CN209737650U - Industrial robot arm strain detection device - Google Patents
Industrial robot arm strain detection device Download PDFInfo
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- CN209737650U CN209737650U CN201920416287.4U CN201920416287U CN209737650U CN 209737650 U CN209737650 U CN 209737650U CN 201920416287 U CN201920416287 U CN 201920416287U CN 209737650 U CN209737650 U CN 209737650U
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- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 abstract description 15
- 238000003384 imaging method Methods 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
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- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000012463 white pigment Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Abstract
The application provides an industrial robot arm detection device that meets an emergency, robot arm and driving motor all install on the robot body, and the robot arm sets for the position and is equipped with the speckle, and driving motor control robot arm motion, and detection device that meets an emergency includes: the system comprises a camera, a driving motor, a camera slide system, a bracket and a processor; the camera slide system includes: the gear is meshed with the circular arc-shaped rack; the rack is fixed at the top end of the bracket in the direction that the tooth trace faces upwards; an output shaft of the driving motor is fixedly connected with the gear; camera and driving motor fixed connection for: collecting speckle images of a robot arm; a processor to: and controlling the driving motor to move according to the motion condition of the robot arm, so that the speckles are always positioned in the center of the camera imaging breadth. The beneficial effect of this application is: the strain condition of the industrial robot arm is measured without contacting the industrial robot.
Description
Technical Field
The invention relates to the field of robots, in particular to an industrial robot arm strain detection device.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. The subject of industrial machine technology is quite extensive and is summarized as a combined mechanical and microelectronic-mechanical integration technology.
And small deformation of each joint of the robot during movement can reflect the stress change condition of the industrial robot during movement. Many inspection methods address this problem by applying strain gauges to the arms of industrial robots, but application of strain gauges can interfere with the proper operation of the industrial robot. Also many other contact methods are measurements that affect the normal operation of an industrial robot.
Disclosure of Invention
The invention aims to solve the problems and provides an industrial robot arm strain detection device.
In a first aspect, the application provides an industrial robot arm strain detection device, wherein speckles are arranged on a robot arm, and the robot arm strain detection device comprises a support and an arc-shaped plate fixed at the top end of the support; the upper surface of the arc-shaped plate is provided with an inner slideway, a rack and an outer slideway from the circle center to the outside in sequence;
The rack is connected with a gear in a meshing manner; the two ends of the gear are respectively and fixedly connected with a driving motor and a camera fixing seat; the driving motor and the camera fixing seat are respectively clamped in the inner slideway and the outer slideway in a sliding manner;
the robot arm is positioned on one side of the arc-shaped plate in the circle center direction, and the speckles face the camera fixing seat;
The camera fixing seat is provided with a camera and is configured for acquiring images of the robot arm;
The bracket is also provided with a control module which is in signal connection with the camera and the driving motor;
The control module is configured to: receiving the image of the camera, determining the real-time position information of the speckles in the image, determining a regulation parameter according to the difference value between the real-time position information and the central position of the image, and controlling the driving motor to move according to the regulation parameter, so that the speckles are located at the central position of the image.
According to the technical scheme provided by the embodiment of the application, the horizontal distance between the robot arm and the support is any value in the range from the length of the robot arm to 1.2 times of the length of the robot arm.
according to the technical scheme provided by the embodiment of the application, the central angle of the arc-shaped plate is any value in the range of 180-220 degrees.
According to the technical scheme provided by the embodiment of the application, the gear is connected with the camera fixing seat through the bearing.
According to the technical scheme provided by the embodiment of the application, the inner slide way, the rack and the outer slide way are respectively arcs with the same central angle on three concentric circles.
The invention has the beneficial effects that: speckles are arranged on the robot arm, a support is arranged at a position which is a certain distance away from the robot arm, an arc-shaped plate is arranged at the top end of the support, and an inner slideway, a rack and an outer slideway are sequentially arranged on the upper surface of the arc-shaped plate from the circle center to the outside; the rack is connected with a gear in a meshing manner; the two ends of the gear are respectively and fixedly connected with a driving motor and a camera fixing seat; the driving motor and the camera fixing seat are respectively clamped in the inner slideway and the outer slideway in a sliding manner. The camera can move along the arc-shaped slide way through the driving motor, so that the speckle can be followed and collected. The slideway for the camera to move is arranged in the arc shape, so that the camera can collect speckle images in a space range and can only collect the speckle images in one plane when exceeding a linear slideway.
according to the technical scheme provided by the embodiment of the application, the horizontal distance between the robot arm and the support is any value within the range from the arm length of the robot arm to 1.2 times of the arm length of the robot arm, the distance between the support and the robot arm is set to be a value within the range from the arm length of the robot arm to 1.2 times of the arm length of the robot arm, when the robot arm extends towards the support, the robot arm cannot hit the support or a camera on the support, and the stability of the camera is guaranteed.
According to the technical scheme provided by the embodiment of the application, the central angle of the arc-shaped plate is any value in the range of 180-220 degrees. The central angle of the arc is set to a value within this range in order to enable the camera to acquire images of speckles over a spatial range greater than 180 °.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present application;
FIG. 2 is a schematic view of a camera, a camera slide rail system and a bracket according to a first embodiment of the present application;
the text labels in the figures are represented as: 110. a robot arm; 210. a camera fixing base; 211. a camera; 220. a drive motor; 231. an inner slide way; 232. a rack; 233. an outer slide way; 240. a support; 250. a gear.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
as shown in fig. 1, which is a schematic structural diagram of a first embodiment of the present application, speckles are disposed on the robot arm 110, in this embodiment, a layer of white pigment is uniformly applied to a set position of the robot arm 110, and a black pigment is uniformly applied to a surface of the white pigment to form uniform patterns of speckles. In this embodiment, the robot arm 110 moves according to the setting program, the stress change of the set part of the robot arm 110 occurs along with the movement angle, the movement time and the load condition of the robot arm, and the speckle images of the set part are collected, so that the stress change condition before and after the movement of the set part of the robot arm 110 can be effectively compared.
the embodiment comprises the following steps: a bracket 240 and an arc-shaped plate fixed at the top end of the bracket; the upper surface of the arc-shaped plate is respectively provided with three slideways, and an inner slideway 231, a rack 232 and an outer slideway 233 are sequentially arranged from the circle center of the arc-shaped plate to the outer direction. In the present embodiment, the inner slide 231, the rack 232, and the outer slide 233 are concentric arc structures, that is, the inner slide 231, the rack 232, and the outer slide 233 have the same central angle.
In a preferred embodiment, the horizontal distance between the support 240 and the robot arm 110 is any value in the range from the arm length of the robot arm 110 to 1.2 times the arm length of the robot arm 110. In this embodiment the robot has one robot arm, in other embodiments the robot may also have a plurality of robot arms. When the robot has a plurality of robot arms, the horizontal distance of the stand 240 from the robot arms is a minimum of the sum of all the robot arm lengths and a maximum of 1.2 times the sum of all the robot arm lengths. The horizontal distance between the support 240 and the robot arm 110 within this range is set to ensure that the robot arm 110 has enough movement space during movement so as not to contact the support 240 and other devices on the support 240.
A gear 250 is engaged with the rack 232, and the gear 250 moves on the rack 232 by engaging with the rack 232.
two ends of the gear 250 are respectively and fixedly connected with a driving motor 220 and a camera fixing seat 210; the driving motor 220 and the camera fixing base 210 are slidably engaged with the inner slide 231 and the outer slide 233, respectively.
In this embodiment, the output shaft of the driving motor 220 is fixedly connected to one end of the gear 250, and the output shaft of the driving motor 220 rotates according to a set frequency during the operation process, and the output shaft is fixedly connected to the gear 250 to drive the gear 250 to rotate continuously, so that the rotating gear 250 moves on the engaged rack 232, and the gear 250 moves on the rack 232 and simultaneously drives the driving motor 220 fixedly connected to the gear 250 to move in the inner slide 231 where the gear 250 is located. Since the inner slide 231 on which the driving motor 220 is located and the rack 232 on which the gear 250 is located are arcs having the same central angle on two concentric circles, the driving motor 220 and the gear 250 have the same angular displacement in the same time. The driving motor 220 is disposed on the inner slide 231 to ensure that the driving motor 220 has better stability and balance during the moving process.
The camera fixing base 210 is fixedly connected to the other end of the gear 250, and in a preferred embodiment, the camera fixing base 210 is connected to the gear 250 through a bearing.
The gear 250 moves on the rack 232 to drive the camera fixing seat 210 connected with the gear 250 to move on the outer slide rail 233 clamped with the gear 250. Since the outer slide 233 on which the camera fixing base 210 is located and the rack 232 on which the gear 250 is located are arc-shaped with the same central angle on two concentric circles, the camera fixing base 210 and the gear 250 have the same angular displacement in the same time. The camera fixing base 210 is disposed on the outer sliding way 233 to ensure that the camera fixing base 210 has better stability and balance during the moving process.
The robot arm 110 is located at one side of the arc plate in the direction of the center of the circle, and when the robot arm is at the initial setting position, the speckles face the camera fixing base 210.
In the present embodiment, the camera fixing base 210 is mounted with a camera 211 configured to capture an image of the robot arm 110.
The moving track of the camera fixing base 210 is designed to move on the arc-shaped outer slide 233, and compared with a straight slide, the shooting range and the shooting angle are larger, the shooting range of the camera 211 in the camera fixing base 210 is expanded from a plane to a space, and the situation that speckles cannot be shot due to the movement of the robot arm 110 can be effectively prevented.
In a preferred embodiment, the central angle of the arc plate is any value in the range of 180 ° to 220 °, that is, the central angle of the outer slide 233 where the camera fixing base 210 is located is also any value in the range of 180 ° to 220 °. The arc length of the rack 232 is an arc line with the arm length of the robot or 1.2 times of the arm length as the radius and the central angle of the arc line in the range of 180-220 degrees on the center of a circle with the center of the robot body as the center. Within this angle, the camera mount 210 located on the outer race 233 may be enabled to follow the motion of the robotic arm 110 in space.
The bracket 240 is also provided with a control module in signal connection with the camera 211 and the driving motor 220.
The control module is configured to: receiving the image of the camera 211, determining the real-time position information of the speckles in the image, determining a control parameter according to the difference between the real-time position information and the central position of the image, and controlling the driving motor 220 to move according to the control parameter, so that the speckles fall on the central position of the image.
In this embodiment, in the detection apparatus of the present application, at the initial arrangement stage, the speckle of the robot arm 110 is directly facing to the center position of the imaging format of the camera, and then, in the moving process of the robot arm 110, the camera 211 should collect an image when the speckle is located at the center of the imaging format, so that the position of the camera 211 needs to be continuously adjusted along with the movement of the robot arm 110, so that the speckle image can be displayed at the center of the imaging format of the camera. In this embodiment, the camera 211 is driven by the driving motor 220 to move on the outer slide 233.
in this embodiment, in the process of the continuous movement of the robot arm 110, if the camera 211 is stationary, on one hand, when the robot arm 110 moves to a certain range, the camera 211 cannot acquire a speckle image; on the other hand, when the robot arm 110 moves to a position far away from the camera 211, the speckle image collected by the camera 211 is located at the edge position of the imaging breadth, the image at the edge position of the imaging breadth has larger distortion compared with the image at the center position, the collected speckle image is inaccurate and real, and further, the speckle strain calculation has larger deviation, so that the camera 211 is designed to be a structure which can move along with the movement of the robot arm 110, the following of the camera 211 to the speckle of the robot arm 110 can be effectively ensured, and the speckle image shot by the camera 211 can be located at the center position of the imaging breadth all the time.
Before the control module controls the driving motor 220 to move, the camera 211 needs to be externally calibrated, and the control parameters obtained in the external calibration process indicate the number of steps that the driving motor 220 needs to move when the speckle image moves from the edge position to the center position of the imaging format, that is, the final result is: the displacement of the speckle image in the horizontal direction of the imaging swath corresponds to the number of steps of the drive motor 220. In the embodiment, the capturing frequency of the camera 211 is 30ms, and the horizontal displacement of the movement of the robot arm 110 within 30ms does not exceed the field-of-view capturing range of the camera 211, so that the speckle images of the robot arm 110 can be captured within the movable range of the camera 211 by default.
When the speckle images collected in the imaging breadth of the camera 211 are located at the edge position of the imaging breadth, the control parameters determined by external parameter calibration can be used for calculating the direction to which the driving motor 220 needs to move by how many steps so that the speckle images at the edge position can be moved to be the central position of the imaging breadth. Since the external reference calibration process is a conventional technology in the image processing industry, it is not described herein again.
The control module calculates the strain test result of the set part of the robot arm 110 according to the speckle image information sent by the camera 211. In this embodiment, the control module may implement analysis and calculation of the image and storage of the strain result through setting software, and represent the result in the form of data, a graph and a cloud.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (5)
1. The utility model provides an industrial robot arm strain detection device, be equipped with the speckle on the robot arm, its characterized in that: comprises a bracket and an arc-shaped plate fixed at the top end of the bracket; the upper surface of the arc-shaped plate is provided with an inner slideway, a rack and an outer slideway from the circle center to the outside in sequence;
The rack is connected with a gear in a meshing manner; the two ends of the gear are respectively and fixedly connected with a driving motor and a camera fixing seat; the driving motor and the camera fixing seat are respectively clamped in the inner slideway and the outer slideway in a sliding manner;
the robot arm is positioned on one side of the arc-shaped plate in the circle center direction, and the speckles face the camera fixing seat;
the camera fixing seat is provided with a camera and is configured for acquiring images of the robot arm;
The bracket is also provided with a control module which is in signal connection with the camera and the driving motor;
The control module is configured to: receiving the image of the camera, determining the real-time position information of the speckles in the image, determining a regulation parameter according to the difference value between the real-time position information and the central position of the image, and controlling the driving motor to move according to the regulation parameter, so that the speckles are located at the central position of the image.
2. The industrial robot arm strain detection device of claim 1, wherein the horizontal distance between the robot arm and the support is any value in the range of the robot arm length to 1.2 times the robot arm length.
3. The industrial robot arm strain sensing device of claim 1, wherein the arc plate has a central angle of any value in the range of 180 ° to 220 °.
4. the industrial robot arm strain sensing device of claim 1, wherein the gear is coupled to the camera mounting base via a bearing.
5. The industrial robot arm strain detection device according to any of claims 1-4, wherein the inner slide, the rack, and the outer slide are each arc-shaped with the same central angle on three concentric circles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920416287.4U CN209737650U (en) | 2019-03-29 | 2019-03-29 | Industrial robot arm strain detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920416287.4U CN209737650U (en) | 2019-03-29 | 2019-03-29 | Industrial robot arm strain detection device |
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| CN209737650U true CN209737650U (en) | 2019-12-06 |
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| CN201920416287.4U Expired - Fee Related CN209737650U (en) | 2019-03-29 | 2019-03-29 | Industrial robot arm strain detection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807935A (en) * | 2019-03-29 | 2019-05-28 | 河北工业大学 | A kind of industrial robot arm strain-Sensing device and method |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807935A (en) * | 2019-03-29 | 2019-05-28 | 河北工业大学 | A kind of industrial robot arm strain-Sensing device and method |
| CN109807935B (en) * | 2019-03-29 | 2023-12-19 | 湖南第一师范学院 | Industrial robot arm strain detection device and method |
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Granted publication date: 20191206 |