Trinocular vision device used for remote operation of floatation mechanical arm

A visual device and robotic arm technology, applied in the direction of manipulators, program-controlled manipulators, claw arms, etc., can solve the problems of remote operation platforms without active vision functions, inability to measure depth information, and target objects deviating from the field of view. The effect of being blocked, convenient for observation, and collision avoidance

Active Publication Date: 2010-04-28
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 1. The existing teleoperation platform has no active vision function, and it is easy for the target to deviate from the field of view during the teleoperation proces...

Method used

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  • Trinocular vision device used for remote operation of floatation mechanical arm
  • Trinocular vision device used for remote operation of floatation mechanical arm
  • Trinocular vision device used for remote operation of floatation mechanical arm

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Embodiment Construction

[0013] The trinocular vision device proposed by the present invention for remote operation of the air-floating manipulator has a structure such as figure 1 As shown, it includes an air flotation platform 8 , a high-pressure gas cylinder 9 , a six-degree-of-freedom mechanical arm 5 , a mounting bracket 2 , a claw bracket 4 and three cameras 1 . The high-pressure gas cylinder 9 is placed in the air flotation platform 8 , and an air foot 14 is arranged below the air flotation platform 8 . The six-degree-of-freedom mechanical arm 5 is fixed on the air-floating platform by fixing bolts 6 . The mounting bracket 2 is placed at the end of the six-degree-of-freedom mechanical arm 5 . Three cameras 1 are placed on the upper part of the mounting bracket 2, and the described gripper 3 is placed on the lower part of the mounting bracket through the gripper bracket 4.

[0014] like figure 2 As shown, the mounting bracket 2 of the present invention includes a bracket base 201, a bracket ...

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Abstract

The invention relates to a trinocular vision device used for the remote operation of a floatation mechanical arm, which belongs to the technical field of space robots. In the device, a high-pressure air cylinder is arranged in a floatation platform, and an air foot is arranged below the floatation platform, is connected with the high-pressure air cylinder by an air pipe and supports the floatation platform by a supporting column. A six-freedom-degree mechanical arm is fixed on the floatation platform. An installation bracket is arranged at the end part of the six-freedom-degree mechanical arm. Three cameras are arranged at the upper part of the installation bracket. A paw is arranged at the lower part of the installation bracket by a paw bracket. The device adds an active vision function, enables the cameras on the platform to track a target object in a self-adapting way and enhances the efficiency of the remote operation; a trinocular vision scheme is adopted, the target object is observed in a multi-azimuth way, and the invention is beneficial for a remote operator to learn about a far-end environment in the operational process, avoids the occurrence of accidents, such as impact and the like, and provides guarantee to the successful completion of the task of the remote operation.

Description

technical field [0001] The invention relates to a trinocular vision device for remote operation of an air-floating mechanical arm, and belongs to the technical field of space robots. Background technique [0002] Human beings have entered the 21st century, and science and technology have developed rapidly, and they have begun to actively explore areas outside the earth. The ability to develop and utilize space has become an important symbol to measure a country's comprehensive strength and status as a great power. Space robots are gradually becoming an important means of developing space in the future. Teleoperation is an important control method for space robots. Using teleoperation space robots instead of astronauts for space operations can not only avoid the risk of astronauts working outside the cabin, but also improve the economy and safety of space exploration. [0003] Since the space robot works in a microgravity environment, and the base is not fixed, there is ser...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J19/04B25J18/00
Inventor 孙富春胡来红刘华平吴凤鸽
Owner TSINGHUA UNIV
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