207387664U
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Abstract
The utility model is suitable for robotic technology field, provide a kind of robot vision guiding equipment and robot, mechanical arm, paw, image acquisition unit and processor, one end of mechanical arm is equipped with paw, image acquisition unit is arranged on mechanical arm, and processor connects mechanical arm, paw and image acquisition unit respectively；Image acquisition unit receives the image acquisition instruction that processor is sent and obtains the image of target object, and described image is sent to processor after mechanical arm moves to designated position；Processor receives described image, and the action of mobile target object is performed according to described image control machinery arm and paw.The utility model can complete the operations such as crawl, dispensing with guiding in real time industrial robot (mechanical arm) to precision target, such as the crawl of material and feeding, to realize that the flexibility to various application scenarios is adapted to, the intelligent and flexibility of industrial robot (mechanical arm) is improved, meets practical application needs.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of robot vision guiding equipment and robot.
Background technology
The action of industrial robot (mechanical arm) operation at present some be manually to set mobile route point (way
Point) and path dot sequency, speed, definition machine need the action performed.The shortcomings that program is flexibility
(flexibility) low, the execution each acted is set by manually programming, robot (mechanical arm) intelligent and
Flexibility is poor, it is impossible to adapt to different operative scenarios or a continually changing operative scenario.For example, in certain large size processing
The heart possesses several same model C NC (Computer numerical control, numerically-controlled machine tool), and every CNC is equipped with one
Robot performs fixture operation up and down.As run time elapses, there is fixture up and down and make in different CNC/ robot working units
The precision inconsistence problems of industry.
Utility model content
In view of this, the utility model embodiment provides a kind of robot vision guiding equipment and robot, to solve
The intelligent and flexibility of existing robot (mechanical arm) is poor, it is impossible to adapt to different operative scenarios or continually changing one
The problem of a operative scenario.
The utility model embodiment in a first aspect, provide a kind of robot vision guiding equipment, including mechanical arm,
Paw, image acquisition unit and processor, one end of the mechanical arm are equipped with paw, and described image acquiring unit is arranged on institute
It states on mechanical arm, the processor connects the mechanical arm, the paw and described image acquiring unit respectively；The figure
As acquiring unit is after the mechanical arm moves to designated position, the image acquisition instruction that the processor is sent, root are received
Instruction is obtained according to described image and obtains the image of target object, and described image is sent to the processor；The processor
After the mechanical arm moves to designated position, send described image and obtain instruction to described image acquiring unit, receive institute
Image is stated, according to described image the mechanical arm and the paw is controlled to perform the action of the mobile target object.
In addition, in a specific example, described image acquiring unit is can focusing camera.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes distance measuring sensor, the ranging
Sensor is arranged on the mechanical arm, and the processor connects the distance measuring sensor；
The distance measuring sensor measures the mechanical arm and the mesh after the mechanical arm moves to designated position
The target range of object is marked, and the target range is sent to the processor；The processor receives the target range,
According to the target range adjustment described in can focusing camera focal length.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes rotary unit, and the rotation is single
Member is arranged on the mechanical arm, and described image acquiring unit is connected by the rotary unit with the mechanical arm, institute
It states processor and connects the rotary unit, the processor controls the rotary unit rotation.
In addition, in a specific example, the mechanical arm includes firm banking, pedestal rotation axis, the first manipulator
Arm, the first rotation axis, the second mechanical arm, the second rotation axis, the 3rd mechanical arm, the 3rd rotation axis, the 4th mechanical arm；
One end of the pedestal rotation axis connects the firm banking, the other end connection of the pedestal rotation axis described the
One end of one mechanical arm, the other end of first mechanical arm connect one end of first rotation axis, first rotation
The other end of shaft connects one end of second mechanical arm, other end connection second rotation of second mechanical arm
One end of shaft, the other end of second rotation axis connect one end of the 3rd mechanical arm, the 3rd mechanical arm
The other end connect one end of the 3rd rotation axis, the other end of the 3rd rotation axis connects the 4th mechanical arm
One end, the other end of the 4th mechanical arm are equipped with the paw, and described image acquiring unit is arranged on the 4th machinery
On arm or on the firm banking, the processor connect respectively first mechanical arm, second mechanical arm,
3rd mechanical arm and the 4th mechanical arm.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes display unit, and the display is single
Member is arranged on the mechanical arm, and the display unit connects the processor.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes light unit, the light list
Member is arranged on the mechanical arm, and the light unit connects the processor.
The second aspect of the utility model embodiment, provides robot, and equipment is guided including above-mentioned robot vision.
Existing advantageous effect is the utility model embodiment compared with prior art：The utility model embodiment robot
Vision guide equipment and robot, image acquisition unit obtain the image of target object, and processor is according to image control machinery
Arm and paw perform the action of mobile target object, can be completed with guiding in real time industrial robot (mechanical arm) to precision target
The operations such as crawl, dispensing, such as the crawl of material and feeding (Pick and Place), to realize to various application scenarios
Flexibility adaptation, improves the intelligent and flexibility of industrial robot (mechanical arm), meets practical application needs.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing is briefly described needed in description, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram for the robot vision guiding equipment that the utility model embodiment one provides；
Fig. 2 is the structure diagram for the robot vision guiding equipment that the utility model embodiment two provides.
Specific embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the utility model embodiment.However, it will be clear to one skilled in the art that there is no these
The utility model can also be realized in the other embodiments of detail.In other situations, omit to well-known system,
The detailed description of device, circuit and method, in case unnecessary details interferes the description of the utility model.
In order to illustrate technical solution described in the utility model, illustrated below by specific embodiment.
Embodiment one
The structure diagram for the robot vision guiding equipment that the utility model embodiment one provides is shown in Fig. 1.
As shown in Figure 1, in this embodiment, robot vision guiding equipment includes：Mechanical arm 101, paw 102,
Image acquisition unit 103 and processor 104, one end of the mechanical arm 101 are equipped with paw 102, described image acquiring unit
103 are arranged on the mechanical arm 101, and the processor 104 connects the mechanical arm 101,102 and of the paw respectively
Described image acquiring unit 103.
Described image acquiring unit 103 receives the processor after the mechanical arm 101 moves to designated position
The 104 image acquisition instructions sent, obtain instruction according to described image and obtain the image of target object, and described image is sent
To the processor 104.The processor 104 sends described image and obtains after the mechanical arm moves to designated position
Instruction receives described image, the mechanical arm 101 and the hand is controlled according to described image to described image acquiring unit 103
Pawl 102 performs the action of the mobile target object.
Here, image acquisition unit 103 can be video camera or camera etc., and designated position is moved in mechanical arm
Afterwards, the mode that processor 104 sends image acquisition instruction can be to send or sent once by prefixed time interval in real time,
Prefixed time interval is set according to actual conditions.Target object is that mobile object is needed in specified location mechanical arm, place
It can be using the processor of auspicious core micro- rk2918, Intel 8086 etc. to manage device 104, can send image acquisition and instruct to image
Acquiring unit, the image control mechanical arm and paw obtained according to image acquisition unit move target object, and processor 104 is existing
There is processor.
It is evidenced from the above discussion that the robot vision guiding equipment of the utility model embodiment, it can be with guiding in real time industry
Robot (mechanical arm) completes the operations such as crawl, dispensing to precision target, such as the crawl of material and feeding (Pick and
Place), the flexible of various application scenarios is adapted to realize, the intelligent and flexibility of raising industrial robot (mechanical arm),
Meet practical application needs.
In addition, in a specific example, described image acquiring unit is can focusing camera.It here, can focusing camera bag
Include liquid lens or voice coil motor camera lens.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes distance measuring sensor, the ranging
Sensor is arranged on the mechanical arm, and the processor connects the distance measuring sensor.
The distance measuring sensor measures the mechanical arm and the mesh after the mechanical arm moves to designated position
The target range of object is marked, and the target range is sent to the processor；The processor receives the target range,
According to the target range adjustment described in can focusing camera focal length.
Specifically, instructed in transmission image acquisition to before image acquisition unit, manipulator is measured by distance measuring sensor
The target range of arm and target object may further determine that the corresponding target voltage of target range, to can focusing camera apply
Above-mentioned target voltage, cause can focusing camera focal length change, and then can by can focusing camera take and more meet reality
The image of border requirement, is suitble to application.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes rotary unit, and the rotation is single
Member is arranged on the mechanical arm, and described image acquiring unit is connected by the rotary unit with the mechanical arm, institute
It states processor and connects the rotary unit, the processor controls the rotary unit rotation.
Here, the position of image acquisition unit is adjusted by rotary unit to obtain the image of target object, expands the visual field,
Meet plurality of application scenes needs.The position of rotary unit rotation adjustment image acquisition unit can be repeatedly controlled according to actual conditions
It puts.
In addition, in a specific example, the mechanical arm includes firm banking, pedestal rotation axis, the first manipulator
Arm, the first rotation axis, the second mechanical arm, the second rotation axis, the 3rd mechanical arm, the 3rd rotation axis, the 4th mechanical arm.
One end of the pedestal rotation axis connects the firm banking, the other end connection of the pedestal rotation axis described the
One end of one mechanical arm, the other end of first mechanical arm connect one end of first rotation axis, first rotation
The other end of shaft connects one end of second mechanical arm, other end connection second rotation of second mechanical arm
One end of shaft, the other end of second rotation axis connect one end of the 3rd mechanical arm, the 3rd mechanical arm
The other end connect one end of the 3rd rotation axis, the other end of the 3rd rotation axis connects the 4th mechanical arm
One end, the other end of the 4th mechanical arm are equipped with the paw, and described image acquiring unit is arranged on the 4th machinery
On arm or on the firm banking, the processor connect respectively first mechanical arm, second mechanical arm,
3rd mechanical arm and the 4th mechanical arm.
Specifically, the number of mechanical arm and rotation axis is set according to actual needs in above-mentioned mechanical arm, processor point
Do not connect each mechanical arm, paw is connected with robot arm end, image acquisition unit can set on paw or
It is arranged on the 4th mechanical arm or is arranged on firm banking.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes display unit, and the display is single
Member is arranged on the mechanical arm, and the display unit connects the processor.Specifically, processor can be corresponding letter
Breath is sent to display unit and show, such as the processor image of target object that obtains image acquisition unit is sent to and shows singly
Member display, related personnel can check information by display unit, be suitble to application.
In addition, in a specific example, above-mentioned robot vision guiding equipment further includes light unit, the light list
Member is arranged on the mechanical arm, and the light unit connects the processor.Here, processor can control light unit
It lights, the operation of mobile target object can also be completed in the region that the light is dusky.
Embodiment two
Above equipment in order to better understand, the utility model robot vision guiding equipment detailed below
Application example.
As shown in Fig. 2, in the present embodiment, robot vision guiding equipment can include：Mechanical arm 101, paw
102nd, image acquisition unit 103, processor 104, distance measuring sensor 105, rotary unit 106, display unit 107 and light unit
108。
The processor 104 connects the mechanical arm 101, the paw 102 and described image acquiring unit respectively
103.Described image acquiring unit 103 can be arranged on the mechanical arm 101 or the paw 102.Described image obtains
Unit 103 receives the image acquisition instruction that the processor 104 is sent after the mechanical arm 101 moves to designated position,
Instruction is obtained according to described image and obtains the image of target object, and described image is sent to the processor 104.The place
Device 104 is managed after the mechanical arm 101 moves to designated position, it is single to described image acquisition to send described image acquisition instruction
Member 103 receives described image, according to described image the mechanical arm 101 and the paw 102 is controlled to perform the mobile target
The action of object.
Described image acquiring unit 103 is can focusing camera.The distance measuring sensor 105 is arranged on the mechanical arm
On 101, the processor 104 connects the distance measuring sensor 105.The distance measuring sensor 105 is transported in the mechanical arm 101
It moves to after designated position, measures the target range of the mechanical arm 101 and the target object, and the target range is sent out
It send to the processor 104.The processor 104 receives the target range, can be right according to target range adjustment
The focal length of burnt camera.
The rotary unit 106 is arranged on the mechanical arm 101, and described image acquiring unit 103 passes through the rotation
Turn unit 106 to be connected with the mechanical arm 101, the processor 104 connects the rotary unit 106, the processor 104
The rotary unit 106 is controlled to rotate.
The distance measuring sensor 105 can also be arranged on by the rotary unit 106 on the mechanical arm 101.
The mechanical arm 101 includes firm banking 1011, pedestal rotation axis 1012, the first mechanical arm 1013, first
Rotation axis 1014, the second mechanical arm 1015, the second rotation axis 1016, the 3rd mechanical arm 1017,1018 and of the 3rd rotation axis
4th mechanical arm 1019.
One end of the pedestal rotation axis 1012 connects the firm banking 1011, the pedestal rotation axis 1012 it is another
End connects one end of first mechanical arm 1013, other end connection first rotation of first mechanical arm 1013
One end of axis 1014, the other end of first rotation axis 1014 connect one end of second mechanical arm 1015, and described the
The other end of two mechanical arms 1015 connects one end of second rotation axis 1016, the other end of second rotation axis 1016
One end of the 3rd mechanical arm 1017 is connected, the other end of the 3rd mechanical arm 1017 connects the 3rd rotation axis
1018 one end, one end of other end connection the 4th mechanical arm 1019 of the 3rd rotation axis 1018, the described 4th
The other end of mechanical arm 1019 is equipped with the paw 102, and described image acquiring unit 103 is arranged on the 4th mechanical arm
On 1019 or on the firm banking 1011, the processor 104 connects first mechanical arm 1013, described respectively
Two mechanical arms 1015, the 3rd mechanical arm 1017 and the 4th mechanical arm 1019.
The display unit 107 is arranged on the mechanical arm 101, and the display unit 107 connects the processor
104。
The light unit 108 is arranged on the mechanical arm 101, and the light unit 108 connects the processor
104。
It is evidenced from the above discussion that the present embodiment image acquisition unit obtains the image of target object, processor is according to the figure
It, can be with guiding in real time industrial robot (mechanical arm) to accurately as the action of control machinery arm and the mobile target object of paw execution
Target completes the operations such as crawl, dispensing, such as the crawl of material and feeding (Pick and Place), to realize to various
The flexible adaptation of application scenarios, improves the intelligent and flexibility of industrial robot (mechanical arm), meets practical application needs.
In one embodiment, a kind of robot guides equipment including above-mentioned robot vision.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different functions
Unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, to complete above description
All or part of function.Can be that unit is individually physically present in embodiment, it can also two or more lists
Member is integrated in a unit, and the form that hardware had both may be employed in above-mentioned integrated unit is realized, can also use software function
The form of unit is realized.In addition, the specific name of each functional unit, module is also only to facilitate mutually differentiation, is not used to
Limit the protection domain of the application.The specific work process of module in above-described embodiment, may be referred to pair in previous embodiment
Process is answered, details are not described herein.
In the above-described embodiments, all emphasize particularly on different fields to the description of each embodiment, be not described in detail or remember in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary moulds described with reference to the embodiments described herein
Block can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions actually with hardware still
Software mode performs, specific application and design constraint depending on technical solution.Professional technician can be to each
It is specific to apply to realize described function using distinct methods, but this realization is it is not considered that beyond the utility model
Scope.
In embodiment provided by the utility model, it should be understood that disclosed device, it can be by others side
Formula is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, is only one
Kind of division of logic function, can there is an other dividing mode in actual implementation, for example, multiple units or component can combine or
It is desirably integrated into another system or some features can be ignored or does not perform.It is another, it is shown or discussed it is mutual it
Between coupling or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication of device or unit connect
It connects, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, can be that unit is individually physically present in each embodiment of the utility model, can also two or
More than two units integrate in a unit.The form that hardware had both may be employed in above-mentioned integrated unit is realized, can also be adopted
It is realized with the form of SFU software functional unit.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to before
Embodiment is stated the utility model is described in detail, it will be understood by those of ordinary skill in the art that：It still can be with
It modifies to the technical solution recorded in foregoing embodiments or equivalent substitution is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is not made to depart from the spirit of various embodiments of the utility model technical solution
And scope, it should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of robot vision guides equipment, which is characterized in that including mechanical arm, paw, image acquisition unit and processing
Device, one end of the mechanical arm are equipped with paw, and described image acquiring unit is arranged on the mechanical arm, the processor
The mechanical arm, the paw and described image acquiring unit are connected respectively；Described image acquiring unit is in the manipulator
After arm moves to designated position, the image acquisition instruction that the processor is sent is received, obtaining instruction according to described image obtains
The image of target object, and described image is sent to the processor；The processor moves to finger in the mechanical arm
Positioning postpones, and sends described image and obtains instruction to described image acquiring unit, receives described image, controlled according to described image
The mechanical arm and the paw perform the action of the mobile target object.
2. robot vision as described in claim 1 guides equipment, which is characterized in that described image acquiring unit is that can focus
Camera.
3. robot vision as claimed in claim 2 guides equipment, which is characterized in that further includes distance measuring sensor, the survey
It is arranged on away from sensor on the mechanical arm, the processor connects the distance measuring sensor；
The distance measuring sensor measures the mechanical arm and the object after the mechanical arm moves to designated position
The target range of body, and the target range is sent to the processor；The processor receives the target range, according to
Described in target range adjustment can focusing camera focal length.
4. robot vision as described in claim 1 guides equipment, which is characterized in that further includes rotary unit, the rotation
Unit is arranged on the mechanical arm, and described image acquiring unit is connected by the rotary unit with the mechanical arm,
The processor connects the rotary unit, and the processor controls the rotary unit rotation.
5. robot vision as described in claim 1 guides equipment, which is characterized in that the mechanical arm includes fixed bottom
Seat, pedestal rotation axis, the first mechanical arm, the first rotation axis, the second mechanical arm, the second rotation axis, the 3rd mechanical arm,
Three rotation axis and the 4th mechanical arm；
One end of the pedestal rotation axis connects the firm banking, and the other end of the pedestal rotation axis connects first machine
One end of tool arm, the other end of first mechanical arm connect one end of first rotation axis, first rotation axis
The other end connect one end of second mechanical arm, the other end of second mechanical arm connects second rotation axis
One end, the other end of second rotation axis connects one end of the 3rd mechanical arm, the 3rd mechanical arm it is another
One end connects one end of the 3rd rotation axis, and the other end of the 3rd rotation axis connects the one of the 4th mechanical arm
End, the other end of the 4th mechanical arm are equipped with the paw, and described image acquiring unit is arranged on the 4th manipulator
On arm or on the firm banking, the processor connects first mechanical arm, second mechanical arm, institute respectively
State the 3rd mechanical arm and the 4th mechanical arm.
6. robot vision as described in claim 1 guides equipment, which is characterized in that further includes display unit, the display
Unit is arranged on the mechanical arm, and the display unit connects the processor.
7. robot vision as described in claim 1 guides equipment, which is characterized in that further includes light unit, the light
Unit is arranged on the mechanical arm, and the light unit connects the processor.
8. a kind of robot, which is characterized in that set including the robot vision guiding described in any one in claim 1 to 7
It is standby.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721290800.7U CN207387664U (en) | 2017-09-30 | 2017-09-30 | Robot vision guides equipment and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721290800.7U CN207387664U (en) | 2017-09-30 | 2017-09-30 | Robot vision guides equipment and robot |
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| Publication Number | Publication Date |
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| CN207387664U true CN207387664U (en) | 2018-05-22 |
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ID=62331559
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| CN201721290800.7U Active CN207387664U (en) | 2017-09-30 | 2017-09-30 | Robot vision guides equipment and robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973187A (en) * | 2018-08-17 | 2018-12-11 | 合茂电子元件（吴江）有限公司 | A kind of hot press automatic pop-up device |
| CN109773789A (en) * | 2019-01-18 | 2019-05-21 | 深海弈智京山智能科技有限公司 | A kind of plug wire box vision guide system |
| CN111055297A (en) * | 2020-01-14 | 2020-04-24 | 腾讯科技（深圳）有限公司 | Manipulator operation device, control method, control device, computer device, and medium |
| CN111168346A (en) * | 2020-03-05 | 2020-05-19 | 胡仁鹏 | Deep hole grabbing robot for medical instrument assembly based on machine vision |
-
2017
- 2017-09-30 CN CN201721290800.7U patent/CN207387664U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973187A (en) * | 2018-08-17 | 2018-12-11 | 合茂电子元件（吴江）有限公司 | A kind of hot press automatic pop-up device |
| CN109773789A (en) * | 2019-01-18 | 2019-05-21 | 深海弈智京山智能科技有限公司 | A kind of plug wire box vision guide system |
| CN111055297A (en) * | 2020-01-14 | 2020-04-24 | 腾讯科技（深圳）有限公司 | Manipulator operation device, control method, control device, computer device, and medium |
| CN111168346A (en) * | 2020-03-05 | 2020-05-19 | 胡仁鹏 | Deep hole grabbing robot for medical instrument assembly based on machine vision |
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