CN208744838U - 3D vision intelligent machine hand system - Google Patents
3D vision intelligent machine hand system Download PDFInfo
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- CN208744838U CN208744838U CN201821263227.5U CN201821263227U CN208744838U CN 208744838 U CN208744838 U CN 208744838U CN 201821263227 U CN201821263227 U CN 201821263227U CN 208744838 U CN208744838 U CN 208744838U
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- dimensional image
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- intelligent machine
- machine hand
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Abstract
The utility model discloses a kind of 3D vision intelligent machine hand systems, it is related to puma manipulator technical field, including control room, barrier shield, hot cell and three-dimensional image pickup device, the first manipulator is provided in control room, for opening and closing the trigger device of the first manipulator, the control system being connected with the first manipulator and the three-dimensional display apparatus for receiving three-dimensional image pickup device data, the side in barrier shield towards hot cell is provided with hagioscope and the holder for placing three-dimensional image pickup device, the second manipulator is provided in hot cell, second manipulator is connected with the first manipulator by control system to realize remote control, operator can be made to obtain the indoor three-dimensional image of heat by three-dimensional image pickup device, the effect that visual experience is directly observed close to human eye, keep execution operation more acurrate, by controlling the first manipulator, by the first manipulator Movement be transmitted on the second manipulator by control system, it can be achieved that remote-controlled operation, relieves the restriction of operating position.
Description
Technical field
The utility model relates to puma manipulator technical fields, and in particular to a kind of 3D vision intelligent machine hand system.
Background technique
Due to traditional Purely mechanical master slave manipulator, it need to be mounted on the exterior wall in hot cell, equipment passes through the wall pipe on wall
It realizes to the manipulation in hot cell from hand, therefore the installation site of such equipment and mode of operation limit to, are fixed very much, operator
Member can only be operated in the region close to hot cell, the operative position arrangement of whole production technology, control room be planned, and prominent
Operator's personal safety etc. all produces restriction under hair accident.
And for the power arm product in the high pollutions room such as irradiation, toxic, although can be realized long-range control, power
Each turning joint of arm is all the motor by being mounted on arm, is driven by reception from control room order, therefore
The electronic devices such as many electrical category equipment and sensor are had in motivation package arm.Due to the electronic devices such as motor, sensor with
With power arm entirety, will be chronically under the high pollutions environment such as irradiation, corrosion, for the durable of electronic device, radiation resistance, corrosion resistant
Corrosion is proposed high requirement to indexs such as device housings protective, leakproofness.Such part of appliance is at high cost, overhauls
It is difficult with replacement, it needs to improve.
It is all by being mounted on the indoor camera shooting of heat when manipulating the mechanical arm in the high pollutions room such as irradiation, toxic at present
Head picture, or observe and operate by the hagioscope on wall.By way of hagioscope, operator will be apart from hot cell
It is very close, define operating position, by way of camera, picture is that two dimension shows form, not three-dimensional spatial perception,
And visual angle manual operation rotates camera, manipulation sense on the spot is insufficient.
Therefore, being badly in need of one kind being capable of remote-controlled operation and the 3D vision puma manipulator system with stereo-picture presentation
System.
Utility model content
The utility model embodiment is designed to provide a kind of 3D vision intelligent machine hand system, existing to alleviate
Operator in technology will be close apart from hot cell, define operating position, and picture is that two dimension shows form, not three-dimensional spatial impression
Know, on the spot the problems such as manipulation sense deficiency.
To achieve the above object, a kind of 3D vision intelligent machine hand system provided by the embodiment of the utility model, including
Control room, barrier shield, hot cell and three-dimensional image pickup device；
Be provided in the control room the first manipulator, the trigger device for opening and closing first manipulator, with it is described
The control system that first manipulator is connected and the three-dimensional display apparatus for receiving the three-dimensional image pickup device data；
The side in the barrier shield towards the hot cell is provided with hagioscope and for placing the three-dimensional image pickup device
Holder；
The second manipulator is provided in the hot cell；
Second manipulator is connected with first manipulator by the control system to realize remote control.
Further, first manipulator includes the first rotation external member, the first extension sleeve, handle and the first servo electricity
Machine；
The first rotation external member is fixed on bracket；
One end of first extension sleeve is connected with the first rotation external member, and the other end is connected with the handle
It connects.
Further, second manipulator includes the second rotation external member, the second extension sleeve, pawl tool and the second servo electricity
Machine；
The second rotation external member is connected with wall pipe；
One end of second extension sleeve is connected with the second rotation external member, and the other end is connected with pawl tool
It connects；
Second servo motor is connected with the first servo motor by the control system.
Further, the three-dimensional display apparatus includes wearable display, display screen and display driving host；
The wearable display is for receiving the three-dimensional image pickup device data；
The display screen is arranged on the bracket, and is connected with the wearable display for receiving and showing
The data of the wearable display；
The reception, transmission and processing that the display driving host is connected for data with the three-dimensional image pickup device.
Further, the trigger device is set to the lower section of first manipulator, including pedal, trigger switch and multiple
Position device；
The trigger switch and the resetting apparatus are all set in the lower section of the pedal.
Further, the wearable display includes that wearable frame, the first display screen, second display screen, monocular are taken the photograph
As head, gyroscope and microphone；
First display screen and the second display screen are connected with display driving host for receiving respectively
The data of the three-dimensional image pickup device；
The lower section that the monocular cam is set to the wearable frame is used for the gesture of capture operation person；
The gyroscope and the microphone are set on the wearable frame.
Further, the control system includes control panel and the SERVO CONTROL cabinet being connected with the control panel.
Further, the torque sensor being connected with the SERVO CONTROL cabinet is provided on the pawl tool.
Further, the SERVO CONTROL cabinet includes power module, surge protection module, filter module, servo control molding
Block, servo-driven module, radiating module and lighting module.
Further, the first servo motor and second servo motor pass through rigid line and the servo-driven module
It is connected with the servo control module.
The utility model embodiment has the beneficial effect that
The device includes control room, barrier shield, hot cell and three-dimensional image pickup device, be provided in control room the first manipulator,
Trigger device, the control system being connected with the first manipulator for opening and closing the first manipulator and for receiving three-dimensional camera shooting dress
The three-dimensional display apparatus of data is set, the side in barrier shield towards hot cell is provided with hagioscope and for placing three-dimensional image pickup device
Holder, the second manipulator is provided in hot cell, and the second manipulator is connected by control system with the first manipulator to realize far
Distance manipulation obtains the indoor three-dimensional image of heat by three-dimensional image pickup device, image is passed to three-dimensional display apparatus and is supplied
Operator checks that the effect that visual experience is directly observed close to human eye keeps execution operation more acurrate, uses radiation resistance and designs,
By set-up of control system in control room, it is isolated with hot cell, only the second manipulator is in radiation environment, and centre is also adopted
It is isolated with barrier shield, by controlling the first manipulator, the movement of the first manipulator is transmitted to second by control system
It, can be to radioactive waste by teleoperation, it can be achieved that remote-controlled operation, relieves the restriction of operating position on manipulator
It the operations such as clamped, carried, being cut, reducing the case where staff directly or indirectly contacts radioactive waste, Ke Yidai
For the artificial processing for carrying out radioactive waste, the efficiency of nuclear waste disposal is improved, is had actively for the development of nuclear industry
Impetus.
Detailed description of the invention
Fig. 1 is the schematic perspective view of 3D vision intelligent machine hand system provided by the utility model；
Fig. 2 is the schematic perspective view of the other direction of 3D vision intelligent machine hand system shown in FIG. 1；
Fig. 3 is the schematic perspective view of the other direction of 3D vision intelligent machine hand system shown in FIG. 1；
Fig. 4 is the schematic perspective view of the first manipulator of 3D vision intelligent machine hand system shown in FIG. 1；
Fig. 5 is the schematic perspective view of the second manipulator of 3D vision intelligent machine hand system shown in FIG. 1.
Icon: 1- control room；2- barrier shield；The hot cell 3-；4- control system；The first manipulator of 11-；12- trigger device；
13- shows screen；The second manipulator of 31-；111- first rotates external member；The first extension sleeve of 112-；113- handle；114- branch
Frame；311- second rotates external member；The second extension sleeve of 312-；313- pawl tool；The second servo motor of 314-.
Specific embodiment
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
As shown in Figures 1 to 5, a kind of 3D vision intelligent machine hand system provided in this embodiment, including control room 1,
Barrier shield 2, hot cell 3 and three-dimensional image pickup device；
The first manipulator 11, the trigger device 12 for opening and closing the first manipulator 11 and the first machine are provided in control room 1
The control system 4 that tool hand 11 is connected and the three-dimensional display apparatus for receiving three-dimensional image pickup device data；
The side in barrier shield 2 towards hot cell 3 is provided with hagioscope and the holder for placing three-dimensional image pickup device；
The second manipulator 31 is provided in hot cell 3；
Second manipulator 31 is connected with the first manipulator 11 by control system 4 to realize remote control.
The three-dimensional image in hot cell 3 is obtained by three-dimensional image pickup device, image is passed into three-dimensional display apparatus and is supplied
Operator checks that the effect that visual experience is directly observed close to human eye keeps execution operation more acurrate, uses radiation resistance and designs,
Control system 4 is set in control room 1, is isolated with hot cell 3, only the second manipulator 31 is in radiation environment, and in
Between be also isolated using barrier shield 2, by controlling the first manipulator 11, the movement of the first manipulator 11 is passed through into control system
4 are transmitted on the second manipulator 31, it can be achieved that remote-controlled operation, relieves the restriction of operating position, pass through teleoperation energy
It reaches and the operations such as is clamped, carried, cut to radioactive waste, reduce staff and directly or indirectly contact radioactive waste
The case where, it can replace the artificial processing for carrying out radioactive waste, the efficiency of nuclear waste disposal improved, for the hair of nuclear industry
Exhibition has positive impetus.
Please continue to refer to Fig. 1 to Fig. 4, wherein the first manipulator 11 includes the first rotation external member 111, the first extension sleeve
112, handle 113 and first servo motor；
First rotation external member 111 is fixed on bracket 114；
One end of first extension sleeve 112 is connected with the first rotation external member 111, and the other end is connected with handle 113.
In this embodiment, bracket 114 is set to the top of the first manipulator 11, the installation as the first manipulator 11
Point is equipped with potentiometer wherein being equipped with several shafts in every shaft, stretched by the first rotation of potentiometer acquisition external member 111, first
The position data of contracting sleeve 112 and handle 113, and it is sent to control system 4, make control system 4 that the second manipulator 31 be driven to do
Identical movement out, 112 top of the first extension sleeve are connected with the first rotation external member 111, longitudinal lowering, the first extension sleeve
112 can carry out rotary motion around the axle center of rotary shaft, and the first extension sleeve 112 is internally provided with chain and shaft, when
When operator's the first extension sleeve 112 of operation stretches, chain will drive shaft and be rotated, and shaft can pass through gear and drive first
The shaft rotation in external member 111 is rotated, handle 113 is mounted on the lower end of the first extension sleeve 112, and handle 113 can be realized office
The precise motion and fetching instruction in portion issue, so that the end of the second manipulator 31 be made to follow the handle 113 of the first manipulator 11
Movement, handle 113 also have force feedback function, the moment information of the second manipulator 31 in operation can be received, lead to
Handle 113 is crossed to feed back to operator.
Please continue to refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 5, wherein the second manipulator 31 includes the second rotation external member 311, second
Extension sleeve 312, pawl tool 313 and the second servo motor 314；
Second rotation external member 311 is connected with wall pipe；
One end of second extension sleeve 312 is connected with the second rotation external member 311, and the other end is connected with pawl tool 313；
Second servo motor 314 is connected with first servo motor by control system 4.
Further, the torque sensor being connected with SERVO CONTROL cabinet is provided on pawl tool 313.
In this embodiment, the structure of the second manipulator 31 and the structure of the first manipulator 11 are almost the same, herein no longer
It repeats, different from the first manipulator 11 has two o'clock, and the first, second manipulator 31 does not include handle 113, opposite with handle 113
That answers is provided with pawl tool 313, and operator operates the movement that the first manipulator 11 realizes pawl tool 313, and pawl tool 313 can be set as one group
Part is placed in hot cell 3, including the different pawl tool 313 of multiple sizes, function, can be corresponded to and be realized different functions, operator can
It selects different pawls to have 313 according to the actual conditions of operation to be replaced, be provided with torque sensor on pawl tool 313, can incite somebody to action
Second manipulator 31 is on the handle 113 that the moment information that practical operation is subject to feeds back to the first manipulator 11, the second, second machine
Second rotation external member 311 of tool hand 31 is not attached on bracket 114, is to pass through barrier shield 2 by wall pipe to be arranged, it is external and
Multiple second servo motors 314 are connected, and the bracket 114 for placing the second servo motor 314 is provided in control room 1,
Each second servo motor 314 receives the signal from control system 4, multiple shafts is provided in wall pipe, second watches
It takes the shaft that motor 314 controls in wall pipe to rotate, to drive the shaft in the first rotation external member 111, and then passes through driving cog
The components such as wheel, move chain and shaft inside the second extension sleeve 312, and pawl is made to have 313 generations movement.
Please continue to refer to Fig. 1 to Fig. 4, wherein three-dimensional display apparatus includes wearable display, display screen 13 and display
Device drives host；
Wearable display is for receiving three-dimensional image pickup device data；
Display screen 13 is set on bracket 114, and it is wearable for receiving and showing to be connected with wearable display
The data of display；
The reception, transmission and processing that display driving host is connected for data with three-dimensional image pickup device.
In this embodiment, display driving host is connected by rigid line with three-dimensional image pickup device, has MODBUS number
According to communication interface, by bus cable or cable, it is logical that data are carried out with I&C systems such as the process control system 4 in hot cell 3 or DCS
News, and specified data can be integrated and be handled, be then added to according to the gesture or phonetic order that operator issues
It is checked in the picture of wearable display for operator, display screen 13 is mounted on bracket 114, is driven by being connected to display
The data line of dynamic host is received the video data of the three-dimensional image pickup device in hot cell 3, and is shown in the form of three-dimensional or two-dimensional
On display screen 13, drives host to be connected with display by wearable display, receive from three-dimensional camera shooting in hot cell 3
The video stream data of device is superimposed with the production information data from display driving host, operator is made to generate 3 D stereo
Operation sense.
Please continue to refer to Fig. 1 to Fig. 4, wherein trigger device 12 is set to the lower section of the first manipulator 11, including pedal,
Trigger switch and resetting apparatus；
Trigger switch and resetting apparatus are all set in the lower section of pedal.
Further, the resetting apparatus is spring.
In this embodiment, pedal protrudes from ground, and trigger switch and reset switch, switching signal pass through line built in pedal
Cable is sent to control system 4, when operator needs to operate the first manipulator 11, it is necessary to step down on pedal, pedal is stepped on, make
Trigger switch in pedal is in triggering state, after control system 4 detects that pedal switch is in triggering state, releases the first machine
Locking device on tool hand 11, operator once leaves operative position or because other reasons unclamps pedal, in the effect of reset switch
Lower pedal bounces, and trigger switch reverts to non-triggering state, and the first manipulator 11 is locked is not available for operating immediately, guarantees work
The safety of Cheng Jinhang.
Wherein, wearable display includes wearable frame, the first display screen, second display screen, monocular cam, gyro
Instrument and microphone；
First display screen and second display screen are connected with display driving host for receiving three-dimensional image pickup device respectively
Data；
The lower section that monocular cam is set to wearable frame is used for the gesture of capture operation person；
Gyroscope and microphone are set on wearable frame.
In this embodiment, the first display screen and second display screen are connected to the data line of display driving host, receive
The binocular video flow data of three-dimensional image pickup device in hot cell 3 is superimposed with the production information number from display driving host
According to, display operation person's left eye is distinguished on the first display screen and second display screen, the discrepant picture that right eye should be seen that, from
And operator is made to generate 3 D stereo operation sense, monocular cam is towards the front, slightly downward of operator, for capturing behaviour
The certain gestures of work person act, to be converted into specific operational order, and send an instruction to display by data line and drive
Dynamic host, microphone, for acquiring the special sound command information of operator's sending, so that it is converted into specific operational order,
And display is sent an instruction to by data line and drives host, gyroscope is capable of the movement on inductive operation person head, including a left side
The rotary head movement of dextrad and upward, downward new line and movement of bowing, transmit action information to display by data line
Host is driven, display drives host to drive the holder in hot cell 3 by rigid line, left/right rotation, or the movement turned up and down are carried out,
So that visual angle captured by three-dimensional image pickup device follows the movement synchronizing moving on operator head, generate operator on the spot in person
Feeling.
Wherein, control system 4 includes control panel and the SERVO CONTROL cabinet being connected with control panel.
Further, SERVO CONTROL cabinet includes power module, surge protection module, filter module, servo control module, watches
Take drive module, radiating module and lighting module.
Further, first servo motor and the second servo motor 314 pass through rigid line and servo-driven module and servo control
Molding block is connected.
In this embodiment, SERVO CONTROL cabinet is the control core of the device, and SERVO CONTROL cabinet is located in control room 1, interior
Portion is provided with power module, surge protection module, filter module, servo control module, servo-driven module, radiating module and photograph
Bright module etc..SERVO CONTROL cabinet is by rigid line, as the power supply of first servo motor and the second servo motor 314, and with electricity
Potentiometer, torque sensor on machine etc. are connected, and receive from potentiometric signal in each shaft of the first manipulator 11, lead to
It crosses and is compared the potentiometer signal on signal axis corresponding with the second manipulator 31 and operation, output pulse control instruction
To servo-driven module, servo-driven module is connected by rigid line with the second servo motor 314, drives the second servo motor
314 rotate specific angle according to the requirement of servo control module with certain speed and torque, so that first is mechanical
The position of every group of corresponding shaft is kept identical on hand 11 and the second manipulator 31, and due to the first manipulator 11 and the second manipulator
31 mechanical structure is identical with size, and it is synchronous with position to realize movement.
When operator passes through voice or gesture instruction, it is desirable that when system carries out " mode of learning ", wearable display will be grasped
Work person's order is issued to display driving host, and display drives host by rigid line or network, issues to servo control module
The instruction of " mode of learning ", into " mode of learning ", when 11 hand of the first manipulator carries out any operation, the second manipulator 31 is just
The movement of the first manipulator 11 is often followed, but servo control module can the whole position for recording the second manipulator 31 in whole flow process
It sets, the control output signal of the second servo motor 314.After " mode of learning ", operator assigns the finger of " repeat pattern "
It enables, the content recorded according to preceding primary study is automatically controlled the second manipulator 31 and repeated before this by servo control module
The movement for learning and recording, until operator terminates " repeat pattern ".
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (10)
1. a kind of 3D vision intelligent machine hand system, which is characterized in that including control room, barrier shield, hot cell and three-dimensional camera shooting
Device；
The first manipulator, the trigger device for opening and closing first manipulator and described first are provided in the control room
The control system that manipulator is connected and the three-dimensional display apparatus for receiving the three-dimensional image pickup device data；
The side in the barrier shield towards the hot cell is provided with hagioscope and the holder for placing the three-dimensional image pickup device；
The second manipulator is provided in the hot cell；
Second manipulator is connected with first manipulator by the control system to realize remote control.
2. 3D vision intelligent machine hand system according to claim 1, which is characterized in that first manipulator includes
First rotation external member, the first extension sleeve, handle and first servo motor；
The first rotation external member is fixed on bracket；
One end of first extension sleeve is connected with the first rotation external member, and the other end is connected with the handle.
3. 3D vision intelligent machine hand system according to claim 2, which is characterized in that second manipulator includes
Second rotation external member, the second extension sleeve, pawl tool and the second servo motor；
The second rotation external member is connected with wall pipe；
One end of second extension sleeve is connected with the second rotation external member, and the other end is connected with pawl tool；
Second servo motor is connected with the first servo motor by the control system.
4. 3D vision intelligent machine hand system according to claim 2, which is characterized in that the three-dimensional display apparatus packet
Include wearable display, display screen and display driving host；
The wearable display is for receiving the three-dimensional image pickup device data；
The display screen is arranged on the bracket, and it is described for receiving and showing to be connected with the wearable display
The data of wearable display；
The reception, transmission and processing that the display driving host is connected for data with the three-dimensional image pickup device.
5. 3D vision intelligent machine hand system according to claim 2, which is characterized in that the trigger device is set to
The lower section of first manipulator, including pedal, trigger switch and resetting apparatus；
The trigger switch and the resetting apparatus are all set in the lower section of the pedal.
6. 3D vision intelligent machine hand system according to claim 4, which is characterized in that the wearable display packet
Include wearable frame, the first display screen, second display screen, monocular cam, gyroscope and microphone；
First display screen and the second display screen are connected with display driving host described for receiving respectively
The data of three-dimensional image pickup device；
The lower section that the monocular cam is set to the wearable frame is used for the gesture of capture operation person；
The gyroscope and the microphone are set on the wearable frame.
7. 3D vision intelligent machine hand system according to claim 3, which is characterized in that the control system includes control
Panel processed and the SERVO CONTROL cabinet being connected with the control panel.
8. 3D vision intelligent machine hand system according to claim 7, which is characterized in that be provided on pawl tool with
The torque sensor that the SERVO CONTROL cabinet is connected.
9. 3D vision intelligent machine hand system according to claim 7, which is characterized in that the SERVO CONTROL cabinet includes
Power module, surge protection module, filter module, servo control module, servo-driven module, radiating module and lighting module.
10. 3D vision intelligent machine hand system according to claim 9, which is characterized in that the first servo motor
It is connected by rigid line with the servo-driven module and the servo control module with second servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821263227.5U CN208744838U (en) | 2018-08-06 | 2018-08-06 | 3D vision intelligent machine hand system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821263227.5U CN208744838U (en) | 2018-08-06 | 2018-08-06 | 3D vision intelligent machine hand system |
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| CN208744838U true CN208744838U (en) | 2019-04-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789419A (en) * | 2018-08-06 | 2018-11-13 | 王晋 | 3D vision intelligent machine hand system |
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2018
- 2018-08-06 CN CN201821263227.5U patent/CN208744838U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789419A (en) * | 2018-08-06 | 2018-11-13 | 王晋 | 3D vision intelligent machine hand system |
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Granted publication date: 20190416 Termination date: 20210806 |