CN108507469A - Slip detection device and its detection method - Google Patents
Slip detection device and its detection method Download PDFInfo
- Publication number
- CN108507469A CN108507469A CN201810522778.7A CN201810522778A CN108507469A CN 108507469 A CN108507469 A CN 108507469A CN 201810522778 A CN201810522778 A CN 201810522778A CN 108507469 A CN108507469 A CN 108507469A
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- CN
- China
- Prior art keywords
- lens
- mounting plate
- detection device
- pcb board
- slip detection
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Technical solution of the present invention discloses a kind of slip detection device and its detection method, including pedestal, mounting plate, pcb board, light emitting diode, lens, optical inductor and image analysis chip, the pcb board is removably installed on the pedestal, the mounting plate is set on the pcb board, the optical inductor is installed between the mounting plate and the pcb board, described image analysis chip is placed in the mounting plate and is electrically connected with the optical inductor, the light emitting diode is set in the mounting plate, the both ends of the lens are separately connected mounting plate and the pedestal and pass through the pcb board, the light emitting diode is contacted with the lens, the optical inductor is located above the lens；Technical solution of the present invention realizes control of the manipulator in crawl to torque, reduces the demand to installation space, and reduce the equipment manufacturing costs of sliding detection by the way that slip detection device is arranged in the robot.
Description
Technical field
The present invention relates to robot mechanical arm technical fields, more particularly, to a kind of slip detection device and its detection side
Method.
Background technology
In recent years, no matter robot technology has development at full speed in industry or in the application of civil field, and it is mechanical
Hand is the final executing agency of robot work.Therefore, it is very must to have the exploitation of the manipulator of high dexterity as people
It wants.
On existing manipulator the multiple foil gauges of slip detection device generally use (foil gauge is also known as resistance strain gage,
Operation principle is made based on strain effect, i.e., conductor or semi-conducting material generate mechanically deform under the action of external force
When, resistance value changes accordingly, this phenomenon be known as " strain effect ") superposition used.Due to foil gauge
Cost is higher, and this mode frequently can lead to the problem of expensive and taken up too much space.Also, it was captured in manipulator
Cheng Zhong, the control for the power needed for the different hardness of surface are to need to pay attention to very much, and the application of foil gauge can hardly be realized
Control to power.
Invention content
Present invention solves the technical problem that being that existing manipulator detection device cost is higher, installation space is larger, no
It can realize the control to power.
In order to solve the above technical problems, technical solution of the present invention provides a kind of slip detection device, is installed on robot
Manipulator in, wherein including pedestal, mounting plate, pcb board, light emitting diode, lens, optical inductor and image analysis chip,
The pcb board is removably installed on the pedestal, and the mounting plate is set on the pcb board, the optical inductor installation
Between the mounting plate and the PCB plates, described image analysis chip be placed in the mounting plate and with the optical inductor
Electrical connection, the light emitting diode are set in the mounting plate, and the both ends of the lens are separately connected mounting plate and the pedestal
And the pcb board is passed through, the light emitting diode is contacted with the lens, and the optical inductor is located above the lens.
Optionally, the lens are polymorphic structure, and the lens middle section is formed with the dome being directed downward, described
The polymorphic structure of mirror makes light enter in one end, and after reflexing to object to be detected surface, then reflecting focal is to described
In dome.
Optionally, the induction mouth of the optical inductor is located at the surface of the dome, the induction mouth of the optical inductor
For receiving the image information passed through the light in reflecting focal to the dome and formed.
Optionally, the hole passed through for the light of the reflection from lens is equipped in the pedestal, the dome is located at the hole
Top, and the straight line where the protrusion direction of the dome is vertical with the plane where the base-plates surface.
Optionally, the installation cavity for optical inductor installation is formed between the mounting plate and the pcb board.
Optionally, the mounting groove for installing the light emitting diode is equipped in the mounting plate.
Optionally, the opening passed through for the lens is equipped in the pcb board.
Optionally, it is installed by toothrow, row hole structure between the pedestal and the pcb board.
In order to solve the above technical problems, technical solution of the present invention also provides a kind of according to the above-mentioned arbitrary sliding inspection
Survey the detection method of device, wherein the detection method is as follows：
Slip detection device is placed in above object to be detected, and light emitting diode emits light, by reflection from lens to tested
It surveys body surface, then reflective portion light and converges to and received by optical inductor at dome and form image；Work as object to be detected
When sliding, photo-sensing device can record its sliding trace and form the coherent image of one group of high-speed capture, then pass through image point
Analysis chip analyzes the variation of image progress characteristic point position direction and the distance to judge object to be detected sliding；It obtains
After the glide direction and distance of testee, the electric current of driving motor is adjusted by the motor drive ic being installed in robot
The upper limit, to increase the torque of manipulator crawl.
Optionally, described image analysis chip, the motor drive ic background communication are connected to CPU.
The advantageous effect of technical solution of the present invention is：
The present invention realizes control of the manipulator in crawl to torque by the way that slip detection device is arranged in the robot
System, reduces the demand to installation space, and reduces the equipment manufacturing costs of sliding detection.
Description of the drawings
Fig. 1 is the structural schematic diagram of slip detection device in the embodiment of the present invention.
Specific implementation mode：
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connects, and can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature right over second feature and oblique upper, or be merely representative of
Fisrt feature level height is less than second feature.
It is shown in Figure 1, it shows a kind of slip detection device of embodiment, is installed in the manipulator of robot,
At the joint position of the specific manipulator for being installed on robot and/or at palm position.Including pedestal 1, mounting plate 2, pcb board
3, light emitting diode 4, lens 5, optical inductor 6 and image analysis chip (due to being installed in mounting plate, therefore being not shown), PCB
Plate 3 is removably installed on pedestal 1, and mounting plate 2 is set on pcb board 3, and optical inductor 6 is installed on mounting plate 2 and pcb board 3
Between, image analysis chip is placed in mounting plate 2 and is electrically connected with optical inductor 6, and light emitting diode 4 is set in mounting plate 2, thoroughly
The both ends of mirror 5 are separately connected mounting plate 2 and pedestal 1 and pcb board 3, light emitting diode 4 are passed through to be contacted with lens 5, optical inductor 6
Above lens 5.
In the present embodiment, lens 5 are polymorphic structure, and 5 middle section of lens is formed with the dome 51 being directed downward, lens 5
Polymorphic structure light is entered in one end, after reflexing to 200 surface of object to be detected, then reflecting focal is to convex
In circle 51.5 lower section of further lens has fulcrum, is supported on pedestal 1, and have to be supported on spike on pedestal 1
52, increase the mounting stability of lens 5.
In the present embodiment, the induction mouth of optical inductor 6 is located at the surface of dome 51, and the induction mouth of optical inductor 6 is used for
Receive the image information formed by the light in reflecting focal to dome 51.
In the present embodiment, the hole 10 passed through for the light that lens 5 reflect is equipped in pedestal 1, dome 51 is located at the upper of hole 10
Side, and the straight line where the protrusion direction of dome 51 is vertical with the plane where 1 surface of pedestal.
In the present embodiment, the installation cavity 9 installed for optical inductor 6 is formed between mounting plate 2 and pcb board 3, further
It is equipped with that the support element 7 of lens 5, support element 7 is further supported to contact with lens in installation cavity 9, and contact portion profile
With 5 profile of lens.
In the present embodiment, the mounting groove 8 of installation light emitting diode 5, the stitch 41 of light emitting diode 4 are equipped in mounting plate 2
Across pcb board 3, it is equipped with the opening 33 passed through for lens 5 in pcb board 3, passes through toothrow 11, round between pedestal 1 and pcb board 3
31 structures are installed, and pcb board 3 is fixed on pedestal 1 by toothrow 11 across round 31, and pcb board 3 has support leg 32, support element 32
Resist 1 surface of pedestal.
In the present embodiment, further includes driving motor (not shown) at robotic hand joint position and be installed on joint
In motor drive ic (not shown), driving motor is electrically connected with motor drive ic, and driving motor is to driving manipulator
Joint.
Pass through the following characteristic and function for illustrating the further insight present invention.
A kind of detection method according to above-mentioned arbitrary slip detection device is also provided in the present embodiment, wherein detection side
Method is as follows：
As shown in Figure 1, slip detection device 100 is placed in above object to be detected 200,10 face object to be detected 200 of hole,
Light emitting diode 4 emits light, by the reflection repeatedly (referring to direction shown in arrow in Fig. 1) of lens 5 to object to be detected
200 surfaces, then the light of reflective portion and converge in dome 51, dome 51 again converges to light in optical inductor 6, light
Inductor 6 receives image information and sends that information to image analysis chip, and image analysis chip is to the image that receives
It is analyzed.
When object to be detected 200 slides, optical inductor 6 can record its sliding trace and form one group of high-speed capture
Coherent image, then the variation of the image group progress characteristic point position received is analyzed by image analysis chip to judge
The direction and distance that object to be detected 200 slides；After obtaining the glide direction and distance of object to be detected 200, background controller
CPU controls are installed on the upper current limit that the motor drive ic in robot adjusts driving motor, to increase manipulator crawl
Torque.
In the present embodiment, image analysis chip, motor drive ic background communication are connected to CPU, image analysis chip, electricity
Information exchange between machine driving chip is controlled by CPU, i.e. the good data information of image analysis chip analysis is sent to CPU,
CPU controls motor drive ic to control driving motor running after reprocessing.
It is further explained below：
The present invention installs vision slip detection device 100 on manipulator finger and palm, not for installation accuracy
There is particular/special requirement.Vision slip detection device 100 detects the distance planar slided within the unit interval and direction.In vision
After slip detection device 100 detects sliding, manipulator is according to the distance and direction slided in the unit interval, adjustment crawl object
Torque needed for body.
Vision slip detection device 100 is mainly by a light emitting diode 4, optical lens 5, optical inductor 6 and image point
Chip composition is analysed, light emitting diode 4 illuminates the surface detected required for vision slip detection device 100, so by emitting beam
A part of light returned afterwards by detecting surface reflection, and be transferred in optical inductor 6 by optical lens 5 and form image.
When object to be detected 200 moves, optical inductor 6 can record its motion track and form one group of high-speed capture
Coherent picture, then the variation of these images progress characteristic point position is analyzed by image analysis chip to judge to be detected
The direction of object movement and distance.
After the glide direction and distance for obtaining testee, the upper limit of electric current is adjusted by motor drive ic, to
Increase the torque of manipulator crawl.
Optionally, the model ADNS9500 of vision slip detection device 100, the type of the motor drive ic of adjustable current
Number it is TB659FTG, vision slip detection device manufacturing cost of the invention is low, and installation is simple, does not have special want to installation accuracy
It asks, it is small, light-weight, it can realize Torque Control when manipulator crawl.
It these are only preferred embodiments of the present invention, be not intended to limit the implementation manners and the protection scope of the present invention, it is right
For those skilled in the art, it should can appreciate that and all be replaced with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of slip detection device, is installed in the manipulator of robot, which is characterized in that including pedestal, mounting plate, PCB
Plate, light emitting diode, lens, optical inductor and image analysis chip, the pcb board are removably installed on the pedestal,
The mounting plate is set on the pcb board, and the optical inductor is installed between the mounting plate and the pcb board, the figure
It is placed in the mounting plate as analysis chip and is electrically connected with the optical inductor, the light emitting diode is set to the mounting plate
In, the both ends of the lens are separately connected mounting plate and the pedestal and pass through the pcb board, the light emitting diode with it is described
Lens contact, and the optical inductor is located above the lens.
2. slip detection device according to claim 1, which is characterized in that the lens are polymorphic structure, the lens
Middle section is formed with the dome being directed downward, and the polymorphic structure of the lens makes light enter in one end, by reflection
To object to be detected surface, then in reflecting focal to the dome.
3. slip detection device according to claim 2, which is characterized in that the induction mouth of the optical inductor is located at described
The surface of dome, the induction mouth of the optical inductor are used to receive by the light formation in reflecting focal to the dome
Image information.
4. slip detection device according to claim 3, which is characterized in that be equipped in the pedestal and supply the reflection from lens
The hole that passes through of light, the dome is located at the top in the hole, and the straight line where the protrusion direction of the dome with it is described
Plane where base-plates surface is vertical.
5. slip detection device according to claim 1, which is characterized in that shape between the mounting plate and the pcb board
At the installation cavity having for optical inductor installation.
6. slip detection device according to claim 1, which is characterized in that be equipped in the mounting plate and install described shine
The mounting groove of diode.
7. slip detection device according to claim 1, which is characterized in that be equipped in the pcb board and worn for the lens
The opening crossed.
8. slip detection device according to claim 1, which is characterized in that pass through between the pedestal and the pcb board
Toothrow, row hole structure installation.
9. a kind of detection method according to the arbitrary slip detection devices of claim 1-9, which is characterized in that the detection
Method is as follows：
Slip detection device is placed in above object to be detected, and light emitting diode emits light, by reflection from lens to detected material
Body surface face, then reflective portion light and converge to and received by optical inductor at dome and form image；When object to be detected slides
When, photo-sensing device can record its sliding trace and form the coherent image of one group of high-speed capture, then pass through image analysis core
Piece analyzes the variation of image progress characteristic point position direction and the distance to judge object to be detected sliding；It is tested
After the glide direction and distance of object, adjusted on the electric current of driving motor by the motor drive ic being installed in robot
Limit, to increase the torque of manipulator crawl.
10. the detection method of slip detection device according to claim 1, which is characterized in that described image analysis chip,
The motor drive ic background communication is connected to CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810522778.7A CN108507469A (en) | 2018-05-28 | 2018-05-28 | Slip detection device and its detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810522778.7A CN108507469A (en) | 2018-05-28 | 2018-05-28 | Slip detection device and its detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108507469A true CN108507469A (en) | 2018-09-07 |
Family
ID=63401610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810522778.7A Pending CN108507469A (en) | 2018-05-28 | 2018-05-28 | Slip detection device and its detection method |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604902A (en) * | 2020-05-18 | 2020-09-01 | 哈尔滨工业大学 | Target sliding detection method suitable for manual operation of manipulator |
| CN112692854A (en) * | 2020-12-11 | 2021-04-23 | 合肥工业大学 | Flexible manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101427939A (en) * | 2008-11-21 | 2009-05-13 | 南开大学 | Electro-optical distance measurement system of non-contact measurement |
| CN204807044U (en) * | 2015-07-29 | 2015-11-25 | 中国西电电气股份有限公司 | Great -scale displacement sensor |
| CN106313095A (en) * | 2016-10-28 | 2017-01-11 | 福州大学 | Anti-slipping device of stacking manipulator gripper and working method of anti-slipping device |
| CN208269827U (en) * | 2018-05-28 | 2018-12-21 | 上海岭先机器人科技股份有限公司 | Slip detection device |
-
2018
- 2018-05-28 CN CN201810522778.7A patent/CN108507469A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101427939A (en) * | 2008-11-21 | 2009-05-13 | 南开大学 | Electro-optical distance measurement system of non-contact measurement |
| CN204807044U (en) * | 2015-07-29 | 2015-11-25 | 中国西电电气股份有限公司 | Great -scale displacement sensor |
| CN106313095A (en) * | 2016-10-28 | 2017-01-11 | 福州大学 | Anti-slipping device of stacking manipulator gripper and working method of anti-slipping device |
| CN208269827U (en) * | 2018-05-28 | 2018-12-21 | 上海岭先机器人科技股份有限公司 | Slip detection device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604902A (en) * | 2020-05-18 | 2020-09-01 | 哈尔滨工业大学 | Target sliding detection method suitable for manual operation of manipulator |
| CN111604902B (en) * | 2020-05-18 | 2022-06-03 | 哈尔滨工业大学 | Target sliding detection method suitable for manual operation of manipulator |
| CN112692854A (en) * | 2020-12-11 | 2021-04-23 | 合肥工业大学 | Flexible manipulator |
| CN112692854B (en) * | 2020-12-11 | 2022-04-01 | 合肥工业大学 | Flexible manipulator |
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