CN114604626A - Mobile bionic mechanical arm and control method - Google Patents
Mobile bionic mechanical arm and control method Download PDFInfo
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- CN114604626A CN114604626A CN202210424221.6A CN202210424221A CN114604626A CN 114604626 A CN114604626 A CN 114604626A CN 202210424221 A CN202210424221 A CN 202210424221A CN 114604626 A CN114604626 A CN 114604626A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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Abstract
The invention relates to a mobile bionic mechanical arm and a control method thereof, wherein the mobile bionic mechanical arm comprises a mobile box, a mechanical arm is assembled on the upper side of the mobile box, a bionic hand clamp is assembled at one end of the mechanical arm, a controller and a mobile mechanism are assembled on the mobile box, an arm joint driving mechanism in signal connection with the controller is assembled on the mechanical arm, the bionic hand clamp is in transmission connection with a clamping driving mechanism in signal connection with the controller, a radar distance detection sensor in signal connection with the controller is assembled on the bionic hand clamp, and a displacement detection sensor matched with the mobile mechanism is assembled in the mobile box; the invention can automatically judge whether the material slides down or not in the clamping and transporting process of the material, reduce the impact height of the material and the time for putting back the material as much as possible, and effectively protect the material.
Description
Technical Field
The invention belongs to the technical field of sampling devices, and particularly relates to a mobile bionic mechanical arm and a control method.
Background
At present in the mill, in order to reduce the cost of labor, set up movable bionic robotic arm in the engineering, it is more common to be used for replacing the manual work to carry out cargo transportation, however in bionic robotic arm's long-term use, unexpected factors such as ageing of bionical hand clamp, in the centre gripping transportation of material, lead to the material to drop from bionic hand clamp because of skidding etc. easily, drop subaerial, and bionic robotic arm still develops transportation work, thereby lead to the damage of material.
Disclosure of Invention
The purpose of the invention is: aims to provide a mobile bionic mechanical arm and a control method thereof, which are used for solving the problems in the background technology.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a movable bionic mechanical arm comprises a movable box, wherein a mechanical arm is assembled on the upper side of the movable box, a bionic hand clamp is assembled at one end of the mechanical arm, a controller and a moving mechanism are assembled on the movable box, an arm joint driving mechanism in signal connection with the controller is assembled on the mechanical arm, a clamping driving mechanism in signal connection with the controller is in transmission connection with the bionic hand clamp, a radar distance detection sensor in signal connection with the controller is assembled on the bionic hand clamp, and a displacement detection sensor matched with the moving mechanism is assembled in the movable box; the moving mechanism is used for driving the moving box to move under the control of the controller, so that the mechanical arm is driven to displace; the arm joint driving mechanism is used for driving the mechanical arm to start working under the control of the controller, so that the mechanical arm can rotate and fold; the clamping driving mechanism is used for driving the bionic hand clamp to carry out clamping work under the control of the controller; the radar distance detection sensor is arranged in the middle of the bionic hand clamp and used for monitoring whether displacement occurs between a clamped object and the bionic hand clamp or not; the displacement detection sensor is used for monitoring the moving distance of the moving mechanism in real time under the control of the controller and transmitting signals to the controller.
The bionic hand clamp is internally provided with a weight detection sensor, and the weight detection sensor is in signal connection with the controller.
An alarm connected with the controller through signals is arranged in the movable box.
A mechanical arm control method for moving a bionic mechanical arm comprises the following steps:
the method comprises the following steps: the arm joint driving mechanism can drive the mechanical arm to start working, one end of the mechanical arm, which is provided with the bionic hand clamp, is close to a material placed on the workbench, when the position of the bionic hand clamp is matched with the position of the material, the arm joint driving mechanism stops working, the clamping driving mechanism drives the bionic hand clamp to start working at the moment, the material is clamped from right above through the bionic hand clamp, the arm joint driving mechanism controls the mechanical arm to start working again at the moment to lift the material, then the controller controls the moving mechanism to work to drive the moving box to move, so that the animal material is carried by the mechanical arm and the bionic hand clamp, and the material can be carried;
step two: when the clamping driving mechanism drives the bionic hand clamp to clamp the material, the radar distance detection sensor starts to work, the distance between the radar distance detection sensor and the material is measured, a distance signal is transmitted to the controller, the controller marks the distance signal as S1, when the arm joint driving mechanism works to drive the mechanical arm to lift the material, the radar distance detection sensor detects the distance between the radar distance detection sensor and the material again every 0.5 second in the process of lifting the material, the distance signal is transmitted to the controller again in real time, the controller marks the distance signals detected in the process of lifting the material as S2, when the material is lifted, if the S1 is S2 arm joint driving mechanism continuously works, the material is lifted, when the controller detects that S1 is less than S2, the controller controls the arm joint driving mechanism to drive the mechanical arm to reset, and the material is placed on the workbench again, the bionic hand clamp is driven by the clamping driving mechanism to cancel clamping of the material, then the process is repeated again, the material is clamped again by the clamping driving mechanism, the arm joint driving mechanism is driven by the arm joint driving mechanism again to work after clamping is finished, the material is lifted, and if the condition that S1 is smaller than S2 is detected again, the controller 1 controls the arm joint driving mechanism and the clamping driving mechanism again to put the material back to work and then stops working;
step three: before the carrying process, the ultimate extension distance of the mechanical arm and the height of the workbench are recorded into a controller, the controller can calculate the maximum ultimate distance between the movable box and the workbench, the controller marks the signal as A1, when the two steps are carried out, the mechanical arm can completely lift the material by keeping S1 equal to S2, the controller controls the movable mechanism to start working to drive the movable box to move so as to drive the material to start moving, the material is transported to a destination, the radar distance detection sensor and the displacement detection sensor start working in real time, the displacement detection sensor detects the displacement distance of the movable mechanism and transmits a distance signal to the controller in real time, the controller marks the length signal as A2, and the radar distance detection sensor detects the distance between the radar distance detection sensor and the material every 0.5 second, the signal is transmitted to a controller, the controller marks the signal as S3, when the controller detects that S1 is more than S3, the controller compares the signal A1 with the signal A2 and simultaneously controls the moving mechanism to stop working, the displacement of the moving box is cancelled, at the moment, when A2 is more than or equal to A1, the controller controls the arm joint driving mechanism to drive the mechanical arm to work, the material is placed back on the workbench, and the second step and the third step are repeated;
step four: when the controller detects that A2 is larger than A1 and S1 is smaller than S3, the controller controls the moving mechanism to stop working to cancel the displacement of the moving box, meanwhile, the controller controls the arm joint driving mechanism to drive the mechanical arm to work, the mechanical arm drives the material to displace, the material is placed on the ground, the ground is used as a new workbench, the steps are sequentially repeated, and when the step III is carried out again and S1 is smaller than S3, the controller controls the arm joint driving mechanism to directly place the material on the ground and stop working.
The interval monitoring time of the radar distance detection sensor is adjusted by a worker through the controller 1.
When the work is stopped, the controller can control the alarm to start alarming, and reminds workers of abnormal transportation.
Drawings
The invention is further illustrated by the non-limiting examples given in the figures.
FIG. 1 is a first schematic flow chart of a mobile bionic robot and a control method according to the present invention;
FIG. 2 is a second schematic flow structure diagram of a mobile bionic robot and a control method according to the present invention;
FIG. 3 is a third schematic flow structure diagram of a mobile bionic robot and a control method according to the present invention;
FIG. 4 is a fourth schematic flow structure diagram of a mobile bionic mechanical arm and a control method according to the present invention;
the main element symbols are as follows:
the device comprises a controller 1, a moving mechanism 11, an arm joint driving mechanism 12, a clamping driving mechanism 13, a radar distance detection sensor 14, a displacement detection sensor 15, a weight monitoring sensor 2 and an alarm 21.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1-4, the mobile bionic mechanical arm of the invention comprises a mobile box, a mechanical arm is assembled on the upper side of the mobile box, a bionic hand clamp is assembled at one end of the mechanical arm, a controller 1 and a mobile mechanism 11 are assembled on the mobile box, the mechanical arm is assembled with an arm joint driving mechanism 12 in signal connection with the controller 1, the bionic hand clamp is in transmission connection with a clamping driving mechanism 13 in signal connection with the controller 1, the bionic hand clamp is assembled with a radar distance detection sensor 14 in signal connection with the controller 1, and a displacement detection sensor 15 matched with the mobile mechanism 11 is assembled in the mobile box; the moving mechanism 11 is used for driving the moving box to move under the control of the controller 1, so as to drive the mechanical arm to displace; the arm joint driving mechanism 12 is used for driving the mechanical arm to start working under the control of the controller 1, so that the mechanical arm can rotate and fold; the clamping driving mechanism 13 is used for driving the bionic hand clamp to carry out clamping work under the control of the controller 1; the radar distance detection sensor 14 is arranged in the middle of the bionic hand clamp and used for monitoring whether displacement occurs between a clamped object and the bionic hand clamp; the displacement detecting sensor 15 is used for monitoring the moving distance of the moving mechanism 11 in real time under the control of the controller 1, and can transmit signals to the controller 1.
The bionic hand clamp is internally provided with a weight detection sensor 2, and the weight detection sensor 2 is in signal connection with the controller 1. Such design can detect the weight of material through weight monitoring sensor 2 at the in-process that presss from both sides the material to the staff of being convenient for of control is given and is looked over.
An alarm 21 in signal connection with the controller 1 is arranged in the movable box. When the equipment stops working in the transportation process, the alarm can be given out under the control of the control 1.
A mechanical arm control method for moving a bionic mechanical arm comprises the following steps:
the method comprises the following steps: the arm joint driving mechanism 12 can drive the mechanical arm to start working, one end of the mechanical arm, which is provided with the bionic hand clamp, is close to a material placed on the workbench, when the position of the bionic hand clamp is matched with that of the material, the arm joint driving mechanism 12 stops working, the clamping driving mechanism 13 drives the bionic hand clamp to start working, the material is clamped from right above through the bionic hand clamp, the arm joint driving mechanism 12 controls the mechanical arm to start working again to lift the material, then the controller 1 controls the moving mechanism 11 to work to drive the moving box to move, and the animal material is carried by the mechanical arm and the bionic hand to move, so that the material can be carried;
step two: when the clamping driving mechanism 13 drives the bionic hand clamp to clamp a material, the radar distance detection sensor 14 starts to work, the distance between the radar distance detection sensor 14 and the material is measured, a distance signal is transmitted to the controller 1, the controller 1 marks the distance signal as S1, when the arm joint driving mechanism 12 works to drive the mechanical arm to lift the material, the radar distance detection sensor 14 detects the distance between the material again every 0.5 second in the lifting process of the material, the distance signal is transmitted to the controller 1 again in real time, the controller 1 marks the distance signals detected in the lifting process of the material as S2, in the lifting process of the material, if the S1S 2 arm joint driving mechanism 12 works continuously, the material is lifted, when the controller 1 detects that S1 is less than S2, the controller 1 controls the arm joint driving mechanism 12 to drive the mechanical arm to reset, the material is placed back on the workbench again, the clamping driving mechanism 13 drives the bionic hand clamp to cancel clamping of the material, then the process is repeated again, the material is clamped again through the clamping driving mechanism 13, the arm joint driving mechanism 12 drives the mechanical arm to work again after clamping is finished, the material is lifted, and if S1 is detected to be less than S2 again, the controller 1 controls the arm joint driving mechanism 12 and the clamping driving mechanism 13 again to place the material back on the work and then stops working;
step three: before the carrying process, the ultimate extension distance of the mechanical arm and the height of the workbench are recorded in the controller 1, at this time, the controller 1 can calculate the maximum ultimate distance which can keep placing the material on the workbench and the mobile box is away from the workbench, the controller 1 marks the signal as A1, when the two steps are carried out, S1 is kept at S2, the mechanical arm can completely lift the material, at this time, the controller 1 controls the mobile mechanism 11 to start working to drive the mobile box to move so as to drive the material to start moving, the material is transported to a destination, at this time, the radar distance detection sensor 14 and the displacement detection sensor 15 start working in real time, the displacement detection sensor 15 detects the displacement distance of the mobile mechanism 11 and transmits a distance signal to the controller 1 in real time, the controller 1 marks the length signal as A2, and the radar distance detection sensor 14 detects the distance to the material every 0.5 seconds, the signals are transmitted to the controller 1, the controller 1 marks the signals as S3, when the controller 1 detects that S1 is more than S3, the controller 1 compares the signal A1 with the signal A2 and controls the moving mechanism 11 to stop working at the same time, the displacement of the moving box is cancelled, at the moment, when A2 is more than or equal to A1, the controller 1 controls the arm joint driving mechanism 12 to drive the mechanical arm to work, the material is placed back on the workbench, and the second step and the third step are repeated;
step four: when the controller 1 detects that A2 is greater than A1 and S1 is less than S3, the controller 1 controls the moving mechanism 11 to stop working to cancel the displacement of the moving box, meanwhile, the controller 1 controls the arm joint driving mechanism 12 to drive the mechanical arm to work, the mechanical arm drives the material to displace, the material is placed on the ground, at the moment, the ground is used as a new workbench, the steps are sequentially repeated, and when the step III is carried out again and S1 is less than S3, the controller 1 controls the arm joint driving mechanism 12 to directly place the material on the ground and stop working.
The interval of the radar range detection sensor 14 monitors the time, which can be adjusted by the operator through the controller 1. When the work is stopped, the controller 1 can control the alarm 21 to start the alarm work to remind the worker that the transportation is abnormal.
The invention has ingenious design, detects the position of the material relative to the bionic hand clamp in real time in the process of lifting the material, puts the material on the workbench again to clamp again when detecting the displacement of the material, improves the protection function of the material, stops moving and directly puts the material back to the workbench again if the displacement of the material is found in the transportation process, and directly places the material on the ground if the displacement of the material is found, and can automatically place the material on a proper position if the displacement of the material is slowly reduced, thereby improving the protection function of the material relative to the condition that the material directly falls from the bionic hand clamp on the ground and timely resets and puts back the material, the distance between the material and the impact surface can be still reduced, so that the impact height of the material is reduced as much as possible, the material is protected, and the material is preferentially placed back to the workbench under the condition that the condition allows.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. The utility model provides a remove bionical robotic arm, includes the removal case, the removal case upside is equipped with the arm, arm one end is equipped with bionical hand clamp, its characterized in that: the mobile box is provided with a controller and a mobile mechanism, the mechanical arm is provided with an arm joint driving mechanism in signal connection with the controller, the bionic hand clamp is in transmission connection with a clamping driving mechanism in signal connection with the controller, the bionic hand clamp is provided with a radar distance detection sensor in signal connection with the controller, and the mobile box is provided with a displacement detection sensor matched with the mobile mechanism;
the moving mechanism is used for driving the moving box to move under the control of the controller, so that the mechanical arm is driven to displace;
the arm joint driving mechanism is used for driving the mechanical arm to start working under the control of the controller, so that the mechanical arm can rotate and fold;
the clamping driving mechanism is used for driving the bionic hand clamp to carry out clamping work under the control of the controller;
the radar distance detection sensor is arranged in the middle of the bionic hand clamp and used for monitoring whether displacement occurs between a clamped object and the bionic hand clamp or not;
the displacement detection sensor is used for monitoring the moving distance of the moving mechanism in real time under the control of the controller and transmitting signals to the controller.
2. The mobile bionic mechanical arm as claimed in claim 1, wherein: the bionic hand clamp is internally provided with a weight detection sensor, and the weight detection sensor is in signal connection with the controller.
3. The mobile bionic mechanical arm as claimed in claim 1, wherein: an alarm connected with the controller through signals is arranged in the movable box.
4. The robot arm control method for moving a bionic robot arm according to any one of claims 1 to 3, characterized in that: the method comprises the following steps:
the method comprises the following steps: the arm joint driving mechanism can drive the mechanical arm to start working, one end of the mechanical arm, which is provided with the bionic hand clamp, is close to a material placed on the workbench, when the position of the bionic hand clamp is matched with that of the material, the arm joint driving mechanism stops working, the clamping driving mechanism drives the bionic hand clamp to start working at the moment, the material is clamped from right above through the bionic hand clamp, the arm joint driving mechanism controls the mechanical arm to start working again to lift the material, then the controller controls the moving mechanism to work to drive the moving box to move, and therefore the animal material is carried by the mechanical arm and the bionic hand clamp to move, so that the material can be carried;
step two: when the clamping driving mechanism drives the bionic hand clamp to clamp the material, the radar distance detection sensor starts to work, the distance between the radar distance detection sensor and the material is measured, a distance signal is transmitted to the controller, the controller marks the distance signal as S1, when the arm joint driving mechanism works to drive the mechanical arm to lift the material, the radar distance detection sensor detects the distance between the radar distance detection sensor and the material again every 0.5 second in the process of lifting the material, the distance signal is transmitted to the controller again in real time, the controller marks the distance signals detected in the process of lifting the material as S2, when the material is lifted, if the S1 is S2 arm joint driving mechanism continuously works, the material is lifted, when the controller detects that S1 is less than S2, the controller controls the arm joint driving mechanism to drive the mechanical arm to reset, and the material is placed on the workbench again, the bionic hand clamp is driven by the clamping driving mechanism to cancel clamping of the material, then the process is repeated again, the material is clamped again by the clamping driving mechanism, the arm joint driving mechanism is driven by the arm joint driving mechanism again to work after clamping is finished, the material is lifted, and if the condition that S1 is smaller than S2 is detected again, the controller 1 controls the arm joint driving mechanism and the clamping driving mechanism again to put the material back to work and then stops working;
step three: before the carrying process, the ultimate extension distance of the mechanical arm and the height of the workbench are recorded into a controller, the controller can calculate the maximum ultimate distance between the movable box and the workbench, the controller marks the signal as A1, when the two steps are carried out, the mechanical arm can completely lift the material by keeping S1 equal to S2, the controller controls the movable mechanism to start working to drive the movable box to move so as to drive the material to start moving, the material is transported to a destination, the radar distance detection sensor and the displacement detection sensor start working in real time, the displacement detection sensor detects the displacement distance of the movable mechanism and transmits a distance signal to the controller in real time, the controller marks the length signal as A2, and the radar distance detection sensor detects the distance between the radar distance detection sensor and the material every 0.5 second, the signal is transmitted to a controller, the controller marks the signal as S3, when the controller detects that S1 is more than S3, the controller compares the signal A1 with the signal A2 and simultaneously controls the moving mechanism to stop working, the displacement of the moving box is cancelled, at the moment, when A2 is more than or equal to A1, the controller controls the arm joint driving mechanism to drive the mechanical arm to work, the material is placed back on the workbench, and the second step and the third step are repeated;
step four: when the controller detects that A2 is larger than A1 and S1 is smaller than S3, the controller controls the moving mechanism to stop working to cancel the displacement of the moving box, meanwhile, the controller controls the arm joint driving mechanism to drive the mechanical arm to work, the mechanical arm drives the material to displace, the material is placed on the ground, the ground is used as a new workbench, the steps are sequentially repeated, and when the step III is carried out again and S1 is smaller than S3, the controller controls the arm joint driving mechanism to directly place the material on the ground and stop working.
5. The method for controlling the mobile bionic mechanical arm according to claim 4, wherein the method comprises the following steps: the interval monitoring time of the radar distance detection sensor can be adjusted by a worker through the controller 1.
6. The mobile bionic mechanical arm and the control method thereof as claimed in claim 4, wherein: when the work is stopped, the controller can control the alarm to start alarming, and reminds workers of abnormal transportation.
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| CN202210424221.6A CN114604626A (en) | 2022-04-21 | 2022-04-21 | Mobile bionic mechanical arm and control method |
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| CN202210424221.6A CN114604626A (en) | 2022-04-21 | 2022-04-21 | Mobile bionic mechanical arm and control method |
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