CN105127974A - Intelligent mobile operation arm having mechanical testing function - Google Patents
Intelligent mobile operation arm having mechanical testing function Download PDFInfo
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- CN105127974A CN105127974A CN201510607742.5A CN201510607742A CN105127974A CN 105127974 A CN105127974 A CN 105127974A CN 201510607742 A CN201510607742 A CN 201510607742A CN 105127974 A CN105127974 A CN 105127974A
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Abstract
The invention relates to an intelligent mobile operation arm, in particular to an intelligent mobile operation arm having a mechanical testing function. The problems that an existing mechanical arm cannot perform teleoperation based on visual force, unfavorable for guaranteeing operation mechanism and human safety, contact force of a device and an operation end cannot be measured, the feasibility of the device cannot be judged, and cooperative work of a mobile platform and the operating mechanical arm cannot be achieved are solved. The intelligent mobile operation arm comprises a mobile platform (1), a mechanical arm lifting device (2) and a mechanical arm (3). The mechanical arm lifting device (2) is installed on the mobile platform (1), and the mechanical arm (3) is installed on the mechanical arm lifting device (2). The intelligent mobile operation arm is suitable for robot remote operation, robot mechanical testing and robot information feedback control.
Description
Technical field
The present invention relates to a kind of intelligent mobile operation arm, be specifically related to a kind of intelligent mobile operation arm with mechanical test function.
Background technology
Industrial robot is multi-joint manipulator towards industrial circle or multivariant installations.Industrial robot has a wide range of applications at society, all plays an important role in welding, mopping, assembling, collection and placement, Product checking and test etc.But in some environments, as the application under the environment such as the nuclear power disaster relief, fire is also few, this field still has very large researching value.
The Developing Application of industry mobile robot is very extensive, has wide practical use in factory automation, building, mining, military affairs, service, agricultural etc.Mobile robot is mainly divided into crawler type, takes turns sufficient formula and leg foot formula, and in different environment, all kinds are all widely used.But current industrial mobile robot can only carry out information detection, seldom has operation function, cannot meet the demand of current industrialization dexterous robot operation.
Mechanical arm is divided into multi-joint cartesian coordinate mechanical arm according to the difference of version, rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc.Along with the development of science and technology, the degree of flexibility of mechanical arm improves greatly, and its application is also more and more extensive.But the mechanical arm arm length of fixed pedestal is limited, cannot work in a big way.In sum, existing mechanical arm exists cannot the force feedback remote operating of view-based access control model, is unfavorable for the safety ensureing Working mechanism and the mankind; Cannot determinator and operation termination touch, can not the feasibility of decision maker; Platform cannot realize the problem of the collaborative work of mobile platform and working rig mechanical arm.
Summary of the invention
The object of the invention is cannot the force feedback remote operating of view-based access control model in order to solve that existing mechanical arm exists, and is unfavorable for the safety ensureing Working mechanism and the mankind; Cannot determinator and operation termination touch, can not the feasibility of decision maker; Platform cannot realize the problem of the collaborative work of mobile platform and working rig mechanical arm.And then a kind of intelligent mobile operation arm with mechanical test function is provided.
Technical scheme of the present invention is: a kind of intelligent mobile operation arm with mechanical test function comprises mobile platform, mechanical arm lowering or hoisting gear and mechanical arm, and mechanical arm lowering or hoisting gear is installed on a mobile platform, and mechanical arm is arranged on mechanical arm lowering or hoisting gear,
Mobile platform comprises laser tracker, load bracket, camera, control cabinet, platform support and movable pulley, load bracket is welded on platform support, laser tracker is arranged on the upper end of load bracket, camera is arranged on the lower end of load bracket, control cabinet is arranged on the side of platform support, movable pulley is arranged on the bottom of platform support
Mechanical arm lowering or hoisting gear comprises keyset, handwheel, two interior support arms, two outer support arms, screw rod and bases, keyset and base be arranged in parallel up and down, two interior support arms and two mutual rotatable interconnections of outer support arm are on the lower surface of keyset and the upper surface of base, handwheel is arranged on the lateral surface of keyset, and support arm and outer support arm move horizontally in being driven by screw rod
Mechanical arm comprises sensor connecting plate, the first sextuple sensor, base spiral arm, linking arm, the second sextuple sensor and enabling end effector, first sextuple sensor is arranged on the upper of sensor connecting plate, one end of base spiral arm is connected with the first sextuple sensor, the other end of base spiral arm is connected with one end of linking arm, the other end of linking arm is connected with the second sextuple sensor, and enabling end effector is connected with the second sextuple sensor.
The present invention compared with prior art has following effect:
1. the present invention is on the basis of protection people and device itself, can be implemented in high efficiency enabling under the environment that the mankind such as the nuclear power disaster relief, fire should not enter or twists the function of valve.The present invention can carry out operated from a distance, greatly protects the safety of people; Can mechanical test be carried out, be convenient to understand device operability practically.Simultaneously; the present invention is in order to realize the dexterous operation of intelligence for unknown manipulating object; design and Implement force-feedback control; this is a kind of embodiment of intelligent machine mechanical arm, when force-feedback control is opened, when mechanical arm encounters object or person; due to stressed excessive; mechanical arm can automatic stop motion, plays the effect of protection apparatus for work and manipulating object, has important effect for the force estimation of manipulating object and geometric parameter assessment simultaneously.
2. platform of the present invention installs laser tracker and camera on wheel moving platform, understands the movement environment of platform with handled easily person, thus suitably the form of reconditioner mechanical arm carries out operation, and then realizes operated from a distance function; The drive unit of mobile platform and mechanical arm puts together by platform, carries out concentrated protection, and to improve degree of protection, reduction device taken up space.
3. six-dimension force sensor is installed at mechanical arm root and end and data is passed back so that operator's judgment means continues the feasibility of executing the task; For protection mechanical arm self and the safety of manipulating object, this device contains force-feedback control; When executing the task, by the design of control program, platform makes mobile platform and mechanical arm can collaborative work, realizes the maximization of operating efficiency.
4. end effector of the present invention can be changed, and can realize enabling, screw the function of valve.For door or the valve of multi-form, differing heights, by the height of the direct or indirect adjusting device of people, required function can be realized.The invention solves the demand that same device carries out different work, reduce cost of manufacture.
Accompanying drawing explanation
Fig. 1 is intelligent mobile operation mechanical arm overall structure schematic diagram, Fig. 2 is mobile platform structural representation, Fig. 3 is mechanical arm lifting device structure schematic diagram, Fig. 4 is mechanical arm structural representation, mechanical arm posture schematic diagram when Fig. 5 is enabling, mechanical arm posture schematic diagram when Fig. 6 is stubborn valve, Fig. 7 is the right view of mechanical arm lowering or hoisting gear, and Fig. 8 is the sectional view of Fig. 7 along A-A place.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described in conjunction with 1 to Fig. 8, a kind of intelligent mobile operation arm with mechanical test function of present embodiment comprises mobile platform 1, mechanical arm lowering or hoisting gear 2 and mechanical arm 3, mechanical arm lowering or hoisting gear 2 is arranged on mobile platform 1 by screw, mechanical arm 3 is arranged on mechanical arm lowering or hoisting gear 2
Mobile platform 1 comprises laser tracker 1-1, load bracket 1-2, camera 1-3, control cabinet 1-7, platform support 1-8 and movable pulley, load bracket 1-2 is welded on platform support 1-8, laser tracker 1-1 is arranged on the upper end of load bracket 1-2, camera 1-3 is arranged on the lower end of load bracket 1-2, control cabinet 1-7 is arranged on the side of platform support 1-8, movable pulley is arranged on the bottom of platform support 1-8
Mechanical arm lowering or hoisting gear 2 comprises keyset 2-1, handwheel 2-2, two interior support arm 2-3, two outer support arm 2-4, screw rod 2-6 and base 2-5, keyset 2-1 and base 2-5 be arranged in parallel up and down, two interior support arm 2-3 and two outer support arm 2-4 mutually rotatable interconnection on the upper surface of the lower surface of keyset 2-1 and base 2-5, handwheel 2-2 is arranged on the lateral surface of keyset 2-1, and support arm 2-3 and outer support arm 2-4 moves horizontally in being driven by screw rod 2-6
Mechanical arm 3 comprises sensor connecting plate 3-1, the first sextuple sensor 3-2, base spiral arm 3-3, linking arm, the second sextuple sensor 3-9 and enabling end effector 3-10, first sextuple sensor 3-2 is arranged on the upper of sensor connecting plate 3-1, one end of base spiral arm 3-3 is connected with the first sextuple sensor 3-2, the other end of base spiral arm 3-3 is connected with one end of linking arm, the other end of linking arm is connected with the second sextuple sensor 3-9, and enabling end effector 3-10 is connected with the second sextuple sensor 3-9.
The present invention, primarily of mobile platform and mechanical arm composition, is provided with camera on a mobile platform, with handled easily person to the movement environment understanding platform, thus the form of reconditioner mechanical arm, realize operated from a distance function; Put together by the drive unit of mobile platform and mechanical arm, carry out concentrated protection, to improve degree of protection, reduction device taken up space; Six-dimension force sensor is installed at mechanical arm root and end and data is passed back so that operator's judgment means continues the feasibility of executing the task; For protection mechanical arm self and the safety of manipulating object, this device contains force-feedback control; When executing the task, by the design of control program, making mobile platform and mechanical arm can collaborative work, realizing the maximization of operating efficiency.The present invention, on the basis of protection people and device itself, can be implemented in high efficiency enabling under the environment that the mankind such as the nuclear power disaster relief, fire should not enter or twists the function of valve.The present invention can carry out operated from a distance, greatly protects the safety of people; Can mechanical test be carried out, be convenient to understand device operability practically.Meanwhile, the present invention has force-feedback control, and this is a kind of embodiment of intelligent machine mechanical arm, and when force-feedback control is opened, when mechanical arm encounters object or person, due to stressed excessive, mechanical arm can automatic stop motion, plays the effect protecting apparatus for work and manipulating object.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate present embodiment, the mobile platform 1 of present embodiment also comprises multiple pawl seat 1-4, laser tracker 1-1 are arranged on load bracket 1-2 upper end by multiple pawl seat 1-4.Be convenient to connect, and realize the locking to laser tracker 1-1.Other composition is identical with detailed description of the invention one with annexation.
Detailed description of the invention three: composition graphs 1 and Fig. 2 illustrate present embodiment, the movable pulley of present embodiment comprises two front-wheel 1-6 and two trailing wheel 1-5, and two front-wheel 1-6 and two trailing wheel 1-5 are arranged on the bottom of platform support 1-8 from front to back successively.Move more flexible.Other composition is identical with detailed description of the invention two with annexation.
Detailed description of the invention four: composition graphs 1 and Fig. 2 illustrate present embodiment, the wheel body diameter of two trailing wheel 1-5 of present embodiment is less than the wheel body diameter of two front-wheel 1-6.Other composition is identical with detailed description of the invention two or three with annexation.
Detailed description of the invention five: composition graphs 3, Fig. 7 and Fig. 8 illustrates present embodiment, the mechanical arm lowering or hoisting gear 2 of present embodiment also comprises four chute 2-7 and two transverse axis 2-8, wherein two chute 2-7 are arranged on the lower surface of keyset 2-1, two other chute 2-7 is positioned at and is wherein arranged on the upper surface of base 2-5 immediately below two chute 2-7, wherein transverse axis 2-8 is rotatably arranged on the middle part of interior support arm 2-3 and outer support arm 2-4, an other transverse axis 2-8 is located on two chute 2-7 on the lower surface of keyset 2-1, and other transverse axis 2-8 two ends respectively support arm 2-4 outer with a group be connected, one end of screw rod 2-6 is connected with handwheel 2-2, the other end of screw rod 2-6 is through an other transverse axis 2-8.Be convenient to realize lifting action flexibly.Other composition is identical with detailed description of the invention four with annexation.
Detailed description of the invention six: composition graphs 1, Fig. 4 to Fig. 6 illustrate present embodiment, the linking arm of present embodiment comprises shoulder spiral arm 3-4, the first elbow spiral arm 3-5, the second elbow spiral arm 3-6, the 3rd elbow spiral arm 3-7 and wrist spiral arm 3-8, and shoulder spiral arm 3-4, the first elbow spiral arm 3-5, the second elbow spiral arm 3-6, the 3rd elbow spiral arm 3-7 and wrist spiral arm 3-8 are rotatably connected from left to right successively.Be convenient to ensure that every root spiral arm all can rotate around self gyroaxis, move more flexible.Other composition is identical with detailed description of the invention five with annexation.
The mobile platform 1 of present embodiment and the motion of mechanical arm 3 separate, non-interference.Mobile platform 1 and mechanical arm lowering or hoisting gear 2 are connected by screw, and mechanical arm lowering or hoisting gear 2 and mechanical arm 3 are connected by screw, and mechanical arm lowering or hoisting gear 2 plays a part reconditioner mechanical arm 3 height.
The laser tracker 1-1 of present embodiment is arranged on above load bracket 1-2, and is clamped by pawl seat 1-4 and the pawl on it and realize locking positioning.Camera 1-3 is arranged on below load bracket 1-2, is connected with load bracket 1-2 by screw.It is anterior that front-wheel 1-6 is arranged on mobile platform 1, and it is as driving wheel, the function having advance, retreat and turn to; Trailing wheel 1-5 is arranged on mobile platform 1 rear portion, and it is as driven pulley, changes the motion state of self along with the motion of front-wheel 1-6.Control cabinet 1-7 is bolted on the back upper place of mobile platform 1, and the drive unit of mobile platform and mechanical arm is all placed on the inside, so that concentrated protection.
The keyset 2-1 of present embodiment and base 2-5 is designed with chute 2-7 respectively, interior support arm 2-3 is connected by transverse axis 2-8 with in the middle part of outer support arm 2-4, can mutually rotate to each other, outer support arm 2-4 lower end and base 2-5 realize being rotatably assorted with minor axis, interior support arm 2-3 upper end and keyset 2-1 realize being rotatably assorted with minor axis, and interior support arm 2-3 lower end, outer support arm 2-4 upper end are arranged in the chute of base 2-5, keyset 2-1 respectively.Design like this, when the spacing of support arm 2-3 upper end and outer support arm 2-4 upper end in handwheel regulates, i.e. the height of adjustable mechanical arm lowering or hoisting gear 2.
The six-dimension force sensor 3-2 of present embodiment is arranged on above sensor keyset 3-1, for detecting the stressing conditions of mechanical arm root, and then realizes the motoricity decoupling zero of mechanical arm and mobile platform.Spiral arm 3-3 is arranged on above six-dimension force sensor 3-2, and shoulder spiral arm 3-4, elbow spiral arm 3-5, elbow spiral arm 3-6, wrist spiral arm 3-7, the equal installed in series in order of wrist spiral arm 3-8, every root spiral arm all can rotate around self gyroaxis.Six-dimension force sensor 3-9 is arranged on wrist spiral arm 3-8 end, and for detecting the stressing conditions of robot arm end effector, enabling end effector 3-10 is arranged on six-dimension force sensor 3-9 end, performs the job task opened the door.Need during enabling by door handle, as shown in Figure 5, state in a concave shape, is conducive to manipulating object forces such as door handles mechanical arm state.
The six-dimension force sensor 3-2 of present embodiment is arranged on above sensor keyset 3-1, for detecting the stressing conditions of mechanical arm root, and then realizes the motoricity decoupling zero of mechanical arm and mobile platform.Spiral arm 3-3 is arranged on above six-dimension force sensor 3-2, and shoulder spiral arm 3-4, elbow spiral arm 3-5, elbow spiral arm 3-6, wrist spiral arm 3-7, the equal installed in series in order of wrist spiral arm 3-8, every root spiral arm all can rotate around self gyroaxis.Six-dimension force sensor 3-9 is arranged on wrist spiral arm 3-8 end, for detecting the stressing conditions of robot arm end effector, twisting valve end actuator 3-11 and being arranged on six-dimension force sensor 3-9 end, performing the job task of twisting valve.Need to screw valve handle when twisting valve, mechanical arm state as shown in Figure 6, relies on the rotation in the 6th joint to realize screwing the function of valve handle.Mechanical arm tail end horizontal positioned is convenient to reduce mechanical arm inertial forces.
Operation principle:
The present invention is made up of wheel moving platform and mechanical arm.Before executing the task, operator passes through the height of the handwheel 2-2 reconditioner mechanical arm on rotating machinery arm elevator apparatus 2, to meet work requirements.When executing the task, platform operator can carry out operated from a distance by the camera 1-3 installed on a mobile platform to intelligent mobile operation mechanical arm.Move in effective object process in controller mechanical arm, platform only drives mobile platform 1 to move, mechanical arm 3 is in zero-bit state, to facilitate motion, simultaneously not yet when target, its force-feedback control is in opening, when intelligent machine mechanical arm meets people or object, intelligent machine mechanical arm can automatically stop and readjusting attitude, sustains damage to avoid object or mechanical arm.
The present invention can realize the effect that operated from a distance realizes enabling and stubborn valve.
Realize door opening function: when intelligent machine mechanical arm moves in front of the door under the driving of mobile platform 1, mobile platform 1 stop motion is closing forces FEEDBACK CONTROL simultaneously, and operator's Long-distance Control mechanical arm 3 forms door opening action.After robot arm end effector and door handle are locked, operator controls mobile platform 1 simultaneously and mechanical arm 3 realizes door opening function, makes enabling maximizing efficiency.Meanwhile, in door opening process, its force-bearing situation can be fed back to control inerface by mechanical arm root force snesor and end force snesor immediately, and convenient operation person checks force-bearing situation, avoids causing danger.
Realize twisting valve function: when mechanical arm moves to before valve under the driving of mobile platform 1, mobile platform 1 stop motion is closing forces FEEDBACK CONTROL simultaneously, and operator's Long-distance Control mechanical arm 3 is formed twists valve event.After robot arm end effector and valve handle are locked, operator controls mobile platform 1 simultaneously and mechanical arm 3 realizes twisting valve function, makes stubborn valve maximizing efficiency.Meanwhile, in stubborn valve process, its force-bearing situation can be fed back to control inerface by mechanical arm root force snesor and end force snesor immediately, and convenient operation person checks force-bearing situation, avoids causing danger.
Claims (6)
1. one kind has the intelligent mobile operation arm of mechanical test function, it is characterized in that: it comprises mobile platform (1), mechanical arm lowering or hoisting gear (2) and mechanical arm (3), mechanical arm lowering or hoisting gear (2) is arranged on mobile platform (1), mechanical arm (3) is arranged on mechanical arm lowering or hoisting gear (2)
Mobile platform (1) comprises laser tracker (1-1), load bracket (1-2), camera (1-3), control cabinet (1-7), platform support (1-8) and movable pulley, load bracket (1-2) is welded on platform support (1-8), laser tracker (1-1) is arranged on the upper end of load bracket (1-2), camera (1-3) is arranged on the lower end of load bracket (1-2), control cabinet (1-7) is arranged on the side of platform support (1-8), movable pulley is arranged on the bottom of platform support (1-8)
Mechanical arm lowering or hoisting gear (2) comprises keyset (2-1), handwheel (2-2), two interior support arms (2-3), two outer support arms (2-4), screw rod (2-6) and base (2-5), keyset (2-1) and base (2-5) be arranged in parallel up and down, two interior support arms (2-3) and two outer support arms (2-4) mutually rotatable interconnection on the upper surface of the lower surface of keyset (2-1) and base (2-5), handwheel (2-2) is arranged on the lateral surface of keyset (2-1), and support arm (2-3) and outer support arm (2-4) move horizontally in being driven by screw rod (2-6),
Mechanical arm (3) comprises sensor connecting plate (3-1), first sextuple sensor (3-2), base spiral arm (3-3), linking arm, second sextuple sensor (3-9) and enabling end effector (3-10), first sextuple sensor (3-2) is arranged on the upper of sensor connecting plate (3-1), one end of base spiral arm (3-3) is connected with the first sextuple sensor (3-2), the other end of base spiral arm (3-3) is connected with one end of linking arm, the other end of linking arm is connected with the second sextuple sensor (3-9), enabling end effector (3-10) is connected with the second sextuple sensor (3-9).
2. a kind of intelligent mobile operation arm with mechanical test function according to claim 1, it is characterized in that: mobile platform (1) also comprises multiple pawl seat (1-4), laser tracker (1-1) is arranged on the upper end of load bracket (1-2) by multiple pawl seat (1-4).
3. a kind of intelligent mobile operation arm with mechanical test function according to claim 2, it is characterized in that: movable pulley comprises two front-wheels (1-6) and two trailing wheels (1-5), two front-wheels (1-6) and two trailing wheels (1-5) are arranged on the bottom of platform support (1-8) from front to back successively.
4. a kind of intelligent mobile operation arm with mechanical test function according to claim 3, is characterized in that: the wheel body diameter of two trailing wheels (1-5) is less than the wheel body diameter of two front-wheels (1-6).
5. a kind of intelligent mobile operation arm with mechanical test function according to claim 4, it is characterized in that: mechanical arm lowering or hoisting gear (2) also comprises four chutes (2-7) and two transverse axis (2-8), wherein two chutes (2-7) are arranged on the lower surface of keyset (2-1), two other chute (2-7) is positioned at and is wherein arranged on the upper surface of base (2-5) immediately below two chutes (2-7), wherein transverse axis (2-8) is rotatably arranged on the middle part of interior support arm (2-3) and outer support arm (2-4), an other transverse axis (2-8) is located on two chutes (2-7) on the lower surface of keyset (2-1), and other transverse axis (2-8) two ends are connected with one group of outer support arm (2-4) respectively, one end of screw rod (2-6) is connected with handwheel (2-2), the other end of screw rod (2-6) is through an other transverse axis (2-8).
6. a kind of intelligent mobile operation arm with mechanical test function according to claim 5, it is characterized in that: linking arm comprises shoulder spiral arm (3-4), the first elbow spiral arm (3-5), the second elbow spiral arm (3-6), the 3rd elbow spiral arm (3-7) and wrist spiral arm (3-8), shoulder spiral arm (3-4), the first elbow spiral arm (3-5), the second elbow spiral arm (3-6), the 3rd elbow spiral arm (3-7) and wrist spiral arm (3-8) are rotatably connected from left to right successively.
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| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN108000477A (en) * | 2017-12-05 | 2018-05-08 | 哈尔滨工业大学 | A kind of complete main passive compliance robot of pose and screw valve method using the robot |
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| CN108000477A (en) * | 2017-12-05 | 2018-05-08 | 哈尔滨工业大学 | A kind of complete main passive compliance robot of pose and screw valve method using the robot |
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