CN208084351U - A kind of laboratory Intelligent mechanical arm device - Google Patents
A kind of laboratory Intelligent mechanical arm device Download PDFInfo
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- CN208084351U CN208084351U CN201820478981.4U CN201820478981U CN208084351U CN 208084351 U CN208084351 U CN 208084351U CN 201820478981 U CN201820478981 U CN 201820478981U CN 208084351 U CN208084351 U CN 208084351U
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- level
- mechanical arm
- telescopic cylinder
- slide rail
- mobile manipulator
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Abstract
The utility model provides a kind of laboratory Intelligent mechanical arm device, including action pane and mobile manipulator, the mobile manipulator is installed in action pane, both sides are equipped with Z axis slide rail in the action pane, level-one sliding block is connected in the Z axis slide rail, the level-one sliding block is also fixedly connected with X-axis slide rail, the X-axis slide rail is perpendicular to the Z axis slide rail, and two level sliding block is connected in X-axis slide rail, the mobile manipulator includes a pedestal and square position, the square position is installed below pedestal, crawl hand is installed into a crawl structure below the square position, and the base interior is provided with level-one telescopic cylinder, buffer spring is installed below the level-one telescopic cylinder.The utility model replaces manual work using laboratory mobile manipulator, reduces manual operation error, while reducing human cost, provides intelligence.
Description
Technical field
The utility model is related to Development of intelligent laboratory more particularly to a kind of laboratory Intelligent mechanical arm devices.
Background technology
Constantly perfect with the performance of robot, the application range of mobile robot extends therewith, not only in industry, agriculture
The industries such as industry, medical treatment, service wait until to be widely applied, and are harmful to and endanger in urban safety, national defence and space exploration field etc.
Dangerous occasion also waits until to apply well；And harmful liquids and gases are often used in the lab, it is difficult sometimes to keep away
Exempt from distributing for toxic gas, if people is usually trapped at laboratory operation or forgets band safety guard, it is strong thus to threaten human body
Health；On the other hand, people does same action in the lab for a long time, and also difficulty avoids malfunctioning, and therefore, artificial behaviour can be replaced by being badly in need of one kind
The manipulator of work reduces manual operation error, while to reduce human cost, provides intelligence.
Utility model content
The purpose of this utility model is to provide one kind can replacing manually-operated manipulator, reduces manual operation error,
Human cost is reduced simultaneously, intelligentized laboratory puma manipulator is provided.
To achieve the above object, the utility model provides the following technical solutions：A kind of laboratory Intelligent mechanical arm device, packet
Action pane and mobile manipulator are included, the mobile manipulator is installed in action pane, and both sides are installed in the action pane
There is Z axis slide rail, level-one sliding block is connected in the Z axis slide rail, the level-one sliding block is also fixedly connected with X-axis slide rail, institute
It states X-axis slide rail and is connected with two level sliding block perpendicular to the Z axis slide rail, and in X-axis slide rail, the mobile manipulator includes one
Pedestal and square position, the square position are installed below pedestal, and crawl hand is equipped with below the square position and captures structure, and institute at one
It states base interior and is provided with level-one telescopic cylinder, buffer spring is installed below the level-one telescopic cylinder.
Further, it is fixed on the two level sliding block above the Y-axis guide rod, when two level sliding block is in X-axis slide rail
When upper mobile, the manipulator is driven to move in the X-axis direction.
Further, the base interior is additionally provided with Y-axis guide rod, and two level telescopic cylinder, the Y are set in Y-axis guide rod
Axis guide rod is divided into the both sides of level-one telescopic cylinder, and the Y-axis guide rod stretches out in the pedestal and prolongs to pedestal top
It stretches.
Further, the pedestal side is provided with mounting base, and servo motor, the servo are provided in the mounting base
Motor is for driving mobile manipulator to execute action.
Further, the first displacement sensor is installed on the level-one sliding block, second displacement is installed on two level sliding block
Sensor is equipped with third displacement sensor on square position；First displacement sensor, second displacement sensor and third displacement
Sensor is respectively used to displacement of the detection level-one sliding block in Z axis slide rail, and displacement of the two level sliding block in X-axis slide rail, square position is in Y
Misalignment in axis direction.
Further, it is also equipped with lower limited sensor below the pedestal, when the crawl hand captures object, level-one is stretched
Contracting cylinder extends downwardly, if level-one telescopic cylinder touches the lower limited sensor, the stopping of level-one telescopic cylinder extends downwardly,
The two level telescopic cylinder, which continues to extend downwardly to the crawl hand, captures object, when the level-one telescopic cylinder extends downwardly
When, the buffer spring can be compressed, when the buffer spring is compressed to greatest extent, the as described level-one telescopic cylinder can be stretched
Go out to greatest extent, level-one telescopic cylinder can touch the lower limited sensor at this time, and lower limited sensor receives touching information
Afterwards, the two level telescopic cylinder further extends downwardly, until crawl hand grabs object.
Further, the bottom of the square position is equipped with Miniature high-definition camera, is obtained by Miniature high-definition camera shooting
Take object information.
Further, the crawl is equipped with the first inductor on hand, when the crawl hand captures object, described first
Inductor detects whether promptly object.
Further, warning device is additionally provided in the action pane, the warning device includes audible-visual annunciator, works as institute
When stating crawl hand crawl mistake object, reminded by audible-visual annunciator.
Further, it is also equipped with full angle camera in the action pane, monitors the dynamic letter of action pane in real time
Breath.
Further, laboratory Intelligent mechanical arm device further includes remote control center, and the movement being separately connected with it
Manipulator, human action harvester and positioning device；Remote control center, for remote monitoring, control operation mechanically moving
Hand simultaneously does Data Analysis Services；Mobile manipulator, the instruction execution for being assigned according to remote control center act；Human action
Harvester, the standardization for acquiring human body acts, and acquisition information is fed back to remote control center；Positioning device is used
The moving coordinate position of mobile manipulator is tracked in high accuracy positioning；It is transmitted to after human action harvester acquires human action
Remote control center, by remote control center to generating instruction after human action analyzing processing and assigning instruction to mobile manipulator
It executes, and monitors the situation of movement of tracking mobile manipulator in real time by positioning device.
Further, the laboratory Intelligent mechanical arm device further includes being separately connected remote control center and moving machine
The identification device of tool hand, when the mobile manipulator takes object according to instruction, identification device takes the photograph the object taken
Comparison is identified as after, if identifying successfully, mobile manipulator executes next instruction, if recognition failures, mobile manipulator will
Object puts back to original position.
Further, the laboratory Intelligent mechanical arm device further includes being separately connected mobile manipulator and identification device
Warning device, when the object taken is identified in the identification device, if recognition failures, warning device is warned
And object is put back into original position by mobile manipulator；The warning device uses voice prompt or indicator light mode；Wherein, moving machine
The each step of tool hand has operation and reminds.
Further, the laboratory Intelligent mechanical arm device further includes the data being connect with the remote control center
Memory module, the acquisition information and real-time storage of human action harvester described in the data memory module real-time storage are side by side
Row mobile manipulator operational motion and moving coordinate position.
Further, the laboratory Intelligent mechanical arm device further includes the information being connect with the remote control center
Verifying unit, after the mobile manipulator executes all instructions, described information verifying unit is transferred from data memory module
The acquisition information and the action message of mobile manipulator executed of human action harvester are proofreaded.
Further, the laboratory Intelligent mechanical arm device further include respectively with remote control center and Information Proofreading
The integration output module of device connection, after Information Proofreading module is proofreaded, output integrates module by information with contrast version
Integrate output.
The operating method of laboratory Intelligent mechanical arm device includes the following steps：
Step 1：The artificial refinement standard operation of remote control acquisition, and action message is transmitted to remote control center and is generated
Corresponding instruction；
Step 2：Remote control center sends instructions to mobile manipulator；
Step 3：Remote control center control mobile manipulator executes action, and opens monitoring and positioning；
Step 4：Mobile manipulator starts to execute instruction, and identifies and compare after being shot to the object taken；
Step 5：After completing all instructions, the action message of executed is sent to remote control center, including mistake
Information；
Step 6：The acquisition information for transferring human action harvester and the action message of mobile manipulator executed carry out
Check and correction.
Further, the instruction in the step 2 includes which kind of object carrying out the seat of which kind of action and target object to
Mark orientation.
Further, the step 4 includes the following steps；
Step 41：If identification compares successfully, next instruction action is executed, goes to step 5；
Step 42：If identification compares failure, alarm warning is carried out, and control mobile manipulator and object is put back into original position,
After re-executing this instruction, next instruction action is executed, goes to step 5.
Further, error numberical range is preset in the step 42, if the error of this instruction execution is more than default error
Numberical range is then automatically stopped everything, and error message is fed back to remote control center.
The beneficial effects of the utility model：
1, manual operation is substituted by mobile manipulator, it not only can be to avoid laboratory harmful liquid or gas to human body
Harm, and the manual action that can standardize, reach normalizing operation；
2, by the monitoring of the locating and tracking of mobile manipulator, the accurate coordinate of mobile manipulator can be positioned when high-precision real
Position；
3, it is shot and is identified after mobile manipulator takes article by the way that identification device is arranged, can avoid mistake of taking
Object greatly reduce error rate relative to manual operation；The each step of mobile manipulator has operation and reminds simultaneously, if moving
Dynamic manipulator is taken the object of mistake, same wrong warning, and exceeds preset error range number, then system is stopped automatically
Only.
4, can not only lower artificial rate of making a mistake using the continuous repetitive operation of mobile manipulator, more reduce manually at
This, also achieves the intelligence and automation in laboratory.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the flow diagram of the utility model；
Fig. 3 is the overall structure diagram of the utility model；
Fig. 4 is the skid rail structure diagram of the utility model；
Fig. 5 is the robot manipulator structure schematic diagram of the utility model；
Fig. 6 is the base interior structural schematic diagram of the utility model；
Fig. 7 is the square position bottom substance schematic diagram of the utility model.
In figure, remote control center 10, action pane 10a, Z axis slide rail 101, X-axis slide rail 102, audible-visual annunciator 103,
Level-one sliding block 104, two level sliding block 105, full angle camera 106, mobile manipulator 20, pedestal 201, level-one telescopic cylinder
2011, buffer spring 2012, Y-axis guide rod 2013, two level telescopic cylinder 2014, mounting base 2015, lower limited sensor 2016, the
One displacement sensor 2017, second displacement sensor 2018, square position 202, third displacement sensor 2021, Miniature high-definition camera
2022, capture hand 203, the first inductor 2031, positioning device 30, identification device 40, warning device 50, data memory module
60, Information Proofreading module 70 integrates output module 80, human action harvester 90.
Specific implementation mode
In the present embodiment ,-Fig. 7, a kind of laboratory Intelligent mechanical arm device, including action pane and moving machine referring to Fig.1
Tool hand, the mobile manipulator 20 are installed in the action pane 10a, and both sides are equipped with Z axis cunning in the action pane 10a
Rail 101, level-one sliding block 104 is connected in the Z axis slide rail 101, and the level-one sliding block 104 is also fixedly connected with X-axis cunning
Rail 102, the X-axis slide rail 102 are connected with two level sliding block 105 perpendicular to the Z axis slide rail 101 in X-axis slide rail 102,
The mobile manipulator 20 includes a pedestal 201 and square position 202, and the square position 202 is installed on 201 lower section of pedestal, the square position
202 lower sections are equipped with crawl hand 203 and form a crawl structure, and the pedestal 201 is internally provided with level-one telescopic cylinder 2011,
2011 lower section of the level-one telescopic cylinder is equipped with buffer spring 2012.
It is additionally provided with Y-axis guide rod 2013 inside pedestal 201, two level telescopic cylinder 2014 is set in Y-axis guide rod 2013, it is described
Y-axis guide rod 2013 is divided into the both sides of level-one telescopic cylinder 2011, and the Y-axis guide rod 2013 stretches out in the pedestal
201 and extend to the top of pedestal 201；The top of Y-axis guide rod 2013 is fixed on the two level sliding block 105, when two level sliding block
105 in X-axis slide rail 102 when moving, and the mobile manipulator 20 is driven to move in the X-axis direction；201 side of pedestal is provided with
Mounting base 2015 is provided with servo motor in the mounting base 2015, and the servo motor is for driving mobile manipulator 20 to hold
Action is made.
201 lower section of pedestal is also equipped with lower limited sensor 2016, and when the crawl hand 203 captures object, level-one is flexible
Cylinder 2011 extends downwardly, if level-one telescopic cylinder 2011 touches the lower limited sensor 2016, level-one telescopic cylinder
2011 stop extending downwardly, and the two level telescopic cylinder 2014, which continues to extend downwardly to the crawl hand 203, captures object, works as institute
When stating level-one telescopic cylinder 2011 and extending downwardly, the buffer spring 2012 can be compressed, the buffer spring 2012 is compressed to
When to greatest extent, the as described level-one telescopic cylinder 2011 is exsertile to greatest extent, and level-one telescopic cylinder 2011 can touch at this time
Encounter the lower limited sensor 2016, after lower limited sensor 2016 receives touching information, the two level telescopic cylinder 2014 into
One step extends downwardly, and object is grabbed until capturing hand 203, specifically, captures and is equipped with the first inductor 2031 on hand 203,
When the crawl hand 203 captures object, first inductor 2031 detects whether promptly object.
First displacement sensor 2017 is installed on level-one sliding block 104, second displacement sensing is installed on two level sliding block 105
Device 2018 is equipped with third displacement sensor 2021 on square position 202；First displacement sensor 2017, second displacement sensing
Device 2018 and third displacement sensor 2021 are respectively used to displacement of the detection level-one sliding block 104 in Z axis slide rail 101, and two level is slided
Displacement of the block 105 in X-axis slide rail 102, the misalignment of square position 202 in the Y-axis direction.
The bottom of square position 202 is equipped with Miniature high-definition camera 2022, is shot and is obtained by Miniature high-definition camera 2022
Object information；Warning device is additionally provided in the action pane 10a, the warning device includes audible-visual annunciator 103, when described
When crawl hand 203 captures wrong object, reminded by audible-visual annunciator 103；It is also equipped with full-shape in the action pane 10a
Spend camera 106, the multidate information of real time monitoring action pane 10a.
Laboratory Intelligent mechanical arm device, including remote control center 10, and be separately connected with it mobile manipulator 20,
Human action harvester 90 and positioning device 30；Remote control center 10, for remote monitoring, control operation mobile manipulator
20 and do Data Analysis Services；Mobile manipulator 20, the instruction execution for being assigned according to remote control center 10 act；Human body
Harvester 90 is acted, the standardization for acquiring human body acts, and acquisition information is fed back to remote control center 10；Positioning
Device 30, the moving coordinate position for high accuracy positioning tracking mobile manipulator 20；When human action harvester 90 acquires people
It is transmitted to remote control center 10 after body action, is instructed and is incited somebody to action to being generated after human action analyzing processing by remote control center 10
Instruction assigns mobile manipulator 20 and executes, and passes through the situation of movement of the mobile manipulator 20 of monitoring tracking in real time of positioning device 30.
Laboratory intelligent machine hand system further includes the identification for being separately connected remote control center 10 and mobile manipulator 20
Device 40, when the mobile manipulator 20 takes object according to instruction, after identification device 40 images the object taken
Identification comparison, if identifying successfully, mobile manipulator 20 executes next instruction, if recognition failures, mobile manipulator 20 will
Object puts back to original position；Laboratory intelligent machine hand system further includes the alarm for being separately connected mobile manipulator 20 and identification device 40
Device 50, when the object taken is identified in the identification device 40, if recognition failures, warning device 50 is warned
And object is put back into original position by mobile manipulator 20, wherein the alarm module uses phonetic warning mode.
The acquisition information and real-time storage of human action harvester 90 described in 60 real-time storage of data memory module are side by side
20 operational motion of row mobile manipulator and moving coordinate position；Laboratory intelligent machine hand system further include respectively in remote control
The integration output module 80 that the heart 10 is connected with Information Proofreading device, after Information Proofreading module 70 is proofreaded, mould is integrated in output
Information is integrated with contrast version and is exported by block.
Laboratory intelligent machine hand system further includes the Information Proofreading device being connect with the remote control center 10, works as institute
After stating the execution all instructions of mobile manipulator 20, described information verifying unit is transferred human action from data memory module 60 and is adopted
The acquisition information of acquisition means 90 and the action message of 20 executed of mobile manipulator are proofreaded.
The operating method of laboratory intelligent machine hand system includes the following steps：
Step 1：The artificial refinement standard operation of remote control acquisition, and action message is transmitted to remote control center 10 and is given birth to
At corresponding instruction；
Step 2：Remote control center 10 sends instructions to mobile manipulator 20；
Step 3：Remote control center 10 controls mobile manipulator 20 and executes action, and opens monitoring and positioning；
Step 4：Mobile manipulator 20 starts to execute instruction, and identifies and compare after being shot to the object taken；
Step 5：After completing all instructions, the action message of executed is sent to remote control center 10, including mistake
False information；
Step 6：Transfer the action message of the acquisition information and 20 executed of mobile manipulator of human action harvester 90
It is proofreaded.
Instruction in step 2 includes which kind of object carrying out the grid bearing of which kind of action and target object to；Rapid 4 packet
Include following steps；
Step 41：If identification compares successfully, next instruction action is executed, goes to step 5；
Step 42：If identification compares failure, alarm warning is carried out, and control mobile manipulator 20 and object is put back into original
Position after re-executing this instruction, executes next instruction action, goes to step 5；Wherein, error number is preset in the step 42
Value is 3 times, if the error of this instruction execution is more than default error numerical value 3 times, is automatically stopped everything, and by error message
Feed back to remote control center 10.
Manual operation is substituted by mobile manipulator 20, it not only can be to avoid laboratory harmful liquid or gas to human body
Harm, and the manual action that can standardize, reach normalizing operation；It is monitored by the locating and tracking to mobile manipulator 20,
Can high-precision real when position mobile manipulator 20 accurate coordinate bit；It is taken object in mobile manipulator 20 by the way that identification device is arranged
It is shot and is identified after product, the object for the mistake that can avoid taking greatly reduces error rate relative to manual operation；Simultaneously
20 each step of mobile manipulator has operation and reminds, the object of mistake if mobile manipulator 20 is taken, same wrong warning, and
Beyond preset error range number, then system is automatically stopped；Can not only it be subtracted using 20 continuous repetitive operation of mobile manipulator
Low artificial rate of making a mistake, more reduces cost of labor, also achieves the intelligence and automation in laboratory.
The utility model is described in detail above, it is described above, only the preferred embodiment of the utility model and
, when the utility model practical range cannot be limited, i.e., all according to the made equivalent changes and modifications of the application range, it all should still belong to this
In utility model covering scope.
Claims (9)
1. a kind of laboratory Intelligent mechanical arm device, including action pane and mobile manipulator, the mobile manipulator are installed on
In action pane, it is characterised in that：Both sides are equipped with Z axis slide rail in the action pane, are connected in the Z axis slide rail
Level-one sliding block, the level-one sliding block are also fixedly connected with X-axis slide rail, and the X-axis slide rail is perpendicular to the Z axis slide rail, and X-axis is slided
Two level sliding block is connected on rail, the mobile manipulator includes a pedestal and square position, and the square position is installed below pedestal,
Crawl hand is installed into a crawl structure below the square position, and the base interior is provided with level-one telescopic cylinder, it is described
Buffer spring is installed below level-one telescopic cylinder.
2. a kind of laboratory Intelligent mechanical arm device according to claim 1, it is characterised in that：The base interior is also set
There is Y-axis guide rod, two level telescopic cylinder is set in Y-axis guide rod, the Y-axis guide rod is divided into the both sides of level-one telescopic cylinder,
And the Y-axis guide rod stretches out in the pedestal and extends to pedestal top.
3. a kind of laboratory Intelligent mechanical arm device according to claim 2, it is characterised in that：The pedestal side setting
There is mounting base, servo motor is provided in the mounting base, the servo motor is for driving mobile manipulator to execute action.
4. a kind of laboratory Intelligent mechanical arm device according to claim 1, it is characterised in that：Pacify on the level-one sliding block
Equipped with the first displacement sensor, second displacement sensor is installed on two level sliding block, third displacement sensor is installed on square position.
5. a kind of laboratory Intelligent mechanical arm device according to claim 2, it is characterised in that：Also pacify below the pedestal
Equipped with lower limited sensor, when the crawl hand captures object, level-one telescopic cylinder extends downwardly, if level-one telescopic cylinder is touched
To the lower limited sensor, then level-one telescopic cylinder stopping extends downwardly, and the two level telescopic cylinder continues to extend downwardly to institute
State crawl hand crawl object.
6. a kind of laboratory Intelligent mechanical arm device according to claim 4, it is characterised in that：Pacify the bottom of the square position
Equipped with Miniature high-definition camera, is shot by Miniature high-definition camera and obtain object information.
7. a kind of laboratory Intelligent mechanical arm device according to claim 5, it is characterised in that：The crawl is installed on hand
There is the first inductor, when the crawl hand captures object, first inductor detects whether promptly object.
8. a kind of laboratory Intelligent mechanical arm device according to claim 1, it is characterised in that：In the action pane also
Equipped with warning device, the warning device includes audible-visual annunciator, when the crawl hand captures wrong object, by sound-light alarm
Device is reminded.
9. a kind of laboratory Intelligent mechanical arm device according to claim 8, it is characterised in that：In the action pane also
Full angle camera is installed, monitors the multidate information of action pane in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820478981.4U CN208084351U (en) | 2018-04-07 | 2018-04-07 | A kind of laboratory Intelligent mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820478981.4U CN208084351U (en) | 2018-04-07 | 2018-04-07 | A kind of laboratory Intelligent mechanical arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208084351U true CN208084351U (en) | 2018-11-13 |
Family
ID=64058101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820478981.4U Expired - Fee Related CN208084351U (en) | 2018-04-07 | 2018-04-07 | A kind of laboratory Intelligent mechanical arm device |
Country Status (1)
| Country | Link |
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| CN (1) | CN208084351U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337818A (en) * | 2020-11-12 | 2021-02-09 | 通标标准技术服务有限公司 | Automatic detection and transportation system based on mechanical arm |
| CN112503341A (en) * | 2020-12-15 | 2021-03-16 | 维沃移动通信有限公司 | Electronic equipment and camera device thereof |
-
2018
- 2018-04-07 CN CN201820478981.4U patent/CN208084351U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337818A (en) * | 2020-11-12 | 2021-02-09 | 通标标准技术服务有限公司 | Automatic detection and transportation system based on mechanical arm |
| CN112503341A (en) * | 2020-12-15 | 2021-03-16 | 维沃移动通信有限公司 | Electronic equipment and camera device thereof |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181113 |
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| CF01 | Termination of patent right due to non-payment of annual fee |