CN211920128U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN211920128U CN211920128U CN202020198577.9U CN202020198577U CN211920128U CN 211920128 U CN211920128 U CN 211920128U CN 202020198577 U CN202020198577 U CN 202020198577U CN 211920128 U CN211920128 U CN 211920128U
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Abstract
The utility model provides a mechanical arm, which comprises a mechanical arm main body, wherein the tail end of the mechanical arm main body is provided with a metal frame plate; the metal frame plate is provided with a vision sensor, a vision processor, a distance measuring sensor, an air cylinder, a flat sweeping device and a suction device; the cylinder is fixedly connected with the flat sweeping device and can drive the flat sweeping device to move up and down; the flat sweeping device is used for shifting the part target to be within the grippable range of the mechanical arm; the suction device is used for grabbing part targets. This arm realizes the high-efficient autonomic snatching of little miniature spare part target, has improved the efficiency of snatching of arm.
Description
The present application is based on the application of the chinese utility model patent with application number 201920454605.6, entitled "a robot arm", filed 04/2019, and claims priority.
Technical Field
The utility model belongs to the technical field of the robot control, more specifically say, relate to a mechanical arm.
Background
With the continuous improvement of the requirements of industrial production on the flexibility and the automation degree of a production line, the requirement of some scenes is difficult to meet by a simple industrial robot, so that the industrial robot based on machine vision is more and more concerned. The grabbing is a common action in industrial production and is also a necessary basic action of an industrial robot. Autonomous grasping is favored by many researchers in the grasping task. In the autonomous grabbing control of the robot, most of the traditional technologies only focus on grabbing large and medium-sized target objects, and the types of the grabbed targets are single. Aiming at the situations of sorting, combination packaging, part assembly and the like of various materials in the industrial manufacturing field, various tiny parts are placed out of order and are stacked around by disorder to form a plurality of other interference targets. However, the existing mechanical arm has the defects of poor self-grabbing compatibility, low grabbing efficiency and the like for the small micro-components related to the situations.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a mechanical arm to it is compatible poor to solve current mechanical arm letter sorting, independently snatchs the problem of inefficiency.
In order to achieve the above object, the utility model adopts the following technical scheme: providing a mechanical arm, which comprises a mechanical arm main body, wherein a metal frame plate is assembled at the tail end of the mechanical arm main body;
the metal frame plate is provided with a vision sensor, a vision processor, a distance measuring sensor, an air cylinder, a flat sweeping device and a suction device;
the cylinder is fixedly connected with the flat sweeping device and can drive the flat sweeping device to move up and down;
the flat sweeping device is used for shifting the part target to be within the grippable range of the mechanical arm;
the suction device is used for grabbing part targets.
Preferably, the vision sensor and the vision processor are mounted on an outer side arm of the metal frame plate, and the air cylinder, the flat-sweeping device and the suction device are mounted on an inner side arm of the metal frame plate.
Preferably, the cylinder comprises a cylinder body and a sliding block, wherein the surface of the cylinder body is provided with a groove and is embedded on the metal frame plate; a piston is arranged in the cylinder body and used for driving the sliding block to move up and down; the sliding block is connected with the cylinder piston through the groove.
Preferably, the side end of the cylinder is provided with a vent, and the vent is connected with an air pipe of an external air source power device.
Preferably, the flat sweeping device comprises a metal plate and a brush, the metal plate is fixedly connected with a sliding block of the cylinder, the brush is installed below the metal plate, when a graspable target is absent in a visual range of the mechanical arm, the cylinder drives the flat sweeping device to pop up, and the part target is poked to the graspable range of the mechanical arm through the brush.
Preferably, the suction device comprises a vent pipe, a small-head fitting and a vacuum chuck, the small-head fitting is connected below the vent pipe, and the vacuum chuck is connected below the small-head fitting;
the small-head hardware fitting is internally of a hollow structure, and air is fed from two sides of the small-head hardware fitting to communicate the vent pipe with the vacuum chuck.
Preferably, the suction device is located at the lower end of the cylinder and is connected with an external air source power device through a vent pipe, and the negative air pressure provided by the external air source power device sucks the part target.
Preferably, the vision sensor is connected with a main control computer of the mechanical arm, the vision processor and an external power supply through leads and is used for acquiring images of part targets in the visual field range of the mechanical arm;
the vision processor is connected with a main control computer of the mechanical arm and an external power supply through a lead and is used for classifying and identifying the images acquired by the vision sensor and calculating the position of the optimally-grabbed part target.
Preferably, the distance measuring sensor is connected with a main control computer of the mechanical arm through a lead and is used for measuring the vertical distance between the distance measuring sensor and the optimally-grabbed part target.
Preferably, the bottom end of the mechanical arm main body is provided with a signal output interface, and the signal output interface is connected with a main control computer and an external power supply of the mechanical arm through a wire.
The utility model provides a pair of arm's beneficial effect lies in: compared with the prior art, the utility model discloses can rely on visual information to carry out multi-target classification discernment and location under the chaotic condition of piling up of multiple spare part, and when the arm field of vision within range does not exist and can snatch the target, the device is swept to the tie on the accessible arm removes, stirs spare part and can snatch the within range to the arm, recycles suction means and snatchs the spare part target, and then realizes that the high efficiency of little miniature spare part target independently snatchs, has improved the efficiency of snatching of arm.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a robot arm according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a metal frame plate at the end of a robot arm according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cylinder provided by an embodiment of the present invention.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Referring to fig. 1 to 3 together, the robot arm of the present invention will now be described. The mechanical arm comprises a mechanical arm main body 1, wherein the mechanical arm main body 1 can be rotated and adjusted, a metal frame plate 2 is assembled at the tail end of the mechanical arm main body 1, and the position of the metal frame plate 2 can be controlled through rotation and adjustment. The metal frame plate 2 is provided with a vision sensor 3, a vision processor 4, a distance measuring sensor 5, a cylinder 6, a flat sweeping device 7 and a suction device 8; the cylinder 6 is fixedly connected with the flat sweeping device 7 and can drive the flat sweeping device 7 to move up and down; the flat sweeping device 7 is used for shifting the part target to be within the grippable range of the mechanical arm; the suction device 8 is used for grabbing part objects.
Preferably, the vision sensor 3 and the vision processor 4 are mounted on the outer arm of the metal frame plate 2, and the cylinder 6, the sweep device 7 and the suction device 8 are mounted on the inner arm of the metal frame plate.
Specifically, the vision sensor 3 may be connected to a main control computer of the mechanical arm, the vision processor 4 and an external power supply through wires, and is configured to acquire an image of a part target within a visual field of the mechanical arm;
the vision processor 4 can be connected with a main control computer of the mechanical arm and an external power supply through a wire, and is used for classifying and identifying the images acquired by the vision sensor 3 and calculating the position of the optimally grabbed part target.
Specifically, the distance measuring sensor 5 may be connected to a main control computer of the robot arm through a wire, and is configured to measure a vertical distance between the robot arm and an optimally grasped component target. For example, the distance measuring sensor 5 may acquire depth information of a grasping point and convert the depth information into coordinate information of an optimally grasped part target in the Z-axis direction through spatial information.
The bottom end of the mechanical arm main body 1 can be provided with a signal output interface 9, the signal output interface 9 can be connected with a main control computer and an external power supply of the mechanical arm through wires, and the mechanical arm main control computer can control the mechanical arm main body 1, the vision sensor 3, the vision processor 4, the distance measuring sensor 5 and an electromagnetic valve of an external air source power device.
Preferably, the flat-sweeping device 7 may include a metal plate 7-1 and a brush 7-2, the metal plate 7-1 may be fixedly connected to the slider 6-2 of the cylinder 6 by a screw, the brush 7-2 is installed below the metal plate 7-1, and when there is no graspable object in the field of view of the robot arm, the cylinder drives the flat-sweeping device to pop up, and the brush is used to poke the part object into the graspable range of the robot arm, so as to prevent the robot arm from having no graspable object. For ease of understanding, the following description will be made on the principle of the up-and-down movement of the flat-sweep apparatus 7: the movement of the cylinder sliding block 6-2 is controlled by an electromagnetic valve of an external air source power device, when the external air source power device supplies air to the air vent on the upper side of the cylinder 6 and gathers energy to generate air pressure, the air pressure can generate thrust for enabling the piston to move downwards, the sliding block 6-2 drives the flat sweeping device 7 to move downwards, the brush 7-2 of the flat sweeping device 7 can stir parts at the moment, after the action of the brush 7-2 is completed, the external air source power device supplies air to the air vent on the lower side of the cylinder and gathers energy to form air pressure, the air pressure generates thrust for enabling the piston to move upwards, and therefore the sliding block 6-2 drives the flat sweeping device 7 to move upwards.
Preferably, the suction device 8 may include a vent pipe 8-1, a small-head fitting 8-2 and a vacuum chuck 8-3, the small-head fitting 8-2 is connected below the vent pipe 8-1, and the vacuum chuck 8-3 is connected below the small-head fitting 8-2; the small-end hardware fitting 8-2 is of a hollow structure, and air is fed from two sides of the small-end hardware fitting to communicate the air pipe 8-1 with the vacuum chuck 8-3. The suction device 8 is located at the lower end of the cylinder and can be connected with an external air source power device through a vent pipe, and the negative air pressure provided by the external air source power device sucks a part target. Specifically, the vent pipe 8-1 can convey the negative air pressure generated by the external air source power device, and at the moment, the inside of the whole suction device 8 forms a pressure difference with the outside, so that the vacuum chuck can suck.
Preferably, the cylinder 6 comprises a cylinder body 6-1 and a sliding block 6-2, wherein the surface of the cylinder body is provided with a groove and is embedded on a metal frame plate; the piston is arranged in the cylinder body and used for driving the sliding block to move up and down, and then the flat sweeping device 7 fixedly installed on the sliding block can be driven to move. The sliding block is connected with the cylinder piston through the groove. The side end of the cylinder can also be provided with a vent hole, and the vent hole is connected with an air pipe of an external air source power device. Specifically, the side end of the cylinder 6-1 is provided with 2 air vents.
For ease of understanding, the principle and process of operation of the robotic arm under control of the master computer will now be described in detail as follows:
when the mechanical arm is used, the mechanical arm is fixed on a workbench, then the operation of the whole device is controlled by a mechanical arm main control computer, the positions of the visual sensor 3, the visual processor 4, the distance measuring sensor 5 and the suction device 8 can be determined by the movement and angle adjustment of the mechanical arm main body 1 and the angle adjustment of the metal frame plate 2, when the mechanical arm works, the visual sensor 3 is firstly aligned to a placing frame of a part, the visual sensor 3 collects an image of the part and sends the image to the visual processor 4, then the visual processor 4 carries out target identification and classification on the image, calculates the two-dimensional coordinate position of the optimally-grabbed part target, then the distance measuring sensor 5 measures the vertical height of the optimally-grabbed part target from the optimally-grabbed part target, then the main control computer carries out coordinate conversion according to the obtained position information and moves the mechanical arm to enable the suction device 8 to be, and meanwhile, the external air source power device is started to generate negative air pressure to be transmitted to the suction device 8, so that the suction device 8 can grab the target. In addition, when no part target capable of being grabbed exists in the visual field range of the mechanical arm, the external air source power device supplies air to the air vent on the upper side of the air cylinder 6 and gathers energy to form air pressure, the air pressure can generate thrust for enabling the piston to move downwards, the sliding block 6-2 can drive the flat sweeping device 7 to move downwards, and at the moment, along with the movement of the mechanical arm, the brush 7-2 can stir the part to the visual field range of the mechanical arm, so that the automatic grabbing efficiency of the mechanical arm is improved.
According to the above content, the utility model provides a mechanical arm can rely on visual information to carry out multi-target classification discernment and location under the chaotic condition of piling up of multiple spare part, and when the mechanical arm field of vision within range does not exist and can snatch the target, the flat device of sweeping on the accessible mechanical arm removes, stirs spare part and can snatch the within range to the mechanical arm, recycles suction means and snatchs the spare part target, and then realizes that the high efficiency of little miniature spare part target is independently snatched, has improved the efficiency of snatching of mechanical arm. In addition, the mechanical arm is simple in design structure, few in control variable, few in uncertain factor and low in equipment cost; the mechanical arm can further improve the practicability, intelligence and functional advantages of the industrial robot, contributes to saving industrial cost and improving industrial manufacturing efficiency.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The mechanical arm is characterized by comprising a mechanical arm main body, wherein a metal frame plate is assembled at the tail end of the mechanical arm main body;
the metal frame plate is provided with a vision sensor, a vision processor, a distance measuring sensor, an air cylinder, a flat sweeping device and a suction device;
the cylinder is fixedly connected with the flat sweeping device and can drive the flat sweeping device to move up and down;
the flat sweeping device is used for shifting the part target to be within the grippable range of the mechanical arm;
the suction device is used for grabbing part targets.
2. A robotic arm as claimed in claim 1, in which the vision sensor and vision processor are mounted on an outer side arm of the metal frame plate and the air cylinder, sweep and suction devices are mounted on an inner side arm of the metal frame plate.
3. The mechanical arm according to claim 1, wherein the cylinder comprises a cylinder body and a slide block, the surface of the cylinder body is provided with a groove and is embedded on a metal frame plate; a piston is arranged in the cylinder body and used for driving the sliding block to move up and down; the sliding block is connected with the cylinder piston through the groove.
4. The mechanical arm as claimed in claim 1, wherein the side end of the cylinder is provided with a vent through which an air pipe of an external air source power device is connected.
5. The mechanical arm of claim 1, wherein the flat-sweeping device comprises a metal plate and a brush, the metal plate is fixedly connected with the sliding block of the cylinder, the brush is arranged below the metal plate, when the graspable target is absent in the visual field of the mechanical arm, the cylinder drives the flat-sweeping device to pop up, and the part target is poked to be within the graspable range of the mechanical arm through the brush.
6. The mechanical arm of claim 1, wherein the suction device comprises a vent pipe, a small head fitting and a vacuum chuck, the small head fitting is connected below the vent pipe, and the vacuum chuck is connected below the small head fitting;
the small-head hardware fitting is internally of a hollow structure, and air is fed from two sides of the small-head hardware fitting to communicate the vent pipe with the vacuum chuck.
7. The mechanical arm of claim 1, wherein the suction device is located at the lower end of the cylinder and is connected with an external air source power device through a vent pipe, and the negative air pressure provided by the external air source power device sucks the part target.
8. A robotic arm as claimed in claim 1, wherein said vision sensor is connected by wires to a host computer of said arm, said vision processor and an external power source for capturing images of part targets within the field of view of the arm;
the vision processor is connected with a main control computer of the mechanical arm and an external power supply through a lead and is used for classifying and identifying the images acquired by the vision sensor and calculating the position of the optimally-grabbed part target.
9. A robotic arm as claimed in claim 1, in which the distance measuring sensor is connected by wire to the host computer of the arm for measuring its vertical distance from the target of the component to be optimally gripped.
10. A robotic arm as claimed in any one of claims 1 to 9, in which the bottom end of the body of the arm is fitted with a signal output interface which is connected by wire to a host computer and an external power supply of the arm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019204546056 | 2019-04-04 | ||
| CN201920454605 | 2019-04-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211920128U true CN211920128U (en) | 2020-11-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020198577.9U Active CN211920128U (en) | 2019-04-04 | 2020-02-21 | Mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN211920128U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112371800A (en) * | 2020-11-30 | 2021-02-19 | 华人运通(江苏)技术有限公司 | Stacking part grabbing system and grabbing method |
| CN113733140A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm grabbing control method based on binocular vision |
| CN113733141A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm vision control method and device |
| CN113894831A (en) * | 2021-10-09 | 2022-01-07 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
-
2020
- 2020-02-21 CN CN202020198577.9U patent/CN211920128U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112371800A (en) * | 2020-11-30 | 2021-02-19 | 华人运通(江苏)技术有限公司 | Stacking part grabbing system and grabbing method |
| CN113733140A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm grabbing control method based on binocular vision |
| CN113733141A (en) * | 2021-10-09 | 2021-12-03 | 衢州职业技术学院 | Mechanical arm vision control method and device |
| CN113894831A (en) * | 2021-10-09 | 2022-01-07 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN113733141B (en) * | 2021-10-09 | 2022-10-25 | 衢州职业技术学院 | Mechanical arm vision control method and device |
| CN113894831B (en) * | 2021-10-09 | 2022-11-22 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
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