CN105108764B - Intelligent robot mechanical hand and its control system - Google Patents
Intelligent robot mechanical hand and its control system Download PDFInfo
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- CN105108764B CN105108764B CN201510583523.8A CN201510583523A CN105108764B CN 105108764 B CN105108764 B CN 105108764B CN 201510583523 A CN201510583523 A CN 201510583523A CN 105108764 B CN105108764 B CN 105108764B
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Abstract
The invention discloses a kind of intelligent robot mechanical hand and its control system, including robot platform, two symmetrical fixed arms are fixedly connected with the robot platform, mutually symmetrical with lever arm is connected with by Damping rotation shaft on every fixed arm, every lever arm is made up of several mechanical arm units, it is connected by Damping rotation shaft between each mechanical arm unit, each mechanical arm unit is by lightweight armed lever, sonac and solenoid composition, sonac is provided with lightweight armed lever, solenoid is wound with lightweight armed lever between each Damping rotation shaft and sonac, solenoid is wound with nearly Damping rotation shaft end on two fixed arms；The present invention increases ultrasonic sensor on a robotic arm, being capable of automatic detection target object location, multiple inductance coils are increased on lightweight armed lever, changes two neighboring lightweight armed lever corner dimension by control coil size of current and direction, control machinery hand stably captures target object.
Description
Technical field
The invention belongs to mechano-electronic field, more particularly to a kind of intelligent robot mechanical hand and its control system.
Background technology
Robot is one of present popular research, has a mechanical hand in robot, and conventional mechanical hand does not possess intelligence
Feature, it is impossible to make corresponding detection to target object location and judge, therefore usually occur using leisure moments when target object is captured, grab askew etc. existing
As, it is impossible to stably capture target object.
The content of the invention
Goal of the invention：The invention provides a kind of intelligent robot mechanical hand and its control system, to solve prior art
The mechanical hand of middle robot usually occurs using leisure moments, grabs askew when target object is captured, it is impossible to stably capture the problem of target object.
Technical scheme：To achieve these goals, the present invention is employed the following technical solutions：
A kind of intelligent robot mechanical hand, including robot platform, are fixedly connected with two phases on the robot platform
Mutually symmetrical fixed arm, is connected with mutually symmetrical with lever arm by Damping rotation shaft on every fixed arm, if every lever arm by
Dry mechanical arm unit composition, is connected by Damping rotation shaft between each mechanical arm unit, each mechanical arm list
Unit is constituted by lightweight armed lever, sonac and solenoid, is provided with sonac on the lightweight armed lever, each resistance
Solenoid is wound with lightweight armed lever between Buddhist nun's rotating shaft and sonac, on two fixed arms on nearly Damping rotation shaft end
Solenoid is wound with.
Preferably, every lever arm is made up of 3 mechanical arm units.
Further, when the adjacent mechanical arm unit of each two remains straight line, positioned at Damping rotation shaft both sides
It is in 30 degree of angles between two solenoids.
Further, the fixed arm stretches out in robot platform.
Further, the lightweight armed lever can be freely rotated along coupled Damping rotation shaft.
Further, the sonac is ultrasonic distance-measuring sensor.
A kind of intelligent robot manipulator control system, including single-chip microcomputer, some sonacs, drive circuit and electromagnetism
Coil, wherein, each sonac is connected with single-chip microcomputer, and single-chip microcomputer connects some drive circuits, and every group of drive circuit connects
One group of solenoid is connect, each sonac is to having two groups of drive circuits, every group of drive circuit one group of solenoid of correspondence.
Preferably, the sonac is 6 groups, and drive circuit and some solenoids are 12 groups.
Beneficial effect：The present invention increased sonac on a robotic arm so as to being capable of automatic detection object position
Put, according to motor rotary principle, multiple inductance coils are increased on lightweight armed lever, by control coil size of current and direction
To change two neighboring lightweight armed lever corner dimension, so as to control machinery hand stably captures target object.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of two neighboring lightweight armed lever of the invention；
Fig. 3 is the structural representation of two neighboring solenoid L of the invention；
Fig. 4 is the partial structural diagram of Fig. 3；
Fig. 5 is present invention crawl and the principle schematic for discharging target object；
Fig. 6 is the schematic diagram of present invention crawl circular target object；
Fig. 7 is the schematic diagram of the positive eight prismatic target object of present invention crawl；
Fig. 8 is the control circuit system architecture diagram of the present invention.
Specific embodiment
The present invention is further described with reference to embodiment.
As shown in figs. 1-7, a kind of intelligent robot mechanical hand, it is characterised in that：Including robot platform, the robot
Two symmetrical fixed arm J are fixedly connected with platform, are connected with by Damping rotation shaft on every fixed arm J mutually symmetrical with
Lever arm, every lever arm is made up of several mechanical arm units, is turned by damping between each mechanical arm unit
Axle M is connected, and each mechanical arm unit is constituted by lightweight armed lever K, sonac C and solenoid L, the lightweight arm
Sonac C is provided with bar K, on the lightweight armed lever K between each Damping rotation shaft M and sonac C, electricity is wound with
Magnetic coil L, is wound with solenoid L on nearly Damping rotation shaft end on two fixed arms.
Every lever arm is made up of 3 mechanical arm units, and by arranging, each coil current is flowed to and electric current is big
Little direction and speed to control lever arm rotation.Judged by sonac C current active arm from target object away from
From regulation correspondence coil current size and Orientation makes 6 lever arms movements and while contact target object, then picks up the mesh
Mark object.
When the adjacent mechanical arm unit of each two remains straight line, positioned at two electromagnetism of Damping rotation shaft M both sides
It is in 30 degree of angles between coil L, solenoid is inlaid with mechanical arm unit, and is mutually about 30 degree of angles, when coil leads to
After electricity, there are two electrodes in coil two ends, are mutually repelled according to homopolarity, the principle that heteropole mutually attracts, by changing coil electrode direction,
Lightweight armed lever K can be allowed to rotate clockwise or counterclockwise respectively around Damping rotation shaft M, captured so as to control machinery arm or discharged
Target object；After solenoid L is powered, there are two electrodes in coil two ends, are mutually repelled according to homopolarity, the original that heteropole mutually attracts
Then, by changing coil electrode direction.
The fixed arm J stretches out in robot platform 13.
The lightweight armed lever K can be freely rotated along coupled Damping rotation shaft M.
The sonac be ultrasonic distance-measuring sensor, sonac be used for detect object from lightweight armed lever
Distance, to reach multiple lightweight armed levers while capturing the purpose of object, this can effectively prevent the target object during crawl
Tripped.
As shown in figure 1, a kind of intelligent robot mechanical hand, including robot platform 13, it is solid on the robot platform 13
Surely two symmetrical fixed arm J1 and J2 are connected with, on fixed arm J1 and J2, lever arm is connected to, when per an activity
When arm is made up of 3 mechanical arm units, i.e., lightweight armed lever K1, K2, K3 and fixed arm J1 pass sequentially through Damping rotation shaft M1, M2 and
M3 is connected, and fixed arm J2 passes sequentially through Damping rotation shaft M4, M5 with lightweight armed lever K4, K5, K6 and is connected with M6；Wherein lightweight arm
Sonac C1, C2, C3, C4, C5 and C6 are respectively arranged with bar K1, K2, K3, K4, K5 and K6；Each sonac C
And solenoid L is wound with the lightweight armed lever K between the Damping rotation shaft M being adjacent, wherein, sonac C1 and resistance
It is solenoid L1 between Buddhist nun rotating shaft M1, is solenoid L1, Damping rotation shaft M1 between sonac C1 and Damping rotation shaft M1
And sonac C2 between be L2, between sonac C2 and Damping rotation shaft M2 be solenoid L3, Damping rotation shaft M2 and
It is solenoid L4 between sonac C3, is solenoid L5 between sonac C3 and Damping rotation shaft M3, fixed arm
Solenoid L6 is wound with J1；Solenoid L7 is wound with fixed arm J2, between Damping rotation shaft M4 and sonac C4
For solenoid L8, it is solenoid L9, Damping rotation shaft M5 and sonac between sonac C4 and Damping rotation shaft M5
It is solenoid L10 between C5, is solenoid L11 between sonac C5 and Damping rotation shaft M6, Damping rotation shaft M6 and super
It is solenoid L12 between sonic transducer C6.
As shown in figure 5, when the S that N poles and the solenoid L2 that solenoid L1 is produced is produced is extremely closest, now line
Circle mutually attracts, and lightweight armed lever K1 will be slowly rotated clockwise around Damping rotation shaft M, realizes the action of crawl target object；Work as line
When the N poles that circle L1 is produced are extremely closest with the N of coil L2 generations, now coil mutually repels, and lightweight armed lever K1 will be around damping
Rotating shaft M is slowly rotated counterclockwise, realizes the action of release target object.
As shown in fig. 6, the current lightweight armed lever of sonac C1, C2, C3, C4, C5, C6 real-time detection is from cylindrical target
The distance of mark object, if lightweight armed lever K1 from cylinder farther out, adjust solenoid L1, L2 size of current and direction, make light
Matter armed lever K1 is rotated clockwise around Damping rotation shaft M1 so as to reach with a distance from cylindrical target object with other lightweight armed levers from
Cylinder is apart from equal.Then each coil current size and direction are adjusted according to this, are controlled each lightweight armed lever and are gradually received to center
Hold together, and each lightweight armed lever is equal with a distance from cylindrical target object all the time, final each lightweight armed lever contacts cylinder simultaneously
Target object, and snatching cylindrical target object.
As shown in fig. 7, when crawled target object is positive eight prismatic, its Grasp Modes is grabbed with cylindrical target object
Take mode to be similar to.The current mechanical arm of sonac C1, C2, C3, C4, C5, C6 real-time detection is from positive eight prismatic targets
The distance of object, if lightweight armed lever K1 from positive eight it is prismatic adjust solenoid L1, L2 size of current and direction farther out,
Lightweight armed lever K1 is made to rotate clockwise around Damping rotation shaft M1 so as to reach with a distance from positive eight prismatic target objects light with other
Matter armed lever from positive eight it is prismatic with a distance from it is equal.Then each coil current size and direction are adjusted according to this, control each lightweight arm
Bar is gradually drawn in center, and each lightweight armed lever is equal with a distance from positive eight prismatic target objects all the time, final each lightweight
Armed lever contacts positive eight prismatic target objects simultaneously, and captures positive eight prismatic target objects.
As shown in figure 8, a kind of control system of intelligent robot mechanical hand, including single-chip microcomputer, some sonacs, drive
Galvanic electricity road and solenoid, wherein, each sonac is connected with single-chip microcomputer, and single-chip microcomputer connects some drive circuits, often
Group drive circuit connects one group of solenoid, and each sonac is to having two groups of drive circuits, every group of drive circuit correspondence
One group of solenoid.
The sonac is 6 groups, and drive circuit and some solenoids are 12 groups.
Single-chip microcomputer Real-time Collection each ultrasound sensor data, then calculates analysis, is controlled by drive circuit corresponding
Solenoid current break-make, finally makes each lightweight armed lever action.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of intelligent robot mechanical hand, it is characterised in that：Including robot platform, it is fixedly connected on the robot platform
There are two symmetrical fixed arms, mutually symmetrical with lever arm is connected with by Damping rotation shaft on every fixed arm, live per
Swing arm is made up of several mechanical arm units, is connected by Damping rotation shaft between each mechanical arm unit, each machine
Tool hand unit is constituted by lightweight armed lever, sonac and solenoid, is provided with ultrasonic sensing on the lightweight armed lever
Device, is wound with solenoid, closely hinders on two fixed arms on the lightweight armed lever between each Damping rotation shaft and sonac
Solenoid is wound with Buddhist nun's rotating shaft end, when the adjacent mechanical arm unit of each two remains straight line, positioned at Damping rotation shaft
It is in 30 degree of angles between two solenoids of both sides.
2. intelligent robot mechanical hand according to claim 1, it is characterised in that：Every lever arm is mechanical by 3
Hand unit is constituted.
3. intelligent robot mechanical hand according to claim 1, it is characterised in that：The fixed arm stretches out in robot and puts down
Platform.
4. intelligent robot mechanical hand according to claim 1, it is characterised in that：The lightweight armed lever can along with its phase
The Damping rotation shaft of connection is freely rotated.
5. intelligent robot mechanical hand according to claim 1, it is characterised in that：The sonac is ultrasound
Away from sensor.
6. a kind of intelligent robot manipulator control system, it is characterised in that：Including robot platform, on the robot platform
Two symmetrical fixed arms are fixedly connected with, mutually symmetrical with activity is connected with by Damping rotation shaft on every fixed arm
Arm, every lever arm are made up of several mechanical arm units, are connected by Damping rotation shaft between each mechanical arm unit
Connect, each mechanical arm unit is constituted by lightweight armed lever, sonac and solenoid, is provided with the lightweight armed lever
Sonac, is wound with solenoid, two fixations on the lightweight armed lever between each Damping rotation shaft and sonac
Solenoid is wound with arm on nearly Damping rotation shaft end, when the adjacent mechanical arm unit of each two remains straight line,
It is in 30 degree of angles between two solenoids of Damping rotation shaft both sides；Also include single-chip microcomputer, some sonacs, driving
Circuit and solenoid, wherein, each sonac is connected with single-chip microcomputer, and single-chip microcomputer connects some drive circuits, per group
Drive circuit connects one group of solenoid, and each sonac is to having two groups of drive circuits, every group of drive circuit correspondence one
Group solenoid.
7. intelligent robot manipulator control system according to claim 6, it is characterised in that：The sonac is
6 groups, drive circuit and some solenoids are 12 groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510583523.8A CN105108764B (en) | 2015-09-14 | 2015-09-14 | Intelligent robot mechanical hand and its control system |
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| CN201510583523.8A CN105108764B (en) | 2015-09-14 | 2015-09-14 | Intelligent robot mechanical hand and its control system |
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| CN105108764A CN105108764A (en) | 2015-12-02 |
| CN105108764B true CN105108764B (en) | 2017-03-29 |
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| JP6325592B2 (en) * | 2016-03-30 | 2018-05-16 | ファナック株式会社 | Robot system |
| CN105710891A (en) * | 2016-04-12 | 2016-06-29 | 深圳市华星光电技术有限公司 | Refuse wood clamping device and method |
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| CN109968337A (en) * | 2018-12-26 | 2019-07-05 | 香港中文大学（深圳） | A kind of cantilever of hanger rail type tunnel crusing robot |
| CN110039562A (en) * | 2019-04-01 | 2019-07-23 | 清华大学 | A kind of magnetic fluid manipulator |
| CN111687871B (en) * | 2020-06-24 | 2022-03-08 | 中国矿业大学 | Electromagnetic drive's many joints of robot combination tongs |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
| CN112706153A (en) * | 2021-01-22 | 2021-04-27 | 北京航空航天大学 | Exoskeleton wearing mechanism |
| CN113942768B (en) * | 2021-09-15 | 2023-03-28 | 长沙中联重科环境产业有限公司 | Method, device and equipment for controlling telescopic arm bucket-holding feeding mechanism and sanitation vehicle |
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Effective date of registration: 20180604 Address after: 221000 Software Park E2-1102, Xuzhou Economic Development Zone, Jiangsu Patentee after: Jiangsu branch Intelligent Technology Co., Ltd. Address before: 211167 1 Hong Kong Avenue, Jiangning Science Park, Nanjing, Jiangsu Patentee before: Nanjing Institute of Technology |
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Effective date of registration: 20190118 Address after: 221000 Software Park E2-1328, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province Patentee after: Xuzhou Aiqi Robot Technology Co Ltd Address before: 221000 Software Park E2-1102, Xuzhou Economic Development Zone, Jiangsu Patentee before: Jiangsu branch Intelligent Technology Co., Ltd. |