CN208818162U - positioning robot - Google Patents
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- CN208818162U CN208818162U CN201821211172.3U CN201821211172U CN208818162U CN 208818162 U CN208818162 U CN 208818162U CN 201821211172 U CN201821211172 U CN 201821211172U CN 208818162 U CN208818162 U CN 208818162U
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Abstract
本实用新型提供了一种定位机器人，包括用于承载所述待检测物的检测平台、用于采集影像信息并在采集到所述待检测物的影像信息时到获取所述待检测物的位置信息的视觉检测装置以及用于驱动所述视觉检测装置至使所述视觉检测装置能够采集到所述待检测物的影像信息的采集位置的六自由度机械臂，六自由度机械臂包括依次连接的底座、第一机械臂、第二机械臂、第三机械臂、第四机械臂、第五机械臂以及第六机械臂。本实用新型使得连接于所述六自由度机械臂的所述视觉检测装置能够进行六个自由度的运动或旋转，将对所述视觉检测装置的平面定位扩展到三维空间的定位，实现了对所述待检测物空间位置的三维检测，拓展了视觉定位的应用范围。
The utility model provides a positioning robot, which includes a detection platform for carrying the object to be detected, a detection platform for collecting image information, and a position for acquiring the object to be detected when the image information of the object to be detected is collected. A visual inspection device for information and a six-degree-of-freedom manipulator for driving the visual inspection device to a collection position where the visual inspection device can collect image information of the object to be inspected, the six-degree-of-freedom manipulator includes sequentially connected The base, the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the fifth robotic arm, and the sixth robotic arm. The utility model enables the visual detection device connected to the six-degree-of-freedom mechanical arm to move or rotate with six degrees of freedom, and extends the plane positioning of the visual detection device to the three-dimensional positioning, and realizes The three-dimensional detection of the spatial position of the object to be detected expands the application range of visual positioning.
Description
Technical field
The utility model belongs to detection processing technique field more particularly to a kind of positioning robot.
Background technique
In industry processes, the orientation problem to target is generally involved.There are many technologies of machine positioning, common
Have point medium rod on lathe applied to position, the laser that laser cutting machine uses seeks Bian Dingwei, and the common jewel of three-D is visited
Head positioning etc..In recent years, with the development of machine vision technique, more and more equipment begin to use CCD (Charge
Coupled Device) industrial camera positioning, detectable substance most commonly, which is treated, using vision guide technology carries out two-dimensional surface
Position positioning, the height that multiple cameras are kept fixed obtain the pixel physical unit of each camera by calibrated and calculated, in conjunction with each
The position of a machine itself, to calculate the plan-position of target point.However, multiple cameras carry out the positioning of two-dimensional surface position
The size, shape and thin and thick for treating detectable substance require, and can not detect the error of three-dimensional, and multiple cameras are jointly fixed
Position causes positioning inaccurate since computationally intensive easy appearance calculates error.
Utility model content
The purpose of this utility model is to provide a kind of positioning robots, it is intended to which solution can only carry out two dimension in the prior art
Easily there is the technical problem that positioning is not allowed in plane positioning and the positioning of multiple cameras.
The utility model is realized in this way a kind of positioning robot, for obtaining the location information of object to be detected, including
For carrying the detection platform of the object to be detected, the image letter for acquiring image information and collecting the object to be detected
To the vision inspection apparatus for the location information for obtaining the object to be detected and for driving the vision inspection apparatus extremely when breath
The vision inspection apparatus is set to collect the sixdegree-of-freedom simulation of the acquisition position of the image information of the object to be detected,
The sixdegree-of-freedom simulation includes:
Pedestal；
First mechanical arm, the first mechanical arm and the chassis adapter cooperate, the first mechanical arm and the pedestal
Switching axis be first axle；
Second mechanical arm, the second mechanical arm and first mechanical arm switching cooperate, the second mechanical arm and institute
The switching axis for stating first mechanical arm is second axis, and the first axle is mutually perpendicular to the second axis；
Third mechanical arm, the third mechanical arm and second mechanical arm switching cooperate, the third mechanical arm and institute
The switching axis for stating second mechanical arm is third axis, and the third axis is parallel to each other with the second axis；
4th mechanical arm, the 4th mechanical arm and third mechanical arm switching cooperate, the 4th mechanical arm and institute
The switching axis for stating third mechanical arm is four axistyle, and the four axistyle is mutually perpendicular to the third axis；
5th mechanical arm, the 5th mechanical arm and the 4th mechanical arm switching cooperate, the 5th mechanical arm and institute
The switching axis for stating the 4th mechanical arm is the 5th axis, and the 5th axis is mutually perpendicular to the four axistyle；
6th mechanical arm, the 6th mechanical arm and the 5th mechanical arm switching cooperate, the 6th mechanical arm and institute
The switching axis for stating the 5th mechanical arm is the 6th axis, and the 6th axis is mutually perpendicular to the 5th axis.
Further, the first mechanical arm includes that is connected to the pedestal and can rotate along the first axle
One Coupling Shaft is connected to first Coupling Shaft and along the first switching arm of first axle direction extension and for driving
The first motor of the first Coupling Shaft rotation；
The second mechanical arm includes second that is connected to first switching arm and can rotate along the second axis
Coupling Shaft, the second switching arm and use for being connected to second Coupling Shaft and extending along the direction perpendicular to the second axis
In the second motor for driving the second Coupling Shaft rotation；
The third mechanical arm includes the third that is connected to second switching arm and can rotate along the third axis
Coupling Shaft, the third switching arm and use for being connected to the third Coupling Shaft and extending along the direction perpendicular to the third axis
In the third motor for driving the third Coupling Shaft rotation；
4th mechanical arm includes the 4 that is connected to the third switching arm and can rotate along the four axistyle
Coupling Shaft is connected to the 4th Coupling Shaft and along the 4th switching arm of four axistyle direction extension and for driving
State the 4th motor of the 4th Coupling Shaft rotation；
5th mechanical arm includes the 5 that is connected to the 4th switching arm and can rotate along the 5th axis
Coupling Shaft, the 5th switching arm and use for being connected to the 5th Coupling Shaft and extending along the direction perpendicular to the 5th axis
In the 5th motor for driving the 5th Coupling Shaft rotation；
6th mechanical arm includes the 6 that is connected to the 5th switching arm and can rotate along the 6th axis
Coupling Shaft is connected to the 6th Coupling Shaft and along the 6th switching arm of the 6th axis direction extension and for driving
The 6th motor of the 6th Coupling Shaft rotation is stated, the vision inspection apparatus is connected to the 6th switching arm and towards the described 6th
The extending direction of axis.
Further, the vision inspection apparatus is industrial camera.
Further, the vision inspection apparatus is CCD camera.
Further, the positioning robot further includes being connected to the vision inspection apparatus and towards the object to be detected
Light source.
Further, the light source is area source.
Further, the light source is frame-shaped and is sheathed on the vision inspection apparatus.
Further, the positioning robot further includes the display for showing the testing result of the vision inspection apparatus
Device.
Further, the positioning robot further includes the universal wheel for being connected to the pedestal.
Further, the positioning robot further includes set on the detection platform and for as to the object to be detected
The vision calibration plate of the reference data of positioning.
The utility model compared with the existing technology have the technical effect that the utility model by setting be sequentially connected there are six
The sixdegree-of-freedom simulation of mechanical arm, so that the vision inspection apparatus for being connected to the sixdegree-of-freedom simulation is able to carry out
The movement or rotation of six-freedom degree, and drive the vision inspection apparatus acquisition to be detected by the sixdegree-of-freedom simulation
The location information of object will expand to the positioning of three-dimensional space to the plane positioning of the vision inspection apparatus, realize to described
The three dimensional detection of object space position to be detected has expanded the application range of vision positioning, and to size, the shape of the object to be detected
Shape and thin and thick no requirement (NR), the small accurate positioning of error.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, below will to the utility model embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, drawings described below is only
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic perspective view of positioning robot provided by the embodiment of the utility model.
Description of symbols:
1, detection platform；2, sixdegree-of-freedom simulation；20, pedestal；21, first mechanical arm；211, the first switching arm；212,
First Coupling Shaft；213, first motor；22, second mechanical arm；221, the second switching arm；222, the second Coupling Shaft；223, second
Motor；23, third mechanical arm；231, third switching arm；232, third Coupling Shaft；233, third motor；24, the 4th mechanical arm；
241, the 4th switching arm；242, the 4th Coupling Shaft；243, the 4th motor；25, the 5th mechanical arm；251, the 5th switching arm；252,
5th Coupling Shaft；253, the 5th motor；26, the 6th mechanical arm；3, vision inspection apparatus；4, light source；5, display；6, vision mark
Fixed board；7, universal wheel
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
In addition, term " first ", " second ", " third ", " the 4th ", " the 5th ", " the 6th " are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", " second ", " third ", " the 4th ", " the 5th ", " the 6th " feature can explicitly or implicitly include one or more
Multiple this feature.The meaning of " plurality " is two or more in the description of the present invention, unless otherwise clearly specific
Restriction.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.
Attached drawing 1 is please referred to, the utility model provides a kind of positioning robot, for obtaining the location information of object to be detected,
Including for carrying the object to be detected detection platform 1, for acquiring image information and collecting the object to be detected
To the vision inspection apparatus 3 for the location information for obtaining the object to be detected and for driving the vision-based detection when image information
Device 3 to enable the vision inspection apparatus 3 collect the object to be detected image information acquisition position six freely
Spend mechanical arm 2.
Attached drawing 1 is please referred to, in the utility model embodiment, the sixdegree-of-freedom simulation 2 includes sequentially connected bottom
Seat 20, first mechanical arm 21, second mechanical arm 22, third mechanical arm 23, the 4th mechanical arm 24, the 5th mechanical arm 25 and the
Six mechanical arms 26.The pedestal 20 can be fixed in the detection platform 1, be also securable in other equipment.
Wherein, the first mechanical arm 21 cooperates with the pedestal 20 switching, the first mechanical arm 21 and the pedestal
20 switching axis is first axle, just realizes the sixdegree-of-freedom simulation 2 in this way perpendicular to the first axle institute
Rotation in the plane, to adjust the position of the vision inspection apparatus 3 on that plane.Specifically, the first mechanical arm
21 include be connected to the pedestal 20 and can along the first axle rotate the first Coupling Shaft 212, be connected to described first
Coupling Shaft 212 and along the first axle direction extend the first switching arm 211 and for driving first Coupling Shaft 212
The first motor 213 of rotation, first Coupling Shaft 212 are used to be rotatablely connected with the pedestal 20, first switching arm
211 and first Coupling Shaft 212 be chosen as it is cylindric, in order to the second mechanical arm 22 switching.The first axle
Extending direction be preferably normal to the direction on ground, the sixdegree-of-freedom simulation 2 described so just can pass through described first turn
The rotation of spindle 212 adjusts the horizontal position of the vision inspection apparatus 3.
The second mechanical arm 22 cooperates with the first mechanical arm 21 switching, the second mechanical arm 22 and described the
The switching axis of one mechanical arm 21 is second axis, and the first axle is mutually perpendicular to the second axis, just realizes in this way
The sixdegree-of-freedom simulation 2 perpendicular to the second axis rotation in the plane filled with adjusting the vision-based detection
Set 3 height.Specifically, the second mechanical arm 22 includes being connected to first switching arm 211 and can be along described second
Second Coupling Shaft 222 of axis rotation is connected to second Coupling Shaft 222 and prolongs along the direction perpendicular to the second axis
The second switching arm 221 stretched and the second motor 223 for driving second Coupling Shaft 222 to rotate, second switching
Arm 221 is preferably the string configuration that length is greater than the path length of second Coupling Shaft 222, to expand the second mechanical arm
22 working range.
The third mechanical arm 23 cooperates with the second mechanical arm 22 switching, the third mechanical arm 23 and described the
The switching axis of two mechanical arms 22 is third axis, and the third axis is parallel to each other with the second axis, just realizes in this way
The third mechanical arm 23 is filled with second switching arm 221 in the rotation of same Plane of rotation with adjusting the vision-based detection
Set 3 height.Specifically, the third mechanical arm 23 includes being connected to second switching arm 221 and can be along the third
The third Coupling Shaft 232 of axis rotation is connected to the third Coupling Shaft 232 and prolongs along the direction perpendicular to the third axis
The third switching arm 231 stretched and the third motor 233 for driving the third Coupling Shaft 232 to rotate.Described second is mechanical
Arm 22 and the third mechanical arm 23 cooperate vertical position and far and near position to adjust the vision inspection apparatus 3.
4th mechanical arm 24 cooperates with the third mechanical arm 23 switching, the 4th mechanical arm 24 and described the
The switching axis of three-mechanical arm 23 is four axistyle, and the four axistyle is mutually perpendicular to the third axis, just realizes in this way
The sixdegree-of-freedom simulation 2 perpendicular to the four axistyle rotation in the plane filled with adjusting the vision-based detection
Set 3 lateral deflection angle with respect to the horizontal plane.Specifically, the 4th mechanical arm 24 includes being connected to the third switching arm
231 and can be rotated along the four axistyle the 4th Coupling Shaft 252, be connected to the 4th Coupling Shaft 252 and along described the
The 4th switching arm 241 that four axistyle direction extends and the 4th motor 243 for driving the 4th Coupling Shaft 242 rotation,
I.e. described 4th switching arm 241 is located on the extended line of the four axistyle, and the sixdegree-of-freedom simulation 2 passes through the described 4th
Required for the rotation of Coupling Shaft 242 adjusts the lateral deflection angle of the vision inspection apparatus 3 with respect to the horizontal plane to acquire
The position of the object to be detected and angle information.
5th mechanical arm 25 cooperates with the 4th mechanical arm 24 switching, the 5th mechanical arm 25 and described the
The switching axis of four mechanical arms 24 is the 5th axis, and the 5th axis is mutually perpendicular to the four axistyle, just realizes in this way
The rotation of the sixdegree-of-freedom simulation 2 plane where perpendicular to the 5th axis is to adjust the vision inspection apparatus
3 longitudinal deflection angle with respect to the horizontal plane.Specifically, the 5th mechanical arm 25 includes being connected to the 4th switching arm
241 and can along the 5th axis rotate the 5th Coupling Shaft 252, be connected to the 5th Coupling Shaft 252 and along perpendicular to
The 5th switching arm 251 that the direction of 5th axis extends and for driving the 5th Coupling Shaft 252 rotation the 5th
Motor 253, the 5th mechanical arm 25 cooperate the 4th mechanical arm 24 to realize the sixdegree-of-freedom simulation 2 to the view
Feel the angular deflection adjustment of detection device 3 with respect to the horizontal plane.
6th mechanical arm 26 cooperates with the 5th mechanical arm 25 switching, the 6th mechanical arm 26 and described the
The switching axis of five mechanical arms 25 is the 6th axis, and the 6th axis is mutually perpendicular to the 5th axis, just realizes in this way
The rotation of the sixdegree-of-freedom simulation 2 plane where perpendicular to the 6th axis is with the micro adjustment vision-based detection
The own level angle of device 3.Specifically, the 6th mechanical arm 26 includes being connected to the 5th switching arm 25 and being capable of edge
6th Coupling Shaft of the 6th axis rotation, for being connected to the 6th Coupling Shaft and extending along the 6th axis direction
Six switching arms and the 6th motor for driving the 6th Coupling Shaft rotation, the vision inspection apparatus 3 is connected to described
6th switching arm and towards the extending direction of the 6th axis, the vision inspection apparatus 3 is connected to the 6th switching arm.
6th switching arm is used to adjust the own level rotation angle of the vision inspection apparatus 3.
The utility model is sequentially connected in series the sixdegree-of-freedom simulation 2 there are six mechanical arm by setting, so that being connected to institute
The vision inspection apparatus 3 for stating sixdegree-of-freedom simulation 2 is able to carry out the movement or rotation of six-freedom degree, and by described
Sixdegree-of-freedom simulation 2 drives the vision inspection apparatus 3 to obtain the location information of object to be detected, will fill to the vision-based detection
The plane positioning for setting 3 expands to the positioning of three-dimensional space, realizes the three dimensional detection to the object space position to be detected, expands
The application range of vision positioning, and to the size, shape and thin and thick no requirement (NR) of the object to be detected, the small accurate positioning of error.
Preferably, in the utility model embodiment, the vision inspection apparatus 3 is industrial camera.Industrial camera is again popular
Claim video camera, for traditional civil camera (video camera), it has high picture steadiness, high-transmission ability and height
Anti-interference ability etc., the industrial camera are chosen as CCD (Charge Coupled Device) camera or CMOS
(Complementary Metal Oxide Semiconductor) camera.
Further, the vision inspection apparatus 3 is CCD camera.The CCD camera is the current vision inspection apparatus
The most commonly used imaging sensor in 3.It integrates photoelectric conversion and charge storage, electric charge transfer, signal-obtaining, is typical
Solid imaging device.The outstanding feature of the CCD camera be using charge as signal, and be different from other devices be with electric current
Or voltage is signal.This kind of image device forms charge packet by photoelectric conversion, then shifted under the action of driving pulse,
Amplification output picture signal.
Attached drawing 1 is please referred to, in the utility model embodiment, the positioning robot further includes being connected to the vision inspection
Survey device 3 and towards the light source 4 of the object to be detected.The light source 4 makes the shooting effect of the vision inspection apparatus 3 more clear
It is clear, improve the accuracy of positioning.
Further, the light source 4 is area source 4, with object to be detected described in uniform irradiation.
Further, the light source 4 is frame-shaped and is sheathed on the vision inspection apparatus 3, so that the vision is examined
Survey the shooting area brightness uniformity of device 3.
Attached drawing 1 is please referred to, in the utility model embodiment, the positioning robot further includes for showing the vision
The display 5 of the testing result of detection device 3.
Attached drawing 1 is please referred to, in the utility model embodiment, the positioning robot further includes be connected to pedestal 20 ten thousand
To wheel 7, to adjust position and the angle of the positioning robot as needed.
Attached drawing 1 is please referred to, in the utility model embodiment, the positioning robot further includes being set to the detection platform
1 vision calibration plate 6, for as the reference data to the object positioning to be detected.
The utility model the end of the sixdegree-of-freedom simulation 2 install the vision inspection apparatus 3 finding and
Target is extracted, using vision calibration plate 6 as reference data, is changed using the overdetermined equation method for solving based on orthogonality constraint with substep
Realize that the coordinate system of camera and manipulator is demarcated for algorithm；And then realize will be machine coordinates as two-dimensional assemblage, thus real
The space orientation of existing target.The positioning of three-dimensional space will be expanded to the plane positioning of the vision inspection apparatus 3, is expanded
The application range of vision positioning, at the same by the coordinate system of the vision inspection apparatus 3, the object to be detected coordinate system and and
The coordinate system of the sixdegree-of-freedom simulation 2 considers calculating, and pixel coordinate is transformed into space coordinate to realize, is reached
Sterically defined purpose passes through the precise positioning of realizing of Robot Vision extraterrestrial target, solves space existing for existing scheme
Error problem is calculated caused by positioning is inaccurate and angle and distance changes.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821211172.3U CN208818162U (en) | 2018-07-27 | 2018-07-27 | positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821211172.3U CN208818162U (en) | 2018-07-27 | 2018-07-27 | positioning robot |
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| CN208818162U true CN208818162U (en) | 2019-05-03 |
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| CN201821211172.3U Active CN208818162U (en) | 2018-07-27 | 2018-07-27 | positioning robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546348A (en) * | 2020-06-10 | 2020-08-18 | 上海有个机器人有限公司 | Robot position calibration method and position calibration system |
| CN113551612A (en) * | 2021-06-18 | 2021-10-26 | 中广核检测技术有限公司 | A CRDM thermowell wear measurement device |
| CN114083568A (en) * | 2021-11-25 | 2022-02-25 | 江苏省计量科学研究院(江苏省能源计量数据中心) | A multi-axis self-positioning robotic arm for automatic detection of display viewing angles |
| CN114850681A (en) * | 2022-06-22 | 2022-08-05 | 中国原子能科学研究院 | Mechanical arm for laser sodium removal and laser sodium removal system |
| CN115944518A (en) * | 2023-02-13 | 2023-04-11 | 天津尼瑞艾特测控技术有限公司 | Back massage manipulator, intelligent back massage robot and massage method thereof |
-
2018
- 2018-07-27 CN CN201821211172.3U patent/CN208818162U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546348A (en) * | 2020-06-10 | 2020-08-18 | 上海有个机器人有限公司 | Robot position calibration method and position calibration system |
| CN113551612A (en) * | 2021-06-18 | 2021-10-26 | 中广核检测技术有限公司 | A CRDM thermowell wear measurement device |
| CN114083568A (en) * | 2021-11-25 | 2022-02-25 | 江苏省计量科学研究院(江苏省能源计量数据中心) | A multi-axis self-positioning robotic arm for automatic detection of display viewing angles |
| CN114850681A (en) * | 2022-06-22 | 2022-08-05 | 中国原子能科学研究院 | Mechanical arm for laser sodium removal and laser sodium removal system |
| CN114850681B (en) * | 2022-06-22 | 2023-09-29 | 中国原子能科学研究院 | A mechanical arm and laser sodium removal system for laser sodium removal |
| CN115944518A (en) * | 2023-02-13 | 2023-04-11 | 天津尼瑞艾特测控技术有限公司 | Back massage manipulator, intelligent back massage robot and massage method thereof |
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