Desktop-level programmable visual mechanical arm platform

Abstract

The invention discloses a desktop-level programmable visual mechanical arm platform and a diagnosis method, the desktop-level programmable visual mechanical arm platform comprises a main body unit, the main body unit comprises a U-shaped frame, the U-shaped frame is provided with a first mechanical arm and two first connecting arms, the first connecting arm at the right end is rotatably connected with a triangular mounting plate, and the triangular mounting plate is rotatably connected with a second connecting arm. The structure of the platform device is optimized, the device is miniaturized, desktop-level equipment is formed, research and function verification can be carried out in a laboratory environment, detection and identification of materials can be realized by adding an image processor, a camera lens and an image display screen in the visual unit, and the detection efficiency is improved. Static recognition grabbing and motion recognition grabbing can be driven and controlled through a visual algorithm, and the functions of reprogramming control and secondary development of the device can be achieved by being connected with a PLC through integration of an integrated circuit.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm clamping, and in particular to a desktop-level programmable visual mechanical arm platform. Background Art

[0002] The robot arm refers to a high-precision, high-speed dispensing robot. The robot arm is a complex system with multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields.

[0003] In the past, most types of robotic arms were high-cost, large in size, and had relatively simple functions. As artificial intelligence vision becomes more and more popular in various industrial production scenarios, there is a growing need for robotic arms to combine vision functions. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] Therefore, the purpose of the present invention is to provide a desktop-level programmable visual robotic arm platform, which is designed to solve the problem that "most of the previous types of robotic arms are high-cost, large in size, and have relatively simple functions. As artificial intelligence vision becomes more and more popular in various industrial production scenarios, more and more robotic arms need to be combined with visual functions."

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A desktop-level programmable visual robotic arm platform and diagnostic method, comprising:

[0008] The main unit comprises a U-shaped frame, wherein a No. 1 mechanical arm and two No. 1 connecting arms are arranged on the U-shaped frame, wherein the No. 1 connecting arm at the right end is rotatably connected to a triangular mounting plate, wherein a No. 2 connecting arm is rotatably connected to the triangular mounting plate, wherein the No. 1 connecting arm, the No. 2 connecting arm and the triangular mounting plate at the left end are rotatably connected to a No. 2 mechanical arm, wherein the No. 2 connecting arm is rotatably connected to a mounting frame, wherein one end of the No. 2 mechanical arm which is away from the No. 1 mechanical arm is rotatably connected to the mounting frame, wherein a running component is arranged on the U-shaped frame, the No. 1 mechanical arm and the No. 1 connecting arm, and a base unit is arranged at the lower end of the U-shaped frame;

[0009] The clamping jaw unit comprises symmetrically arranged clamping jaw plates, the mounting frame is fixedly connected to a connection box, each of the clamping jaw plates is symmetrically fixedly connected to a gear, and the two gears on the same side are meshed and connected;

[0010] The visual unit comprises an image processor, wherein the image processor is fixedly mounted on the first mechanical arm and the first connecting arm, a camera lens is fixedly mounted on the image processor, and an image display screen is arranged on the image processor.

[0011] As a preferred solution of a desktop-level programmable visual robotic arm platform described in the present invention, wherein: the operating component includes a joint motor No. 1 and a joint motor No. 2, and the joint motor No. 1 and the joint motor No. 2 are both fixedly mounted on a U-shaped frame, and the output end of the joint motor No. 1 is rotatably sleeved with a connecting shaft No. 1, and the lower end of the connecting arm No. 1 on the left end is rotatably sleeved on the connecting shaft No. 1, and the lower end of the connecting arm No. 1 on the right end is rotatably sleeved on the joint motor No. 2, and the output end of the joint motor No. 2 is rotatably sleeved with the connecting shaft No. 2.

[0012] As a preferred solution of the desktop-level programmable visual robotic arm platform described in the present invention, the operating component also includes an L-shaped plate, the L-shaped plate is fixedly connected to the U-shaped frame, and the lower end of the No. 1 robotic arm is rotatably connected to the No. 1 connecting shaft and the L-shaped plate.

[0013] As a preferred solution of the desktop-level programmable visual robotic arm platform described in the present invention, wherein: a rotating dual-axis motor is fixedly installed in the connecting box, and the two output ends of the rotating dual-axis motor pass through the side wall of the connecting box, the two gears at the right end are fixedly sleeved on the output end of the rotating dual-axis motor, and the two gears at the left end are rotatably connected to the side wall of the connecting box.

[0014] As a preferred solution of a desktop-level programmable visual robotic arm platform described in the present invention, the base unit includes a mounting seat, a fixed seat and a base plate, the fixed seat is fixedly mounted on the upper end surface of the base plate, the mounting seat is arranged on the fixed seat, a rotating component is arranged in the fixed seat, and a mounting component is arranged on the base plate.

[0015] As a preferred solution of a desktop-level programmable visual robotic arm platform described in the present invention, wherein: the rotating component includes a rotating motor, the rotating motor is fixedly mounted on the inner wall of the fixed base, the output end of the rotating motor is fixedly mounted with a rotating shaft, the rotating shaft, the upper end of the rotating shaft passes through the upper end surface of the fixed base and is fixedly connected to the mounting base, and the mounting base is fixedly mounted on a U-shaped frame.

[0016] As a preferred solution of a desktop-level programmable visual robotic arm platform described in the present invention, wherein: the mounting assembly includes four rectangular connecting rods, two corresponding rectangular connecting rods are commonly fixedly connected to an L-shaped mounting plate, the bottom plate is symmetrically provided with four slide grooves, each of the rectangular connecting rods is fixedly connected to a slide plate, each of the slide plates is fixedly connected to a mounting spring, and one end of each mounting spring facing away from the slide plate is fixedly connected to the inner wall of the slide groove.

[0017] As a preferred solution of the desktop-level programmable visual robotic arm platform described in the present invention, wherein: a power supply is fixedly connected to the U-shaped frame, an input interface is provided on the power supply, the wall thickness of the No. 1 robotic arm, No. 1 connecting arm, No. 2 robotic arm and No. 2 connecting arm is 2.5 mm, and the arm length of the No. 1 robotic arm, No. 1 connecting arm and No. 2 robotic arm is 250 mm.

[0018] Beneficial effects of the present invention:

[0019] 1. By optimizing the structure of the platform device, the device is miniaturized to form a desktop-level device that can be used for research and functional verification in a laboratory environment.

[0020] 2. By adding an image processor, camera lens and image display screen to the visual unit, material detection and identification can be achieved.

[0021] 3. Vision algorithms can be used to drive control for static recognition and motion recognition.

[0022] 4. By integrating the integrated circuit and connecting with the PLC programming logic controller, the device can be reprogrammed and developed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0024] Figure 1 This is a schematic diagram of the overall structure of a desktop-level programmable visual robotic arm platform proposed by the present invention;

[0025] Figure 2 A partial structural schematic diagram of a desktop-level programmable visual robotic arm platform proposed by the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the operating components in a desktop-level programmable visual robotic arm platform proposed by the present invention;

[0027] Figure 4 This is a structural schematic diagram of a gripper plate in a desktop-level programmable visual robotic arm platform proposed by the present invention;

[0028] Figure 5 for Figure 4 Schematic diagram of the structure in cross-section;

[0029] Figure 6 This is a structural schematic diagram of a mounting seat and a fixing seat in a desktop-level programmable visual robotic arm platform proposed by the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of a rotating component in a desktop-level programmable visual robotic arm platform proposed by the present invention;

[0031] Figure 8 This is a structural schematic diagram of the installation components in a desktop-level programmable visual robotic arm platform proposed by the present invention.

[0032] In the figure: 100, main unit; 101, U-shaped frame; 102, No. 1 mechanical arm; 103, No. 1 connecting arm; 104, No. 2 mechanical arm; 105, No. 2 connecting arm; 106, triangular mounting plate; 107, mounting frame; 108, running assembly; 108a, No. 1 joint motor; 108b, No. 2 joint motor; 108c, No. 1 connecting shaft; 108d, No. 2 connecting shaft; 108e, L-shaped plate; 109, power supply;

[0033] 200, gripper unit; 201, gripper plate; 202, connection box; 203, gear; 204, rotating dual-axis motor;

[0034] 300, visual unit; 301, image processor; 302, camera lens; 303, image display screen;

[0035] 400, base unit; 401, mounting seat; 402, fixing seat; 403, bottom plate; 404, rotating assembly; 404a, rotating motor; 404b, rotating shaft; 405, mounting assembly; 405a, rectangular connecting rod; 405b, L-shaped mounting plate; 405c, slide plate; 405d, mounting spring. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0039] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0040] Reference Figure 1-8 The present invention provides a desktop-level programmable visual robotic arm platform, comprising:

[0041] The main unit 100 includes a U-shaped frame 101, on which a No. 1 mechanical arm 102 and two No. 1 connecting arms 103 are arranged, the No. 1 connecting arm 103 at the right end is rotatably connected to a triangular mounting plate 106, on which a No. 2 connecting arm 105 is rotatably connected, the No. 1 connecting arm 103 at the left end, the No. 2 connecting arm 105 and the triangular mounting plate 106 are rotatably connected to a No. 2 mechanical arm 104, the No. 2 connecting arm 105 is rotatably connected to a mounting frame 107, and one end of the No. 2 mechanical arm 104 away from the No. 1 mechanical arm 102 is rotatably connected to the mounting frame 107, the U-shaped frame 101, the No. 1 mechanical arm 102 and the No. 1 connecting arm 103 are jointly provided with a running component 108, and a base unit 400 is arranged at the lower end of the U-shaped frame 101, and the structure of the platform device is optimized to miniaturize the device to form a desktop-level device, which can be used for research and function verification in a laboratory environment;

[0042] The clamping unit 200 includes symmetrically arranged clamping plates 201, a connection box 202 is fixedly connected to the mounting frame 107, and each clamping plate 201 is symmetrically fixedly connected to a gear 203, and two gears 203 on the same side are meshed and connected;

[0043] The visual unit 300 includes an image processor 301. The image processor 301 is fixedly mounted on the No. 1 robot arm 102 and the No. 1 connecting arm 103. A camera lens 302 is fixedly mounted on the image processor 301. An image display screen 303 is provided on the image processor 301. By adding the image processor 301, the camera lens 302 and the image display screen 303 to the visual unit 300, material detection and identification can be realized, and static identification grasping and motion identification grasping can be driven and controlled through the visual algorithm.

[0044] Wherein, the operation component 108 includes a joint motor 108a and a joint motor 108b, both of which are fixedly mounted on the U-shaped frame 101, the output end of the joint motor 108a is rotatably sleeved on the connecting shaft 108c, the lower end of the left connecting arm 103 is rotatably sleeved on the connecting shaft 108c, the lower end of the right connecting arm 103 is rotatably sleeved on the joint motor 108b, the output end of the joint motor 108b is rotatably sleeved on the connecting shaft 108d, and the operation component 108 also includes L The shape plate 108e and the L-shaped plate 108e are fixedly connected to the U-shaped frame 101, and the lower end of the No. 1 mechanical arm 102 is rotatably connected to the No. 1 connecting shaft 108c and the L-shaped plate 108e, and the No. 1 joint motor 108a and the No. 2 joint motor 108b are started. The output ends of the No. 1 joint motor 108a and the No. 2 joint motor 108b respectively drive the No. 1 mechanical arm 102 and the No. 1 connecting arm 103 to rotate through the No. 1 connecting shaft 108c and the No. 2 connecting shaft 108d, and then drive the No. 2 mechanical arm 104 and the No. 2 connecting arm 105 to rotate, so that the position of the clamping claw plate 201 can be adjusted.

[0045] Furthermore, a rotating dual-axis motor 204 is fixedly installed in the connecting box 202, and the two output ends of the rotating dual-axis motor 204 both penetrate the side wall of the connecting box 202, and the two gears 203 at the right end are fixedly sleeved on the output end of the rotating dual-axis motor 204, and the two gears 203 at the left end are rotatably connected to the side wall of the connecting box 202. When the rotating dual-axis motor 204 is started, the rotating dual-axis motor 204 drives the two gears 203 to rotate through the output end, and the two gears 203 drive the other two gears 203 to rotate, and the two clamping claw plates 201 clamp the material by rotating the gears 203 relative to or opposite to each other.

[0046] Furthermore, the base unit 400 includes a mounting seat 401, a fixing seat 402 and a bottom plate 403. The fixing seat 402 is fixedly mounted on the upper end surface of the bottom plate 403. The mounting seat 401 is arranged on the fixing seat 402. A rotating component 404 is arranged in the fixing seat 402. A mounting component 405 is arranged on the bottom plate 403.

[0047] Furthermore, the rotating assembly 404 includes a rotating motor 404a, which is fixedly mounted on the inner wall of the fixed base 402, and a rotating shaft 404b is fixedly mounted on the output end of the rotating motor 404a. The rotating shaft 404b, the upper end of the rotating shaft 404b passes through the upper end surface of the fixed base 402 and is fixedly connected to the mounting base 401, and the mounting base 401 is fixedly mounted on the U-shaped frame 101. When the rotating motor 404a is started, the output end of the rotating motor 404a drives the mounting base 401 to rotate through the rotating shaft 404b, thereby driving the U-shaped frame 101 and the clamping claw plate 201 to rotate, which can cover the clamping range of the clamping claw plate 201.

[0048] Furthermore, the mounting assembly 405 includes four rectangular connecting rods 405a, and the two corresponding rectangular connecting rods 405a are commonly fixedly connected with an L-shaped mounting plate 405b. The bottom plate 403 is symmetrically provided with four sliding grooves. Each rectangular connecting rod 405a is fixedly connected with a slide plate 405c, and each slide plate 405c is fixedly connected with a mounting spring 405d. One end of each mounting spring 405d facing away from the slide plate 405c is fixedly connected to the inner wall of the sliding groove. By pulling the L-shaped mounting plate 405b in opposite directions, it can be stuck on the table top of the desktop, and the robotic arm platform can be installed.

[0049] Furthermore, a power supply 109 is fixedly connected to the U-shaped frame 101, and an input interface is provided on the power supply 109. The wall thickness of the No. 1 robotic arm 102, the No. 1 connecting arm 103, the No. 2 robotic arm 104 and the No. 2 connecting arm 105 is 2.5 mm, and the arm length of the No. 1 robotic arm 102, the No. 1 connecting arm 103 and the No. 2 robotic arm 104 is 250 mm.

[0050] During use, the joint motor No. 108a and the joint motor No. 2 108b are started, and the output ends of the joint motor No. 108a and the joint motor No. 2 108b respectively drive the No. 1 mechanical arm 102 and the No. 1 connecting arm 103 to rotate through the No. 1 connecting shaft 108c and the No. 2 connecting shaft 108d, thereby driving the No. 2 mechanical arm 104 and the No. 2 connecting arm 105 to rotate, thereby adjusting the position of the clamping claw plate 201 to facilitate the clamping of the material by the clamping claw plate 201, and the situation of the material can be viewed through the camera lens 302, and the image processor 301 can transmit the image to the image processor 301 for analysis, so as to realize the detection and identification of the material, and then drive the control to perform static recognition grabbing and motion recognition grabbing, and through the integrated circuit The device is integrated with the PLC programming logic controller to realize the functions of reprogrammable control and secondary development. The dual-axis motor 204 is started, and the dual-axis motor 204 drives the two gears 203 to rotate through the output end. The two gears 203 drive the other two gears 203 to rotate. The two clamping plates 201 clamp the materials by rotating the gears 203 relative to or opposite to each other. The L-shaped mounting plate 405b can be stuck on the table top by pulling in opposite directions, and the robot arm platform can be installed. The motor 404a is started, and the output end of the motor 404a drives the mounting base 401 to rotate through the rotating shaft 404b, thereby driving the U-shaped frame 101 and the clamping plate 201 to rotate, and the clamping range of the clamping plate 201 can be covered.

[0051] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A desktop-level programmable visual robotic arm platform, characterized by: include: The main unit (100) comprises a U-shaped frame (101), wherein a first mechanical arm (102) and two first connecting arms (103) are arranged on the U-shaped frame (101), wherein the first connecting arm (103) at the right end is rotatably connected to a triangular mounting plate (106), and the triangular mounting plate (106) is rotatably connected to a second connecting arm (105), and the first connecting arm (103), the second connecting arm (105) and the triangular mounting plate (106) at the left end are connected to the first connecting arm (103), the second connecting arm (105) and the triangular mounting plate (106) together. A No. 2 mechanical arm (104) is rotatably connected, the No. 2 connecting arm (105) is rotatably connected to a mounting frame (107), one end of the No. 2 mechanical arm (104) away from the No. 1 mechanical arm (102) is rotatably connected to the mounting frame (107), the U-shaped frame (101), the No. 1 mechanical arm (102) and the No. 1 connecting arm (103) are commonly provided with a running component (108), and a base unit (400) is provided at the lower end of the U-shaped frame (101); The clamping jaw unit (200) comprises symmetrically arranged clamping jaw plates (201), a connection box (202) being fixedly connected to the mounting frame (107), a gear (203) being symmetrically fixedly connected to each of the clamping jaw plates (201), and two gears (203) on the same side being meshed and connected; The visual unit (300) comprises an image processor (301), wherein the image processor (301) is fixedly mounted on a first mechanical arm (102) and a first connecting arm (103), a camera lens (302) is fixedly mounted on the image processor (301), and an image display screen (303) is arranged on the image processor (301).

2. A desktop-level programmable visual robotic arm platform according to claim 1, characterized in that: The operating component (108) comprises a No. 1 joint motor (108a) and a No. 2 joint motor (108b), wherein the No. 1 joint motor (108a) and the No. 2 joint motor (108b) are both fixedly mounted on the U-shaped frame (101), wherein the output end of the No. 1 joint motor (108a) is rotatably sleeved on a No. 1 connecting shaft (108c), the lower end of the No. 1 connecting arm (103) at the left end is rotatably sleeved on the No. 1 connecting shaft (108c), and the lower end of the No. 1 connecting arm (103) at the right end is rotatably sleeved on the No. 2 joint motor (108b), and the output end of the No. 2 joint motor (108b) is rotatably sleeved on the No. 2 connecting shaft (108d).

3. A desktop-level programmable visual robotic arm platform according to claim 2, characterized in that: The operating assembly (108) further comprises an L-shaped plate (108e), wherein the L-shaped plate (108e) is fixedly connected to the U-shaped frame (101), and the lower end of the first mechanical arm (102) is rotatably connected to the first connecting shaft (108c) and the L-shaped plate (108e).

4. A desktop-level programmable visual robotic arm platform according to claim 1, characterized in that: A rotating dual-axis motor (204) is fixedly installed in the connection box (202); both output ends of the rotating dual-axis motor (204) penetrate the side wall of the connection box (202); the two gears (203) at the right end are fixedly sleeved on the output end of the rotating dual-axis motor (204); and the two gears (203) at the left end are rotatably connected to the side wall of the connection box (202).

5. The desktop-level programmable visual robotic arm platform according to claim 1, characterized in that: The base unit (400) comprises a mounting seat (401), a fixing seat (402) and a bottom plate (403); the fixing seat (402) is fixedly mounted on the upper end surface of the bottom plate (403); the mounting seat (401) is arranged on the fixing seat (402); a rotating assembly (404) is arranged in the fixing seat (402); and a mounting assembly (405) is arranged on the bottom plate (403).

6. A desktop-level programmable visual robotic arm platform according to claim 5, characterized in that: The rotating assembly (404) comprises a rotating motor (404a), the rotating motor (404a) being fixedly mounted on the inner wall of the fixing seat (402), a rotating shaft (404b) being fixedly mounted on the output end of the rotating motor (404a), the rotating shaft (404b), the upper end of the rotating shaft (404b) passing through the upper end surface of the fixing seat (402) and being fixedly connected to the mounting seat (401), and the mounting seat (401) being fixedly mounted on the U-shaped frame (101).

7. The desktop-level programmable visual robotic arm platform according to claim 5, characterized in that: The mounting assembly (405) comprises four rectangular connecting rods (405a), two corresponding rectangular connecting rods (405a) are fixedly connected to an L-shaped mounting plate (405b), the bottom plate (403) is symmetrically provided with four sliding grooves, each of the rectangular connecting rods (405a) is fixedly connected to a slide plate (405c), each of the slide plates (405c) is fixedly connected to a mounting spring (405d), and one end of each mounting spring (405d) facing away from the slide plate (405c) is fixedly connected to the inner wall of the sliding groove.

8. The desktop-level programmable visual robotic arm platform according to claim 1, characterized in that: The U-shaped frame (101) is fixedly connected with a power supply (109), and the power supply (109) is provided with an input interface. The wall thickness of the first mechanical arm (102), the first connecting arm (103), the second mechanical arm (104) and the second connecting arm (105) is 2.5 mm, and the arm length of the first mechanical arm (102), the first connecting arm (103) and the second mechanical arm (104) is 250 mm.

Images