CN215968758U

CN215968758U - Mechanical arm grabbing device based on MEMS-3D camera

Info

Publication number: CN215968758U
Application number: CN202121941533.1U
Authority: CN
Inventors: 赵东; 顾立浩; 王一安; 许栋炜; 刘家臣; 肖瑶; 杨万里; 秦玉梅; 唐刘; 魏雨晴; 王乐
Original assignee: Binjiang College of Nanjing University of Information Engineering
Current assignee: Binjiang College of Nanjing University of Information Engineering
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-03-08
Anticipated expiration: 2031-08-18

Abstract

The utility model relates to a mechanical arm grabbing device based on an MEMS-3D camera, which comprises a camera, a camera fixing frame and a mechanical arm, wherein the camera fixing frame is arranged on the camera fixing frame; the camera fixing frame is door frame-shaped, the camera is fixed on the camera fixing frame, a camera lens of the camera faces downwards, and the mechanical arm is located below the camera. According to the device, the height of the object is identified from the overlooking angle by using the MEMS-3D camera, the mechanical arm is guided to grab the target according to the depth information of the object, the defect that the two-dimensional camera cannot identify the objects with different heights from the overlooking angle is effectively overcome, the application scene that the mechanical arm grabs the object is further expanded, and the popularization and the use of products are facilitated.

Description

Mechanical arm grabbing device based on MEMS-3D camera

Technical Field

The utility model relates to a mechanical arm grabbing device based on an MEMS-3D camera, and belongs to the technical field of mechanical arms based on visual guidance.

Background

At present, the arm based on vision guide snatchs mainly utilizes two-dimensional image characteristic to realize the target location, but it can't discern the object of co-altitude from overlooking the angle, and then can't guide the arm and snatch the target according to object depth information, has restricted the application scene that the arm snatched, is unfavorable for the popularization of arm.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mechanical arm grabbing device based on an MEMS-3D camera, which is used for identifying objects with different heights from a top view angle and aims to solve the problems in the prior art.

In order to achieve the purpose, the technical scheme provided by the utility model is as follows: a mechanical arm grabbing device based on an MEMS-3D camera comprises a camera, a camera fixing frame and a mechanical arm; the camera fixing frame is door frame-shaped, the camera is fixed on the camera fixing frame, a camera lens of the camera faces downwards, and the mechanical arm is located below the camera.

The technical scheme is further designed as follows: the camera fixing frame comprises a cross rod and two vertical rods connected to two ends of the cross rod respectively, and the camera is fixed to the bottom of the cross rod.

The support rod that sets up with montant looks perpendicular is equipped with to the montant bottom, montant and bracing piece all adopt square aluminium alloy to make, montant sliding connection is on the bracing piece.

Be connected through right angle connecting piece and T type bolt between bracing piece and the montant, all be equipped with the spout on montant and the bracing piece, the inside size of spout is greater than the opening size, the two right-angle sides of right angle connecting piece all are equipped with the through-hole, the bolt head sliding connection of T type bolt is in the spout, and T type bolt one end spiro union nut behind the opening of spout and the through-hole of right angle connecting piece in proper order links together right angle connecting piece and bracing piece and montant.

The camera is an MEMS-3D camera, a plastic shell is fixed at the bottom of the cross rod, and the camera is arranged in the plastic shell.

The camera comprises two camera lenses, namely a first camera lens and a second camera lens, wherein the included angle between the first camera lens and the horizontal plane is 12 degrees, and the second camera lens is parallel to the horizontal plane.

The mechanical arm comprises a grabbing front end, a rotating joint, a mechanical arm base and a fixing base, the mechanical arm comprises the grabbing front end, the rotating joint and the mechanical arm base which are connected in sequence, and the mechanical arm base is fixed on the fixing base.

All be equipped with the screw hole on arm base and the fixing base, the arm base passes screw hole fixed connection on arm base and the fixing base from last to down in proper order through the fixed round pin post on the fixing base.

The radius of the fixed pin column is reduced from top to bottom in sequence.

The utility model has the beneficial effects that:

the height of an object is identified from the overlooking angle by the MEMS-3D camera, the mechanical arm is guided to grab the object according to the depth information of the object, the defect that the two-dimensional camera cannot identify the objects with different heights from the overlooking angle is effectively overcome, the application scene that the mechanical arm grabs the object is further expanded, and the popularization and the use of products are facilitated.

Drawings

FIG. 1 is a schematic diagram of the structure of the apparatus of the present invention;

FIG. 2 is a schematic view of the structure of a camera;

FIG. 3 is a perspective view of the robotic arm;

FIG. 4 is a cross-sectional view of a square aluminum profile;

fig. 5 is a schematic view of a right angle connector structure.

The reference numerals are explained below:

1. a camera; 2. a plastic housing; 3. a camera mount; 4. a mechanical arm; 5. a right angle connector; 6. a first camera lens; 7. a second camera lens; 8. grabbing the front end; 9. a revolute joint; 10. a mechanical arm base; 11. fixing the pin column; 12. a threaded hole; 13. a fixed seat; 14. a support bar; 15. a chute; 16. and a through hole.

Detailed Description

The utility model is described in detail below with reference to the figures and the specific embodiments.

Examples

As shown in fig. 1, a mechanical arm grabbing device based on an MEMS-3D camera of the present embodiment includes a camera 1, a camera fixing frame 3, and a mechanical arm 4; the camera fixing frame 3 is in a door frame shape and comprises a cross rod and vertical rods arranged at two ends of the cross rod, and the cross rod and the vertical rods are both made of square aluminum profiles; the camera 1 is fixed at the bottom of the cross bar of the camera fixing frame 3, the camera lens of the camera 1 faces downwards, and the mechanical arm 4 is located below the camera 1.

In this embodiment, the bottom of each of the two vertical rods is provided with a supporting rod 14 perpendicular to the vertical rod, and the supporting rods 14 are made of square aluminum profiles.

Be connected through right angle connection spare 5 and T type bolt between bracing piece 14 and the montant, it is shown in the combination figure 4, four edges of square aluminium alloy all are equipped with spout 15, spout 15 internal dimension is greater than the opening size, and the internal dimension matches with the size of T type bolt head, the opening size matches with the screw rod part size of T type bolt, the two right-angle sides of right angle connection spare 5 respectively with a square aluminium alloy contact, and all be equipped with through-hole 16, the bolt head sliding connection of T type bolt is in spout 15, T type bolt one end passes opening of

spout

15 and 16 back spiro union nuts of through-hole of right angle connection spare 5 in proper order, link together right angle connection spare 5 and square aluminium alloy, unscrew the nut, right angle connection spare 5 can with square aluminium alloy sliding connection, the screw nut is screwed up, right angle connection spare 5 is fixed with square aluminium alloy. The montant both ends are connected with horizontal pole and bracing piece 14 through right angle connecting piece 5 respectively in this embodiment to screw up or unscrew through adjusting nut, can make the horizontal pole slide from top to bottom along the montant, and can make the montant slide along the bracing piece 14 back and forth, thereby adjust camera 1's height and position, adjust the field of view scope of camera.

As shown in fig. 2, the camera 1 is an MEMS-3D camera, a plastic casing 2 is fixed at the bottom of the cross bar, and the camera 1 is disposed in the plastic casing 2. The camera 1 comprises two camera lenses, namely a first camera lens 6 and a second camera lens 7, wherein the included angle between the first camera lens 6 and the horizontal plane is 12 degrees, and the second camera lens 7 is parallel to the horizontal plane.

Referring to fig. 3, the robot arm 4 includes a grabbing front end 8, a rotating joint 9, a robot arm base 10 and a fixing seat 13, and the robot arm 4 includes the grabbing front end 8, the rotating joint 9 and the robot arm base 10 which are connected in sequence. The edge evenly distributed of arm base 10 has screw hole 12, and the corresponding department of fixing base 13 also is equipped with the screw hole, and arm base 10 passes arm base 10 and the screw hole 12 fixed connection on fixing base 13 on the fixing base 13 from last to down in proper order through fixed round pin post 11.

In the embodiment, the threaded holes 12 are matched with external bolts and foundation bolts, so that a foundation can be laid for fixing the mechanical arm 4, the radius of the fixing pin 11 is reduced from top to bottom in sequence, the fixing pin 11 is convenient to install, and a foundation is laid for fixing the mechanical arm base 10. The quantity of the threaded holes 12 is equal to that of the fixing pins 11, the fixing pins 11 correspond to one another, and the fixing pins 11 sequentially penetrate through the threaded holes 12 in the mechanical arm base 10 and the fixing seat 13, so that the fixing pins 11 are installed in a one-to-one correspondence mode.

In this embodiment, the camera 1 photographs a three-dimensional top view of a target object and transmits the three-dimensional top view to the control computer through a transmission line. And the control computer analyzes the picture and controls the mechanical arm to grab the front end to grab the target object.

The technical solutions of the present invention are not limited to the above embodiments, and all technical solutions obtained by using equivalent substitution modes fall within the scope of the present invention.

Claims

1. The utility model provides a mechanical arm grabbing device based on MEMS-3D camera which characterized in that: comprises a camera (1), a camera fixing frame (3) and a mechanical arm (4); the camera fixing frame (3) is door frame-shaped, the camera (1) is fixed on the camera fixing frame (3), the camera lens of the camera (1) faces downwards, and the mechanical arm (4) is located below the camera (1).

2. The MEMS-3D camera based robotic arm grasping device according to claim 1, wherein: the camera fixing frame (3) comprises a cross rod and two vertical rods connected to two ends of the cross rod respectively, and the camera (1) is fixed to the bottom of the cross rod.

3. The MEMS-3D camera based robotic arm grasping device according to claim 2, wherein: the support rod (14) that sets up with the montant looks perpendicular is equipped with to the montant bottom, montant and bracing piece (14) all adopt square aluminium alloy to make, montant sliding connection is on bracing piece (14).

4. The MEMS-3D camera based robotic arm grasping device according to claim 3, wherein: be connected through right angle connecting piece (5) and T type bolt between bracing piece (14) and the montant, all be equipped with spout (15) on montant and bracing piece (14), spout (15) internal dimension is greater than the opening size, the both right-angle sides of right angle connecting piece (5) all are equipped with the through-hole, the bolt head sliding connection of T type bolt is in the spout, and spiro union nut behind the opening of spout (15) and the through-hole of right angle connecting piece (5) is passed in proper order to T type bolt one end, links together right angle connecting piece (5) with bracing piece (14) and montant.

5. The MEMS-3D camera based robotic arm grasping device according to claim 2, wherein: the camera (1) is an MEMS-3D camera, a plastic shell (2) is fixed at the bottom of the cross rod, and the camera (1) is arranged in the plastic shell (2).

6. The MEMS-3D camera based robotic arm grasping device according to claim 5, wherein: the camera (1) comprises two camera lenses, namely a first camera lens (6) and a second camera lens (7), the included angle between the first camera lens (6) and the horizontal plane is 12 degrees, and the second camera lens (7) is parallel to the horizontal plane.

7. The MEMS-3D camera based robotic arm grasping device according to claim 1, wherein: the mechanical arm (4) comprises a grabbing front end (8), a rotating joint (9), a mechanical arm base (10) and a fixing seat (13), the grabbing front end (8), the rotating joint (9) and the mechanical arm base (10) are connected in sequence, and the mechanical arm base (10) is fixed on the fixing seat (13).

8. The MEMS-3D camera based robotic arm grasping device according to claim 7, wherein: all be equipped with screw hole (12) on arm base (10) and fixing base (13), arm base (10) are from last to passing screw hole (12) fixed connection on arm base (10) and fixing base (13) down in proper order on fixing base (13) through fixed round pin post (11).

9. The MEMS-3D camera based robotic arm grasping device according to claim 8, wherein: the radius of the fixed pin column (11) is reduced from top to bottom in sequence.