CN207982929U - A kind of electric rotary body of energy view-based access control model identification - Google Patents
A kind of electric rotary body of energy view-based access control model identification Download PDFInfo
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- CN207982929U CN207982929U CN201820104019.4U CN201820104019U CN207982929U CN 207982929 U CN207982929 U CN 207982929U CN 201820104019 U CN201820104019 U CN 201820104019U CN 207982929 U CN207982929 U CN 207982929U
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- straight line
- slide unit
- rotation handle
- electronic rotation
- rotary body
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Abstract
The utility model is related to it is a kind of can view-based access control model identification electric rotary body, including can be free to slide in space walking mechanism, and the executing agency in walking mechanism；Walking mechanism is mounted on support board, and walking mechanism connects the first power plant；Executing agency includes the clamping device being mounted in walking mechanism, and electronic rotation handle is installed on clamping device, and the lower end of electronic rotation handle connects cutter head；The lower end of electronic rotation handle is also equipped with camera, and camera connects control system, and control system connects the first power plant and for adjusting cutter head angle and driving the angle-sensor module of electronic rotation handle work；Angle-sensor module connects electronic rotation handle.The utility model efficiency is higher, speed, and cutter head and workpiece is made to complete working process under conditions of perpendicular contact.
Description
Technical field
The utility model is related to automate process and assemble field, and in particular to a kind of electronic rotation of energy view-based access control model identification
Device.
Background technology
Electric rotary body is a kind of device being used for realizing workplace vertical azimuthal rotational motion.In small-sized workshop and certainly
Multiple production areas such as dynamic metaplasia producing line, many workpiece are required for carrying out rotation processing, the assembly of vertical direction, need for not
Demand with workpiece takes different processing, assembly method.It is one kind of most common of which, electronic rotation using electric rotary body
Rotary device also just in mechanical processing and assembly work apply extremely wide mode.
Traditional electric rotary body processing method is single, and machining accuracy is relatively low.The position of traditional electric rotary body
It looks for and relies primarily on position compensation realization, less efficient, precision is relatively low, and Workpiece Machining Accuracy is relatively low.Traditional electric rotary body
A kind of one processing type that can only correspond to workpiece, can not be flexibly applied to the various processing methods of workpiece.
Existing electric rotary body in the market will realize that the quick rotation of cutter head and workpiece is processed, speed by motor
Degree is very fast, but there is also some defects：
There is still a need for labours for some electronic rotation handle is clamped, and cutter head is made to be contacted in vertical direction with workpiece.It is difficult
Ensure that cutter head is vertically into workpiece, angle of inclination when cutter head is connect with workpiece is unknown.The demand bigger in terms of manpower, also without
Method knows processing stage of the cutter head to workpiece.Workpiece quality is influenced by the technical merit of operator, and processing consistency is bad.
Invention content
The purpose of the utility model is to overcome problems of the prior art, provide it is a kind of can view-based access control model identification
Electric rotary body can ensure that cutter head enters workpiece by operating position with suitable angle.
In order to achieve the above object, the utility model adopts the following technical solution：
Executing agency including walking mechanism that can be free to slide in space, and in walking mechanism；Row
Mechanism is walked on support board, walking mechanism connects the first power plant；
Executing agency includes the clamping device being mounted in walking mechanism, and electronic rotation handle, electricity are installed on clamping device
The lower end of dynamic rotating handle connects cutter head；The lower end of electronic rotation handle is also equipped with camera, and camera connects control system,
Control system connects the first power plant and for adjusting cutter head angle and driving the angle sensor of electronic rotation handle work
Device module；Angle-sensor module connects electronic rotation handle.
Further, support board includes horizontal support board and vertical support board, and walking mechanism includes X to straight line slide unit, Y-direction
Straight line slide unit and Z-direction straight line slide unit, X include T-rail and installation to straight line slide unit, Y-direction straight line slide unit and Z-direction straight line slide unit
Sliding block on T-rail；Wherein, X is fixed on to the T-rail of straight line slide unit on horizontal support board, cunnings of the X to straight line slide unit
The T-rail of block and Y-direction straight line slide unit is fixedly linked, and the sliding block of Y-direction straight line slide unit and the T-rail of Z-direction straight line slide unit are fixed
It is connected, executing agency is fixedly connected on the sliding block of Z-direction straight line slide unit；The sliding block and vertical support board of Y-direction straight line slide unit are fixed
It is connected.
Further, the electronics for showing cutter head and vertical direction angle is installed between clamping device and walking mechanism
Index dial.
Further, camera uses infrared signal converter.
Further, the first power plant is servo motor.
Further, angle-sensor module includes the obliquity sensor being connected with control system, obliquity sensor installation
On cutter head and connection microcontroller, microcontroller connect the second power plant by driving circuit, and the connection of the second power plant is electronic
Rotating handle.
Further, obliquity sensor uses SCA60 single-shaft inclination angle sensors.
Further, the model STC89C52 of microcontroller.
Further, driving circuit uses ULN2003 driving circuits, and it includes electronic for adjusting that the second power plant, which uses,
First stepper motor of rotating handle angle and the second stepper motor for driving electronic rotation rotatable handle.
Compared with prior art, the utility model has technique effect beneficial below：
By the way that electronic rotation handle is arranged in the utility model, the rotary motion on cutter head and workplace vertical direction is realized.
Cutter head find workpiece by operating position when rely primarily on view-based access control model identification by operating position feature, eliminate position compensation
Error, improve the precision that position is looked for.Camera can accurately identify workpiece by operating position, and Automatic-searching, pass through
Walking mechanism is set, executing agency can be driven free to slide in space, can accurately identify and find workpiece present position,
Reach unmanned, automation mechanized operation.The utility model can detect, repair and adjust knife by the way that angle-sensor module is arranged
The position deviation in head erect direction ensures that cutter head enters workpiece by operating position with suitable angle.The utility model efficiency compared with
Height, speed save manpower, and a tractor serves several purposes, can accurately identify workpiece by operating position feature, applied widely.
The utility model makes cutter head and workpiece complete working process under conditions of perpendicular contact from visual identity angle.
Further, the utility model is by being arranged X to straight line slide unit, Y-direction straight line slide unit and Z-direction straight line slide unit so that
Electric rotary body is moved by three linear ramps in entire solid space；By the way that vertical support board is arranged, it is straight to improve Y-direction
The rigidity of line slide unit.
Further, the utility model can intuitively show cutter head and vertical direction angle by the way that electronics index dial is arranged.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model electric rotary body；
Fig. 3 is the hardware block diagram of the utility model.
In figure：1, executing agency；2, walking mechanism；3, X is to straight line slide unit；4, Y-direction straight line slide unit；5, Z-direction straight line slide unit；
6, horizontal support board；7, vertical support board；8, electronics index dial；9, electronic rotation handle；10, camera；11, cutter head.
Specific implementation mode
The utility model is described in further details below in conjunction with the accompanying drawings.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 1 and Fig. 2, the utility model include can be free to slide in space walking mechanism 1, and be mounted on
Executing agency 2 in walking mechanism 1；Walking mechanism 1 is straight line slide rest device, is mounted on support board, the connection of walking mechanism 1 the
One power plant, the first power plant are servo motor.
Support board includes horizontal support board 6 and vertical support board 7, and walking mechanism 1 includes X to straight line slide unit 3, Y-direction straight line
Slide unit 4 and Z-direction straight line slide unit 5, X are realized by guideway straight to straight line slide unit 3, Y-direction straight line slide unit 4 and Z-direction straight line slide unit 5
Line moves, and includes T-rail and the sliding block on T-rail；Wherein, X is fixed on to the T-rail of straight line slide unit 3
On horizontal support board 6, X is fixedly linked to the sliding block of straight line slide unit 3 and the T-rail of Y-direction straight line slide unit 4 by screw, and Y-direction is straight
The sliding block of line slide unit 4 and the T-rail of Z-direction straight line slide unit 5 are fixedly linked by screw, and executing agency 2 is fixed by screw to be connected
It is connected on the sliding block of Z-direction straight line slide unit 5.So that executing agency 2 can reach space any position.To improve Y-direction straight line
The rigidity of slide unit 4, vertical support board 7 are fixedly connected with the sliding block of Y-direction straight line slide unit 4 by screw, are realized while mobile.
Executing agency 2 is electric rotary body, includes the clamping device in walking mechanism 1, pacifies on clamping device
Electronic rotation handle 9 is filled, the lower end of electronic rotation handle 9 connects cutter head 11；The lower end of electronic rotation handle 9 is also equipped with camera shooting
First 10.
Referring to Fig. 3, camera 10 uses infrared signal converter, camera 10 to be mounted on right over cutter head 11.Camera
Control system inside 10 connection electronic rotation handles 9, control system connect the first power plant and for adjusting 11 jiaos of cutter head
The angle-sensor module of degree；Angle-sensor module includes the obliquity sensor being connected with control system, obliquity sensor peace
On cutter head 11 and connection microcontroller, microcontroller connect the second power plant, the connection of the second power plant by driving circuit
Electronic rotation handle 9.
Wherein, obliquity sensor uses SCA60 single-shaft inclination angle sensors；The model STC89C52 of microcontroller.Driving electricity
Road uses ULN2003 driving circuits, and the second power plant includes the first stepper motor and the second stepper motor, wherein the first stepping
Motor can adjust the angle of electronic rotation handle 9, and the second stepper motor is for driving 9 rotary motion of electronic rotation handle.
Electronics index dial for showing cutter head 11 and vertical direction angle is installed between clamping device and walking mechanism 1
8。
The main course of work of the utility model and principle：
Workplace vertical is fixed on horizontal support board 6；Camera 10 is installed in 9 lower end of electronic rotation handle, can be accurate
Workpiece different operation position is identified, using the initial position intersection point of three slide units as coordinate origin；Workpiece is determined by camera 10
The location information of relative coordinate origin, while control system receives the position data that camera 10 transmits, and passes through servo motor band
Dynamic walking mechanism 1 moves, until workpiece is located at the underface of electronic rotation handle 9, realizes that target accurately tracks.
Wherein, X is connect to straight line slide unit 3 with Y-direction straight line slide unit 4, realizes X-direction (front and back) and Y-direction on horizontal plane
(left and right) is mobile.Z-direction straight line slide unit 5 is connect with Y-direction straight line slide unit 4, realizes that Z-direction is (upper and lower) mobile on vertical plane.Execution machine
Structure 2 is free to slide in the space that three linear ramps are constituted, and can accurately identify and find workpiece present position.
Angle-sensor module can detect, repair and adjust the position deviation of 11 vertical direction of cutter head, ensure cutter head 11
Enter workpiece by operating position, such as vertically into workpiece with suitable angle.
When workpiece is located at the underface of electronic rotation handle 9, control system starts 2 interior angle sensor of executing agency
The SCA60 single-shaft inclination angle sensors of module, microcontroller obliquity sensor acquire the inclination angle in 11 opposed vertical direction of cutter head in real time, and
The microcontroller STC89C52 for sending high-speed low-consumption after being converted by A/D to, inclination angle be 0 when, i.e., cutter head 11 be not vertically into
When entering workpiece, microcontroller makes the rotation of the first stepper motor drive 9 turns of electronic rotation handle by controlling ULN2003 driving circuits
It is dynamic, until the inclination angle in 11 opposed vertical direction of cutter head is 0, by the control to electronic rotation handle 9, it is micro- to complete 11 position of cutter head
It adjusts, ensures that cutter head 11 enters workpiece by operating position with suitable angle；Electronic rotation hand is driven by the second stepper motor again
Handle 9 realizes the rotation main motion on vertical direction between cutter head 11 and workpiece.
Electronics index dial 8 is mounted between electronic rotation handle 9 and Z-direction straight line slide unit 5, can show that cutter head 11 is relatively perpendicular
Histogram to real-time angular value.
1 explanation of embodiment：On pcb board installing area a, production line, pcb board is placed on operation by operator
On platform, and crossed pan head bolt is placed in threaded hole, camera 10 can accurately identify the cross of crossed pan head bolt
State feature, and operate the electric rotary body with crosspoint tip screwdriver head and be automatically moved into crossed pan head bolt top, Automatic-descending, with
Crossed pan head threaded bolt contacts rotate, until bolt is tightened.
2 explanation of embodiment：In grinding field, workpiece is clamped on operation console, and camera 10 can accurately identify work
Part bottom outlet morphological feature, and operate the electric rotary body with bistrique and move to above workpiece bottom outlet, Automatic-descending, with bottom outlet
Contact is realized and is moved back and forth, and realizes Grinding Process.
The utility model has the advantage of：Efficiency is higher, speed, saves manpower, and a tractor serves several purposes, can be accurate
Workpiece is identified by operating position feature, Automatic-searching is automatically brought into operation, and can carry out the machine operations such as milling, grinding, drilling,
3d is printed, dispensing, gluing, the turn of the screw automated assembling operations.The utility model makes cutter head and workpiece from visual identity angle
Working process is completed under conditions of perpendicular contact.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (9)
1. a kind of electric rotary body of energy view-based access control model identification, it is characterised in that：Including can in space it is free to slide
Walking mechanism (1), and the executing agency (2) in walking mechanism (1)；Walking mechanism (1) is mounted on support board, row
It walks mechanism (1) and connects the first power plant；
Executing agency (2) includes the clamping device being mounted in walking mechanism (1), and electronic rotation handle is installed on clamping device
(9), the lower end connection cutter head (11) of electronic rotation handle (9)；The lower end of electronic rotation handle (9) is also equipped with camera
(10), camera (10) connects control system, and control system connects the first power plant and for adjusting cutter head (11) angle
The angle-sensor module to work with driving electronic rotation handle (9)；Angle-sensor module connects electronic rotation handle (9).
2. a kind of electric rotary body of energy view-based access control model identification according to claim 1, it is characterised in that：Support board packet
Include horizontal support board (6) and vertical support board (7), walking mechanism (1) include X to straight line slide unit (3), Y-direction straight line slide unit (4) and
Z-direction straight line slide unit (5), X include T-rail and peace to straight line slide unit (3), Y-direction straight line slide unit (4) and Z-direction straight line slide unit (5)
Sliding block on T-rail；Wherein, X is fixed on to the T-rail of straight line slide unit (3) on horizontal support board (6), and X is to straight line
The sliding block of slide unit (3) and the T-rail of Y-direction straight line slide unit (4) are fixedly linked, the sliding block and Z-direction straight line of Y-direction straight line slide unit (4)
The T-rail of slide unit (5) is fixedly linked, and executing agency (2) is fixedly connected on the sliding block of Z-direction straight line slide unit (5)；Y-direction straight line
The sliding block and vertical support board (7) of slide unit (4) are fixedly linked.
3. a kind of electric rotary body of energy view-based access control model identification according to claim 1, it is characterised in that：Clamping device
Electronics index dial (8) for showing cutter head (11) and vertical direction angle is installed between walking mechanism (1).
4. a kind of electric rotary body of energy view-based access control model identification according to claim 1, it is characterised in that：Camera
(10) infrared signal converter is used.
5. a kind of electric rotary body of energy view-based access control model identification according to claim 1, it is characterised in that：First power
Device is servo motor.
6. a kind of electric rotary body of energy view-based access control model identification according to claim 1, it is characterised in that：Angle sensor
Device module includes the obliquity sensor being connected with control system, and obliquity sensor is mounted on cutter head (11) and connection microcontroller,
Microcontroller connects the second power plant by driving circuit, and the second power plant connects electronic rotation handle (9).
7. a kind of electric rotary body of energy view-based access control model identification according to claim 6, it is characterised in that：Inclination angle senses
Device uses SCA60 single-shaft inclination angle sensors.
8. a kind of electric rotary body of energy view-based access control model identification according to claim 6, it is characterised in that：Microcontroller
Model STC89C52.
9. a kind of electric rotary body of energy view-based access control model identification according to claim 6, it is characterised in that：Driving circuit
Using ULN2003 driving circuits, it includes the first stepping for adjusting electronic rotation handle (9) angle that the second power plant, which uses,
Motor and for drive electronic rotation handle (9) rotate the second stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820104019.4U CN207982929U (en) | 2018-01-22 | 2018-01-22 | A kind of electric rotary body of energy view-based access control model identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820104019.4U CN207982929U (en) | 2018-01-22 | 2018-01-22 | A kind of electric rotary body of energy view-based access control model identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207982929U true CN207982929U (en) | 2018-10-19 |
Family
ID=63821836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820104019.4U Expired - Fee Related CN207982929U (en) | 2018-01-22 | 2018-01-22 | A kind of electric rotary body of energy view-based access control model identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207982929U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521742A (en) * | 2018-12-05 | 2019-03-26 | 西安交通大学 | A kind of control system and control method for electric rotary body |
| CN113843614A (en) * | 2021-10-08 | 2021-12-28 | 北京工业大学 | Multi-plane bolt assembling device based on mixed vision |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
-
2018
- 2018-01-22 CN CN201820104019.4U patent/CN207982929U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521742A (en) * | 2018-12-05 | 2019-03-26 | 西安交通大学 | A kind of control system and control method for electric rotary body |
| CN113843614A (en) * | 2021-10-08 | 2021-12-28 | 北京工业大学 | Multi-plane bolt assembling device based on mixed vision |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 Termination date: 20220122 |