CN106003135B - A kind of manipulator machinery arm configuration - Google Patents
A kind of manipulator machinery arm configuration Download PDFInfo
- Publication number
- CN106003135B CN106003135B CN201610428277.3A CN201610428277A CN106003135B CN 106003135 B CN106003135 B CN 106003135B CN 201610428277 A CN201610428277 A CN 201610428277A CN 106003135 B CN106003135 B CN 106003135B
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- CN
- China
- Prior art keywords
- arm end
- executing agency
- right support
- hole
- left socle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulator machinery arm configuration applied to robotic device field,Mounting and fixing bracket (2) in the arm end executing agency (1) of the manipulator machinery arm configuration,Support bracket fastened left socle (3) and right support (4) are connected by multiple connecting screws (6),Arm end executing agency (1) is configured to geometrical clamp mounted in the structure between left socle (3) and right support (4),Arm end cover board (5) is connect with left socle (3) upper surface and right support (4) upper surface,Extend installation CCD camera assembly (8) on plate (7),The manipulator machinery arm configuration of the present invention,It is simple in structure,It can be ensured that relative position is fixed between CCD camera assembly and arm end executing agency,It is arranged in parallel between CCD camera assembly and arm end executing agency,And CCD camera assembly lower face is located at same level with arm end executing agency,Improve the precision of manipulator.
Description
Technical field
The invention belongs to robotic device fields, are to be related to a kind of manipulator machinery arm configuration more specifically.
Background technology
The mainboard of pickup camera module, is mainly fixed on by camera of the prior art and arm end executing agency
Arm end, it is difficult to ensure that CCD camera assembly is arranged in parallel with arm end executing agency and positioned at same flat during installation
Face, when causing to obtain photo, camera lens cannot be vertical with target image holding, because of camera lens and object angle when obtaining photo
Uncertainty, target article coordinate cannot be accurately positioned by causing.
Invention content
The technical problems to be solved by the invention are：It provides a kind of simple in structure, it can be ensured that CCD camera assembly and machinery
Relative position fixes, is arranged in parallel between CCD camera assembly and arm end executing agency between hand end effector mechanism, and
CCD camera assembly lower face and the executing agency lower face of arm end executing agency are located at same level, so as to improve machine
The manipulator machinery arm configuration of tool hand precision.
Solve the problems, such as techniques discussed above, the technical solution that the present invention takes is：
The present invention is a kind of manipulator machinery arm configuration, and manipulator mechanical arm tail end setting arm end performs
Mechanism, mounting and fixing bracket in the arm end executing agency, fixing bracket include left socle, right support, manipulator
End panel, the left socle and right support are connected by multiple connecting screws, and arm end executing agency is arranged to
Enough geometrical clamps are mounted in the structure between left socle and right support, arm end cover board and left socle upper surface and right support upper table
Face connects, and setting extension plate on arm end cover board extends and installs CCD camera assembly, the CCD camera assembly on plate
Center line be set as the structure arranged with the centerline parallel of arm end executing agency, the camera group of CCD camera assembly
Part lower face is set as being set as the structure positioned at same level with the executing agency lower face of arm end executing agency.
The left socle and right support are plate structure, and left socle upper surface sets multiple left projections, right support upper table
Face sets multiple right projections, setting and left projection quantity and position left card slot correspondingly, machinery on arm end cover board
Setting simultaneously and right projection quantity and position right card slot correspondingly, arm end cover board and left socle on hand end panel
When being connected with right support, each left projection is set as the structure being installed in a left card slot, and each right projection is set as clamping
Structure in a right card slot.
The CCD camera assembly includes camera body, camera bottom plate, extends and ontology card hole is set on plate,
Extend plate lower surface setting camera limited block, through-hole I is set on camera limited block, camera body connects with extension plate
When connecing, camera body is configured to the structure being installed on across through-hole I in ontology card hole.
When the arm end executing agency geometrical clamp is mounted between left socle and right support, in the left socle
Surface is disposed against the structure in the left support portion of arm end executing agency, and right support inner surface is disposed against
Structure in the right support portion of arm end executing agency, the left socle and right support are rectangular plate structure.
Four corner parts of the left socle respectively set a left-hand thread hole, and four corner parts of right support are respectively set
A right-hand thread hole is put, each left-hand thread hole is set as structure corresponding with a right-hand thread hole site, and arm end performs
Mechanism geometrical clamp be mounted between left socle and right support when, each connecting screw be arranged through a left-hand thread hole and with and this
The corresponding right-hand thread hole in left-hand thread hole is screwed the structure of connection.
The camera bottom plate be square structure, camera limited block be square structure, camera bottom plate
Each one through-hole II of setting in four corner parts, each one through-hole III of setting in four corner parts of camera limited block prolongs
Setting and the one-to-one plate threaded hole of III quantity of through-hole and position on plate are stretched, each adjusting screw setting sequentially passes through one
After a through-hole II and a through-hole III structure connecting is screwed with a plate threaded hole.
The CCD camera assembly center line is set as the structure overlapped with the central axis of camera body, manipulator end
End executing agency center line is set as the central axial structure overlapped with executing agency rod piece.
Technical solution using the present invention can obtain following advantageous effect：
Manipulator machinery arm configuration of the present invention, passes through multiple connections between support bracket fastened left socle and right support
Screw rod connects, in this way, after left socle is connected with right support, can arm end executing agency geometrical clamp be mounted in left socle
Between right support, realize arm end executing agency and support bracket fastened connection, and arm end cover board then with left branch
Frame is connected with right support, realizes the connection of arm end cover board and left socle and right support, then CCD camera assembly is fixed and is pacified
The extension plate lower surface position set on arm end cover board, realize CCD camera assembly vertically with arm end lid
Plate is reliably connected.Such structure is achieved that the parallel arrangement of CCD camera assembly and arm end executing agency, realizes
The CCD camera assembly lower face of CCD camera assembly is set as being located at the executing agency lower face of arm end executing agency
The arrangement of same level so as to fulfill CCD camera assembly to the reliably monitoring of arm end executing agency trend of work, carries
The high working performance of entire manipulator.Manipulator machinery arm configuration of the present invention, it is simple in structure, it can be ensured that camera
Relative position is fixed, is put down between CCD camera assembly and arm end executing agency between component and arm end executing agency
Row arrangement, and CCD camera assembly lower face and the executing agency lower face of arm end executing agency are located at same level,
So as to improve the precision of manipulator.
Description of the drawings
To this specification, the content expressed by each attached drawing and the label in figure make brief description below：
Fig. 1 is the main structure diagram of manipulator machinery arm configuration of the present invention；
Fig. 2 is the side structure schematic view of manipulator machinery arm configuration of the present invention；
Fig. 3 is the configuration schematic diagram of manipulator machinery arm configuration of the present invention；
Attached drawing acceptance of the bid, which is remembered, is respectively：1st, arm end executing agency；2nd, fixing bracket；3rd, left socle；4th, right support；5、
Arm end cover board；6th, connecting screw；7th, extend plate；8th, CCD camera assembly；9th, left projection；10th, right projection；11st, Zuo Ka
Slot；12nd, right card slot；13rd, camera body；14th, camera bottom plate；15th, ontology card hole；16th, camera limited block；17、
Through-hole I；18th, left support portion；19th, right support portion；20th, left-hand thread hole；21st, right-hand thread hole；22nd, through-hole II；23rd, through-hole III；24、
Plate threaded hole；25th, adjusting screw；26th, executing agency's rod piece；27th, CCD camera assembly lower face；28th, executing agency lower face.
Specific embodiment
Below against attached drawing, by the description of the embodiment, each structure for example involved to the specific embodiment of the present invention
The works such as mutual alignment and connection relation, the effect of each section and operation principle between the shape of part, construction, each section are further
Detailed description：
As shown in 1-attached drawing of attached drawing 3, the present invention is a kind of manipulator machinery arm configuration, and the manipulator mechanical arm is last
It holds and arm end executing agency 1 is set, mounting and fixing bracket 2 in the arm end executing agency 1, fixing bracket packet
Left socle 3, right support 4, arm end cover board 5 are included, the left socle 3 and right support 4 are connected by multiple connecting screws 6
It connects, arm end executing agency 1 is configured to geometrical clamp mounted in the structure between left socle 3 and right support 4, manipulator end
End casing 5 is connect with 3 upper surface of left socle and 4 upper surface of right support, setting extension plate 7, extension on arm end cover board 5
CCD camera assembly 8 is installed, the center line of the CCD camera assembly 8 is set as and arm end executing agency 1 on plate 7
The structure of centerline parallel arrangement, the CCD camera assembly lower face 27 of the CCD camera assembly 8 is set as and arm end
The executing agency lower face 28 of executing agency 1 is set as the structure positioned at same level.Above structure is set, support bracket fastened
It is connected between left socle and right support by multiple connecting screws, it, can will be mechanical in this way, after left socle is connected with right support
1 geometrical clamp of hand end effector mechanism is mounted between left socle and right support, realizes arm end executing agency 1 and fixing bracket
Connection, and arm end cover board is then connect with left socle and right support, realizes arm end cover board and left socle and the right side
The connection of stent, then CCD camera assembly is fixedly mounted on to 7 lower surface of the extension plate position set on arm end cover board 5
It puts, realizes that CCD camera assembly is vertically reliably connected with arm end cover board 5.Such structure is achieved that camera group
Part 8 and the parallel arrangement of arm end executing agency 1, the CCD camera assembly lower face 27 for realizing CCD camera assembly 8 is set
To be located at the arrangement of same level with the executing agency lower face 28 of arm end executing agency 1, so as to fulfill camera
Component improves the working performance of entire manipulator to the reliably monitoring of 1 trend of work of arm end executing agency.The present invention
The manipulator machinery arm configuration, it is simple in structure, it can be ensured that phase between CCD camera assembly and arm end executing agency
Position is fixed, is arranged in parallel between CCD camera assembly and arm end executing agency, and CCD camera assembly lower face and machine
The executing agency lower face of tool hand end effector mechanism is located at same level, so as to improve manipulator precision.Above structure,
When CCD camera assembly is with manipulator end mechanism parallel arrangement and same plane, the object being taken is vertical with camera, obtains
Image it is consistent with object angle, so can be realized as the precision of manipulator.
The left socle 3 and right support 4 are plate structure, and 3 upper surface of left socle sets multiple left projections 9, right support 4
Upper surface sets multiple right projections 10, setting and 9 quantity of left projection and position left card correspondingly on arm end cover board 5
Slot 11, setting simultaneously and 10 quantity of right projection and position right card slot 12 correspondingly, manipulator end on arm end cover board 5
When end casing 5 is connect with left socle 3 and right support 4, each left projection 9 is set as the structure being installed in a left card slot 11,
Each right projection 10 is set as the structure being installed in a right card slot 12.Above structure is set, and passes through left projection and right projection
Setting and left card slot and right card slot setting, when arm end cover board 5 is connect with left socle and right support, each
Left projection is installed in a left card slot, and each right projection is installed in a right card slot, realize arm end cover board 5 with
Left socle and being reliably connected for right support are fixed with position.In this way, between left socle and right support, left socle, right support and machine
Between tool hand end panel 5, between arm end cover board 5 and arm end executing agency 1, the opposite of position is realized
It is fixed.And the CCD camera assembly being connect with the extension component of arm end cover board 5, it also achieves and performs machine with arm end
1 position of structure is relatively fixed.Thus it is ensured that arm end executing agency 1 and CCD camera assembly being capable of reliable fit work.
The CCD camera assembly 8 includes camera body 13, camera bottom plate 14, extends and sets this on plate 7
Body card hole 15,7 lower surface of extension plate set camera limited block 16, through-hole I 17, camera are set on camera limited block 16
When ontology 13 is connect with extension plate 7, camera body 13 is configured to be installed in ontology card hole 15 across through-hole I 17
Structure.Such structure setting, camera body upper end are installed in ontology card hole, and camera limited block connects with extension plate
It connects, camera body passes through through-hole I 17, and camera body lower end is fixed in camera bottom plate, in this way, camera
Limited block coordinates with ontology card hole and camera bottom plate, is achieved that the purpose that camera body is reliably fixed to installation.
When 1 geometrical clamp of arm end executing agency is mounted between left socle 3 and right support 4, the left branch
3 inner surface of frame is disposed against the structure in the left support portion 18 of arm end executing agency 1, and 4 inner surface of right support is set
The structure being set in the right support portion 19 for being resisted against arm end executing agency 1, the left socle 3 and right support 4 are
Rectangular plate structure.Such structure setting realizes stability when left socle is connected with right support, avoids left socle and the right side
Stent shakes.
Four corner parts of the left socle 3 respectively set a left-hand thread hole 20, four corner parts of right support 4
Respectively one right-hand thread hole 21 of setting, each left-hand thread hole 20 is set as structure corresponding with 21 position of a right-hand thread hole, described
1 geometrical clamp of arm end executing agency be mounted between left socle 3 and right support 4 when, each connecting screw 6 is arranged through
One left-hand thread hole 20 and the structure with being screwed connection with 20 corresponding one, left-hand thread hole right-hand thread hole 21.Such structure
Setting, each connecting screw one end are screwed with a left-hand thread hole and connect, the connecting screw other end and a right-hand thread
Hole is screwed connection, passes through multiple connecting screws, it will be able to being reliably connected for left socle and right support is realized, so as to securely and firmly
1 geometrical clamp of arm end executing agency is mounted between left socle 3 and right support 4, it is ensured that dependable performance.
The camera bottom plate 14 is square structure, and camera limited block 16 is square structure, is consolidated under camera
Respectively one through-hole II 22 of setting, four corner parts of camera limited block 16 respectively set one for four corner parts of fixed board 14
Through-hole III 23 extends setting and the one-to-one plate threaded hole 24 of III 23 quantity of through-hole and position on plate 7, each adjusts spiral shell
25 setting of nail sequentially passes through is screwed the structure connecting after a through-hole II 22 and a through-hole III 23 with a plate threaded hole 25.
Adjusting screw is connect with the extension plate of arm end cover board 5, so as to which camera body is firmly limited in fixed position,
It avoids shaking and loosen.
8 center line of CCD camera assembly is set as the structure overlapped with the central axis of camera body 13, machinery
1 center line of hand end effector mechanism is set as the central axial structure overlapped with executing agency rod piece 26.Such structure is set
It puts, is achieved that the parallel arrangement of CCD camera assembly 8 and arm end executing agency 1, realize the camera shooting of CCD camera assembly 8
Head assembly lower face 27 is set as the cloth for being located at same level with the executing agency lower face 28 of arm end executing agency 1
It puts, meets the work requirements of manipulator.
Manipulator machinery arm configuration of the present invention, passes through multiple connections between support bracket fastened left socle and right support
Screw rod connects, in this way, after left socle is connected with right support, can arm end executing agency geometrical clamp be mounted in left socle
Between right support, realize arm end executing agency and support bracket fastened connection, and arm end cover board then with left branch
Frame is connected with right support, realizes the connection of arm end cover board and left socle and right support, then CCD camera assembly is fixed and is pacified
The extension plate lower surface position set on arm end cover board, realize CCD camera assembly vertically with arm end lid
Plate is reliably connected.Such structure is achieved that the parallel arrangement of CCD camera assembly and arm end executing agency, realizes
The CCD camera assembly lower face of CCD camera assembly is set as being located at the executing agency lower face of arm end executing agency
The arrangement of same level so as to fulfill CCD camera assembly to the reliably monitoring of arm end executing agency trend of work, carries
The high working performance of entire manipulator.Manipulator machinery arm configuration of the present invention, it is simple in structure, it can be ensured that camera
Relative position is fixed, is put down between CCD camera assembly and arm end executing agency between component and arm end executing agency
Row arrangement, and CCD camera assembly lower face and the executing agency lower face of arm end executing agency are located at same level,
So as to improve the precision of manipulator.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that concrete implementation of the present invention is not by above-mentioned
The limitation of mode, as long as employing the various improvement or not improved by this of inventive concept and technical scheme of the present invention progress
The design of invention and technical solution directly apply to other occasions, within the scope of the present invention.
Claims (5)
1. a kind of manipulator machinery arm configuration, manipulator mechanical arm structure end setting arm end executing agency
(1), it is characterised in that：Mounting and fixing bracket (2) in the arm end executing agency (1), fixing bracket include left branch
Frame (3), right support (4), arm end cover board (5), the left socle (3) and right support (4) pass through multiple connecting screws
(6) it connects, arm end executing agency (1) is configured to geometrical clamp mounted in the knot between left socle (3) and right support (4)
Structure, arm end cover board (5) are connect with left socle (3) upper surface and right support (4) upper surface, arm end cover board (5)
Upper setting extension plate (7) extends installation CCD camera assembly (8), the center line of the CCD camera assembly (8) on plate (7)
It is set as the structure arranged with the centerline parallel of arm end executing agency (1), the camera shooting of the CCD camera assembly (8)
Head assembly lower face (27) is set as being set as being located at the executing agency lower face of arm end executing agency (1) (28) same
The structure of one horizontal plane；The CCD camera assembly (8) includes camera body (13), camera bottom plate (14), extension
Ontology card hole (15), extension plate (7) lower surface setting camera limited block (16), camera limited block are set on plate (7)
(16) through-hole I (17) is set on, and when camera body (13) is connect with extension plate (7), camera body (13) is arranged to
Enough structures being installed on across through-hole I (17) in ontology card hole (15)；Described CCD camera assembly (8) center line is set as and takes the photograph
As the structure that the central axis of head ontology (13) overlaps, arm end executing agency (1) center line is set as and executing agency
The structure of the central axial coincidence of rod piece (26).
2. manipulator machinery arm configuration according to claim 1, it is characterised in that：The left socle (3) and right support
(4) it is plate structure, left socle (3) upper surface sets multiple left projections (9), and right support (4) upper surface sets multiple right projections
(10), setting and left projection (9) quantity and position left card slot (11) correspondingly, manipulator on arm end cover board (5)
Setting simultaneously and right projection (10) quantity and position right card slot (12) correspondingly, arm end lid on end panel (5)
When plate (5) is connect with left socle (3) and right support (4), each left projection (9) is set as being installed in a left card slot (11)
Structure, each right projection (10) are set as the structure being installed in a right card slot (12).
3. manipulator machinery arm configuration according to claim 1, it is characterised in that：The arm end executing agency
(1) when geometrical clamp is mounted between left socle (3) and right support (4), the left socle (3) inner surface is disposed against machinery
Structure in the left support portion (18) of hand end effector mechanism (1), right support (4) inner surface are disposed against arm end
Structure in the right support portion (19) of executing agency (1), the left socle (3) and right support (4) are rectangular plate structure.
4. manipulator machinery arm configuration according to claim 1, it is characterised in that：Four sides of the left socle (3)
Respectively one left-hand thread hole (20) of setting, four corner parts of right support (4) respectively set a right-hand thread hole (21) for angular position, often
A left-hand thread hole (20) is set as structure corresponding with right-hand thread hole (21) position, and the arm end performs machine
When structure (1) geometrical clamp is mounted between left socle (3) and right support (4), each connecting screw (6) is arranged through a left-hand thread
Hole (20) and a right-hand thread hole (21) corresponding with the left-hand thread hole (20) are screwed the structure of connection.
5. manipulator machinery arm configuration according to claim 1, it is characterised in that：The camera bottom plate (14)
For square structure, camera limited block (16) is square structure, and four corner parts of camera bottom plate (14) are respectively set
One through-hole II (22), four corner parts of camera limited block (16) respectively set a through-hole III (23), extension plate (7)
Upper setting and the one-to-one plate threaded hole (24) of through-hole III (23) quantity and position, each adjusting screw (25) setting is successively
Across a through-hole II (22) and a through-hole III (23) structure connecting is screwed with a plate threaded hole (24) afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428277.3A CN106003135B (en) | 2016-06-16 | 2016-06-16 | A kind of manipulator machinery arm configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428277.3A CN106003135B (en) | 2016-06-16 | 2016-06-16 | A kind of manipulator machinery arm configuration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106003135A CN106003135A (en) | 2016-10-12 |
| CN106003135B true CN106003135B (en) | 2018-07-06 |
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ID=57088448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610428277.3A Expired - Fee Related CN106003135B (en) | 2016-06-16 | 2016-06-16 | A kind of manipulator machinery arm configuration |
Country Status (1)
| Country | Link |
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| CN (1) | CN106003135B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1782659A (en) * | 2004-12-02 | 2006-06-07 | 中国科学院自动化研究所 | Welding seam tracking sight sensor based on laser structure light |
| CN101920851A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Single-arm stacker crane |
| CN203299503U (en) * | 2013-06-13 | 2013-11-20 | 嘉兴艾锐生物科技有限公司 | Two-dimensional image capturing device |
| WO2014068766A1 (en) * | 2012-11-02 | 2014-05-08 | 富士機械製造株式会社 | Component mounting apparatus |
| CN205989340U (en) * | 2016-06-16 | 2017-03-01 | 芜湖润众机器人科技有限公司 | Mechanical hand machinery arm configuration |
-
2016
- 2016-06-16 CN CN201610428277.3A patent/CN106003135B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1782659A (en) * | 2004-12-02 | 2006-06-07 | 中国科学院自动化研究所 | Welding seam tracking sight sensor based on laser structure light |
| CN101920851A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Single-arm stacker crane |
| WO2014068766A1 (en) * | 2012-11-02 | 2014-05-08 | 富士機械製造株式会社 | Component mounting apparatus |
| CN203299503U (en) * | 2013-06-13 | 2013-11-20 | 嘉兴艾锐生物科技有限公司 | Two-dimensional image capturing device |
| CN205989340U (en) * | 2016-06-16 | 2017-03-01 | 芜湖润众机器人科技有限公司 | Mechanical hand machinery arm configuration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106003135A (en) | 2016-10-12 |
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