CN111872927A - Redundant mechanical arm and system for controlling redundant mechanical arm - Google Patents
Redundant mechanical arm and system for controlling redundant mechanical arm Download PDFInfo
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- CN111872927A CN111872927A CN202010738986.8A CN202010738986A CN111872927A CN 111872927 A CN111872927 A CN 111872927A CN 202010738986 A CN202010738986 A CN 202010738986A CN 111872927 A CN111872927 A CN 111872927A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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Abstract
The invention discloses a redundant mechanical arm which comprises a base, a joint arm frame and a grabbing and lifting component, wherein the joint arm frame is respectively connected with the base and the grabbing and lifting component and comprises a plurality of arm frames which are sequentially connected into a whole through hinged and offset sliding pairs so as to enable the degree of freedom of the configuration of the redundant mechanical arm to be adjustable; the grabbing and lifting component comprises a two-degree-of-freedom rotating and side-tipping device and a grabbing and lifting tool, wherein the two-degree-of-freedom rotating and side-tipping device is connected with the grabbing and lifting tool through a tool quick-change mechanism so that the grabbing and lifting tool can swing and rotate, and the grabbing and lifting tool has redundant spatial freedom. The redundant mechanical arm is adjustable in degree of freedom of configuration, folding and folding of the mechanical arm in a non-working state can be achieved, occupied space for placement is greatly reduced, and the mechanical arm is smaller in storage space and higher in portability and universality.
Description
Technical Field
The invention belongs to the field of engineering machinery, and particularly relates to a redundant mechanical arm and a system for controlling the redundant mechanical arm.
Background
At present, engineering mechanical arms are widely applied in outdoor and factory environments, for example, engineering machines such as various excavators, concrete pouring pump trucks, fellers and tail end hook type guarantee vehicles are all applied with mechanical arms, but the engineering mechanical arms of the type generally have the defects of small number of degrees of freedom, large tail end control difficulty, inconvenience in operation, large occupied space in a non-working state, difficulty in storage and transportation and the like.
In addition, nowadays of rapid development of science and technology, the traditional engineering machinery and control mode are gradually replaced by intelligent equipment and an intelligent control method, and the intelligent engineering machinery and the control method thereof usually realize iterative upgrade and intelligent control of the traditional engineering mechanical arm by mechanical transformation and development of an independent control system and an independent operating system on the basis of the existing engineering machinery configuration. However, the existing mechanical control system or method is an open-loop control and manual intervention regulation and control mode through manual visual inspection, the control precision is low, and when the tail end of the mechanical arm moves far away from an operator or the visual field of the operator is limited, great difficulty is caused to the operability and safety of mechanical arm control. In addition, although a large working space can be provided for the mechanical arm through a mode of connecting multi-stage arm support joints in series in a hinged mode on the same plane, the problem of lacking space freedom degree is still not solved, the problem that the mechanical arm cannot be effectively folded after being recovered or occupies a large space after being folded is also solved, and the like.
Therefore, how to provide a robot arm with various robot arm configurations and high precision and spatial redundancy becomes an urgent problem to be solved.
Disclosure of Invention
In view of the above problems, the present invention provides a redundant robot arm having various configurations and high-precision spatial redundancy, and a system for controlling the redundant robot arm.
The invention aims to provide a redundant mechanical arm, which comprises a base, a joint arm frame and a grabbing and lifting component, wherein the joint arm frame is respectively connected with the base and the grabbing and lifting component,
the joint arm frame comprises a plurality of arm frames, and the arm frames are sequentially connected into a whole through hinged and offset sliding pairs so that the degree of freedom of the configuration of the redundant mechanical arm can be adjusted;
the grabbing and lifting component comprises a two-degree-of-freedom rotating and side-tipping device and a grabbing and lifting tool, wherein the two-degree-of-freedom rotating and side-tipping device is connected with the grabbing and lifting tool through a tool quick-change mechanism so that the grabbing and lifting tool can swing and rotate, and the grabbing and lifting tool has redundant spatial freedom.
Further, the plurality of arm supports comprise a first amplitude-variable arm support, a second amplitude-variable arm support, a third amplitude-variable arm support, a telescopic arm support and a fourth amplitude-variable arm support, wherein,
one end of the first variable-amplitude arm support is hinged with the base, and the other end of the first variable-amplitude arm support is hinged with one end of the second variable-amplitude arm support;
the other end of the second variable-amplitude arm support is hinged with one end of a third variable-amplitude arm support, and the other end of the third variable-amplitude arm support is connected with one end of a telescopic arm support through a bias moving pair;
the other end of the telescopic arm frame is connected with one end of the fourth variable-amplitude arm frame through a link mechanism, and the other end of the fourth variable-amplitude arm frame is connected with the grabbing and lifting component through an arm frame quick-change mechanism.
Further, the offset sliding pair is arranged in an offset configuration mode, so that the geometric center planes of the third variable-amplitude arm support and the telescopic arm support are located on different planes.
Further, the mechanical arm also comprises a driving part, the driving part comprises a rotary motor, a first amplitude-variable driving cylinder, a second amplitude-variable driving cylinder, a telescopic driving cylinder, a fourth amplitude-variable driving cylinder, a boom quick-change mechanism driving cylinder, a side-tipping motor, a rotary motor and a tool quick-change mechanism driving cylinder, wherein,
the rotary motor is fixed on the base,
one end of the first amplitude-variable driving cylinder is hinged with the first amplitude-variable arm support, and the other end of the first amplitude-variable driving cylinder is hinged with the second amplitude-variable arm support;
one end of the second amplitude-variable driving cylinder is hinged with the second amplitude-variable arm support, and the other end of the second amplitude-variable driving cylinder is hinged with the third amplitude-variable arm support;
one end of the telescopic driving cylinder is fixedly connected with the third amplitude-variable arm support, and the other end of the telescopic driving cylinder is fixedly connected with the telescopic arm support;
one end of the fourth variable-amplitude driving cylinder is connected with the fourth variable-amplitude arm support, and the other end of the fourth variable-amplitude driving cylinder is connected with the connecting rod mechanism;
the driving cylinder of the arm support quick-change mechanism is arranged on the arm support quick-change mechanism;
the roll motor and the rotation motor are installed inside the two-degree-of-freedom rotation roll device;
and the driving cylinder of the tool quick-change mechanism is arranged inside the grabbing and lifting tool.
Further, the output rotation axes of the roll motor and the rotation motor are perpendicular to each other, so that the swing axis and the rotation axis of the two-degree-of-freedom rotation roll device perpendicularly intersect at a point in space.
Another object of the present invention is to provide a system for controlling a redundant robot arm, the system comprising an information acquisition device, a teleoperation device, a main controller and a drive controller, the main controller and the drive controller being disposed beside a base and fixed on the ground together with the base, wherein,
the information acquisition device is used for acquiring the motion data of the plurality of arm supports and the driving part and sending the motion data to the main controller;
the teleoperation device is used for splicing and displaying the multi-view-field images, generating a control instruction and sending the control instruction to the main controller;
the main controller is used for generating a motion instruction according to the control instruction and the motion data of the plurality of arm supports and the driving part and sending the motion instruction to the driving controller;
the driving controller is used for driving the driving part to move.
Further, the information acquisition device includes an encoder and a displacement sensor, wherein,
the encoders are respectively arranged on the arm supports and used for acquiring joint corners of the arm supports;
the displacement sensors are respectively arranged on a first amplitude-variable driving cylinder, a second amplitude-variable driving cylinder, a telescopic driving cylinder, a fourth amplitude-variable driving cylinder, a boom quick-change mechanism driving cylinder and a tool quick-change mechanism driving cylinder of the driving part and are used for measuring the cylinder body elongation of each driving cylinder.
Further, the teleoperation device comprises a multi-view image stitching system comprising an image stitching system and a plurality of image acquisition devices, wherein,
the image acquisition devices are fixedly arranged on the grabbing tool and used for acquiring image information of an external environment where the grabbing tool is located and sending the image information to the image splicing system;
the image splicing system is used for splicing the acquired image information, displaying the image information through the display screen and assisting an operator in operating.
Furthermore, the teleoperation device also comprises an operation handle, a working mode control button, an emergency stop button and a control button, and is used for man-machine interaction.
Further, the main controller is respectively connected with the teleoperation device, the driving controller, the encoder and the displacement sensor, and is used for receiving control instructions of the teleoperation device, joint angles of the plurality of arm supports and cylinder body extension amounts of the driving cylinders, and controlling the redundant mechanical arm to move.
The redundant mechanical arm comprises a bias moving pair two-degree-of-freedom rotating and side-tipping device, so that the mechanical arm forms a space with six degrees of freedom, and the motion of a simulated object in all six degrees of freedom in the space can be realized. The plurality of arm supports are connected by arranging the offset sliding pair, so that the arm sections of the mechanical arm are distributed on different planes, the mechanical arm can be folded and folded in a non-working state, occupied space for placement is greatly reduced, and the storage space of the mechanical arm is smaller and the portability and universality are higher.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 illustrates a schematic diagram of a redundant robotic arm in an embodiment of the present invention;
FIG. 2 illustrates a side view of a redundant robotic arm in an embodiment of the present invention;
FIG. 3 illustrates a side view of a folded state of a redundant robotic arm in an embodiment of the present invention;
FIG. 4 illustrates an illustration of a folded-state, axial-side structure of a redundant robotic arm, in accordance with an embodiment of the present invention;
fig. 5 is a structural display diagram of a teleoperation device in an embodiment of the invention;
FIG. 6 illustrates a plurality of image capture device installation diagrams in an embodiment of the present invention;
fig. 7 shows a schematic diagram of the main controller and drive controller installation in an embodiment of the invention.
Description of the drawings: 1. fixing a rotary base; 2. a first amplitude arm support; 3. a second amplitude-variable arm support; 4. a third amplitude arm support; 5. a telescopic arm support; 6. a fourth variable amplitude arm support; 7. a boom quick-change mechanism; 8. a two-degree-of-freedom rotational roll device; 9. a tool quick-change mechanism; 10. a grabbing and lifting tool; 11. a rotary motor; 12. a first amplitude-varying driving cylinder; 13. a second amplitude-variable driving cylinder; 14. a telescopic driving cylinder; 15. a fourth amplitude-variable driving cylinder; 16. the arm support quick-change mechanism drives the cylinder; 17. a roll motor; 18. a rotary motor; 19. a tool quick-change mechanism driving cylinder; 20. a multi-view image stitching system; 201. an image stitching system; 202. a plurality of image acquisition devices; 203. a display screen; 21. an operating handle; 22. a working mode control button; 23. an emergency stop button; 24. a control button; 25. an operating grip; 26. a main controller; 27. a drive controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a redundant mechanical arm, which comprises a base, a joint arm frame and a grabbing and lifting component, wherein the joint arm frame is respectively connected with the base and the grabbing and lifting component and comprises a plurality of arm frames which are sequentially connected into a whole through hinged and offset sliding pairs so as to enable the degree of freedom of the configuration of the redundant mechanical arm to be adjustable; the grabbing and lifting component comprises a two-degree-of-freedom rotating and side-tipping device and a grabbing and lifting tool, wherein the two-degree-of-freedom rotating and side-tipping device is connected with the grabbing and lifting tool through a tool quick-change mechanism so that the grabbing and lifting tool can swing and rotate, and the grabbing and lifting tool has redundant spatial freedom. The redundant mechanical arm comprises a bias moving pair and a two-degree-of-freedom rotating and side-tipping device, so that the mechanical arm forms a space with six degrees of freedom, and the motion of a simulated object in all six degrees of freedom in the space can be realized. The plurality of arm supports are connected by adopting offset sliding pairs, so that the arm sections of the mechanical arm are distributed on different planes, the folding and folding of the mechanical arm in a non-working state can be realized, the occupied space for placement is greatly reduced, and the storage space of the mechanical arm is smaller and the portability and the applicability are higher.
As shown in fig. 1 and 2, the redundant manipulator includes a fixed rotary base 1, a first variable-amplitude arm support 2, a second variable-amplitude arm support 3, a third variable-amplitude arm support 4, a telescopic arm support 5, a fourth variable-amplitude arm support 6, an arm support quick-change mechanism 7, a two-degree-of-freedom rotary roll device 8, a tool quick-change mechanism 9, and a grabbing tool 10. And the redundant mechanical arm comprises a driving part, and the driving part comprises a rotary motor 11, a first amplitude-variable driving cylinder 12, a second amplitude-variable driving cylinder 13, a telescopic driving cylinder 14, a fourth amplitude-variable driving cylinder 15, a boom quick-change mechanism driving cylinder 16, a side-tipping motor 17, a rotary motor 18 and a tool quick-change mechanism driving cylinder 19.
Specifically, the fixed rotary base 1 may be fixedly installed in fixed places such as a factory building, a ground, and the like, or may be installed on an engineering vehicle or other special vehicles.
One end of the first variable-amplitude arm support 2 is hinged with the fixed rotary base 1, the other end of the first variable-amplitude arm support is hinged with one end of the second variable-amplitude arm support 3, the other end of the second variable-amplitude arm support 3 is hinged with one end of the third variable-amplitude arm support 4, and the other end of the third variable-amplitude arm support 4 is connected with one end of the telescopic arm support 5 through a bias sliding pair; the telescopic arm support 5 is connected with one end of the fourth variable-amplitude arm support 6 through a link mechanism, the other end of the fourth variable-amplitude arm support 6 is connected with the two-degree-of-freedom rotary roll device 8 through an arm support quick-change mechanism 7, and the two-degree-of-freedom rotary roll device 8 is connected with the grabbing tool 10 through a tool quick-change mechanism 9, so that the grabbing tool can swing and rotate. Further, the offset sliding pair is arranged in an offset configuration mode, so that the geometric center planes of the third variable-amplitude arm support 4 and the telescopic arm support 5 are located on different planes. Further, as the offset moving pair is arranged between the third variable-amplitude arm support 4 and the telescopic arm support 5, the configuration freedom degree of the redundant mechanical arm can be adjusted, and when the redundant mechanical arm comprises six rotating pairs and one moving pair, the redundant mechanical arm has six spatial freedom degrees; when the offset sliding pair is locked, the redundant mechanical arm comprises six rotating pairs and still has six degrees of freedom in space. Further, as shown in fig. 3 and 4, the mechanical arm can be folded and folded under the bias movement side effect in a non-working state, so that the occupied space for placing is greatly reduced, the storage space of the mechanical arm is smaller, the portability and the applicability are higher, a redundant mechanical arm configuration with adjustable degree of freedom is obtained through reasonable configuration of each variable-amplitude arm support, and further preferably, the arm support quick-change mechanism and the tool quick-change mechanism are both hydraulic quick-change structures.
The rotary motor 11 is fixed on the fixed rotary base 1, one end of the first variable amplitude driving cylinder 12 is hinged with the first variable amplitude arm support 2, and the other end of the first variable amplitude driving cylinder is hinged with the second variable amplitude arm support 3; one end of the second amplitude-variable driving cylinder 13 is hinged with the second amplitude-variable arm support 3, and the other end is hinged with the third amplitude-variable arm support 4; one end of the telescopic driving cylinder 14 is fixedly connected with the third amplitude changing arm support 4, and the other end of the telescopic driving cylinder is fixedly connected with the telescopic arm support 5; one end of the fourth variable amplitude driving cylinder 15 is connected with the fourth variable amplitude arm support 6, and the other end of the fourth variable amplitude driving cylinder is connected with the connecting rod mechanism; the boom quick-change mechanism driving cylinder 16 is arranged on the boom quick-change mechanism 7; the roll motor 17 and the rotation motor 18 are mounted inside the two-degree-of-freedom rotating roll device 8; the tool quick-change mechanism drive cylinder 19 is mounted inside the gripping tool 10. The output rotation axes of the roll motor 17 and the rotation motor 18 are mutually vertical, so that the swing axis and the rotation axis of the two-degree-of-freedom rotation roll device 8 are vertically intersected at one point in a space, and in addition, through the combined action of each amplitude-variable arm support, the grabbing and lifting tool can obtain redundant space freedom degree while realizing a large working space.
The embodiment of the invention also discloses a system for controlling the redundant mechanical arm, which comprises an information acquisition device, a teleoperation device, a main controller and a drive controller, wherein the main controller and the drive controller are arranged beside the base and are fixed on the ground together with the base; the teleoperation device is used for splicing and displaying the multi-view-field images, generating a control instruction and sending the control instruction to the main controller; the main controller is used for generating a motion instruction according to the control instruction and the motion data of the plurality of arm supports and the driving part and sending the motion instruction to the driving controller; the driving controller is used for driving the driving part to move.
Specifically, the information acquisition device comprises an encoder and a displacement sensor, wherein the encoder is respectively mounted on a first variable-amplitude boom 2, a second variable-amplitude boom 3, a third variable-amplitude boom 4, a telescopic boom 5 and a fourth variable-amplitude boom 6 (not shown in the figure) of the plurality of booms and is used for acquiring joint corners of the plurality of booms; the displacement sensors are respectively arranged on a first amplitude-variable driving cylinder 12, a second amplitude-variable driving cylinder 13, a telescopic driving cylinder 14, a fourth amplitude-variable driving cylinder 15, a boom quick-change mechanism driving cylinder 16 and a tool quick-change mechanism driving cylinder 19 of the driving part and are used for measuring the elongation of the cylinder body of each driving cylinder.
As shown in fig. 5 and 6, the teleoperation device comprises a multi-view image stitching system 20, which comprises an image stitching system 201 and a plurality of image acquisition devices 202, wherein,
the plurality of image acquiring devices 202 are fixedly installed on the grabbing tool 10 at intervals, and are used for acquiring image information of an external environment where the grabbing tool 10 is located and sending the image information to the image stitching system 201; the image splicing system 201 is used for splicing the acquired image information, and is further provided with a display screen 203, wherein the display screen 203 is used for displaying the whole image information of the mechanical arm spliced by the image splicing system. Set up a teleoperation device based on image concatenation auxiliary operation device to can be through the wide angle field of vision image after splicing multi-view image splicing system show on the display screen, can make the user directly observe the state of redundant arm, more directly perceived, the operation of auxiliary operation personnel has improved the reliability to redundant arm control, promotes user experience.
The teleoperated device further comprises an operating handle 21, an operating mode control button 22, an emergency stop button 23, a control button 24 and an operating grip 25 for human-machine interaction.
As shown in fig. 7, the main controller 26 and the driving controller 27 are connected, disposed in the same cabinet, and are all disposed beside the base (not shown). The main controller 26 is connected with the encoder and the displacement sensor respectively, and is used for receiving joint angles of the plurality of arm supports and cylinder body elongation of each driving cylinder and generating a motion instruction. Specifically, the main controller is further configured to calculate the motion, power, and the like of the redundant robot arm, and send a related control instruction to the driving controller 27 according to the calculation result.
The system can realize real-time monitoring of the tail end position and the posture of the mechanical arm at any time, and the multi-view fusion system has wider operation view and higher identifiability on barrier information in the surrounding environment and relative pose information between the barrier information and a target point, so that the control on the tail end motion of the mechanical arm becomes more accurate, visual and safe.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A redundant mechanical arm comprises a base, a joint arm frame and a grabbing and lifting component, wherein the joint arm frame is respectively connected with the base and the grabbing and lifting component,
the joint arm frame comprises a plurality of arm frames, and the arm frames are sequentially connected into a whole through hinged and offset sliding pairs so that the degree of freedom of the configuration of the redundant mechanical arm can be adjusted;
the grabbing and lifting component comprises a two-degree-of-freedom rotating and side-tipping device and a grabbing and lifting tool, wherein the two-degree-of-freedom rotating and side-tipping device is connected with the grabbing and lifting tool through a tool quick-change mechanism so that the grabbing and lifting tool can swing and rotate, and the grabbing and lifting tool has redundant spatial freedom.
2. The redundant mechanical arm of claim 1, wherein the plurality of arms comprises a first variable amplitude arm, a second variable amplitude arm, a third variable amplitude arm, a telescopic arm, a fourth variable amplitude arm, wherein,
one end of the first variable-amplitude arm support is hinged with the base, and the other end of the first variable-amplitude arm support is hinged with one end of the second variable-amplitude arm support;
the other end of the second variable-amplitude arm support is hinged with one end of a third variable-amplitude arm support, and the other end of the third variable-amplitude arm support is connected with one end of a telescopic arm support through a bias moving pair;
the other end of the telescopic arm frame is connected with one end of the fourth variable-amplitude arm frame through a link mechanism, and the other end of the fourth variable-amplitude arm frame is connected with the grabbing and lifting component through an arm frame quick-change mechanism.
3. The redundant mechanical arm as claimed in claim 2, wherein the offset sliding pair is arranged in an offset configuration mode so that the geometric center planes of the third luffing jib and the telescopic jib are located on different planes.
4. The redundant mechanical arm of claim 2 or 3, further comprising a driving part, wherein the driving part comprises a rotary motor, a first amplitude driving cylinder, a second amplitude driving cylinder, a telescopic driving cylinder, a fourth amplitude driving cylinder, a boom quick-change mechanism driving cylinder, a roll motor, a rotary motor and a tool quick-change mechanism driving cylinder, wherein,
the rotary motor is fixed on the base,
one end of the first amplitude-variable driving cylinder is hinged with the first amplitude-variable arm support, and the other end of the first amplitude-variable driving cylinder is hinged with the second amplitude-variable arm support;
one end of the second amplitude-variable driving cylinder is hinged with the second amplitude-variable arm support, and the other end of the second amplitude-variable driving cylinder is hinged with the third amplitude-variable arm support;
one end of the telescopic driving cylinder is fixedly connected with the third amplitude-variable arm support, and the other end of the telescopic driving cylinder is fixedly connected with the telescopic arm support;
one end of the fourth variable-amplitude driving cylinder is connected with the fourth variable-amplitude arm support, and the other end of the fourth variable-amplitude driving cylinder is connected with the connecting rod mechanism;
the driving cylinder of the arm support quick-change mechanism is arranged on the arm support quick-change mechanism;
the roll motor and the rotation motor are installed inside the two-degree-of-freedom rotation roll device;
and the driving cylinder of the tool quick-change mechanism is arranged inside the grabbing and lifting tool.
5. The redundant robotic arm of claim 4 wherein the output rotational axes of the roll motor and the rotary motor are perpendicular to each other such that the swing axis and the rotational axis of the two degree-of-freedom rotary roll device perpendicularly intersect at a point in space.
6. A system for controlling redundant mechanical arms is characterized by comprising an information acquisition device, a teleoperation device, a main controller and a drive controller, wherein the main controller and the drive controller are arranged beside a base and are fixed on the ground together with the base,
the information acquisition device is used for acquiring the motion data of the plurality of arm supports and the driving part and sending the motion data to the main controller;
the teleoperation device is used for splicing and displaying the multi-view-field images, generating a control instruction and sending the control instruction to the main controller;
the main controller is used for generating a motion instruction according to the control instruction and the motion data of the plurality of arm supports and the driving part and sending the motion instruction to the driving controller;
the driving controller is used for driving the driving part to move.
7. The system of claim 6, wherein the information acquisition device comprises an encoder and a displacement sensor, wherein,
the encoders are respectively arranged on the arm supports and used for acquiring joint corners of the arm supports;
the displacement sensors are respectively arranged on a first amplitude-variable driving cylinder, a second amplitude-variable driving cylinder, a telescopic driving cylinder, a fourth amplitude-variable driving cylinder, a boom quick-change mechanism driving cylinder and a tool quick-change mechanism driving cylinder of the driving part and are used for measuring the cylinder body elongation of each driving cylinder.
8. The system of claim 7, wherein the teleoperational device comprises a multi-view image stitching system comprising an image stitching system and a plurality of image acquisition devices, wherein,
the image acquisition devices are fixedly arranged on the grabbing tool and used for acquiring image information of an external environment where the grabbing tool is located and sending the image information to the image splicing system;
the image splicing system is used for splicing the acquired image information, displaying the image information through the display screen and assisting an operator in operating.
9. The system of claim 8, wherein the teleoperational device further comprises an operational handle, operational mode control buttons, emergency stop buttons, and control buttons for human-machine interaction.
10. The system of claim 6, wherein the main controller is respectively connected to the teleoperation device, the driving controller, the encoder and the displacement sensor, and is configured to receive a control command from the teleoperation device, a joint angle of the plurality of arm supports and an extension amount of the cylinder body of each driving cylinder, and control the redundant manipulator to move.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113554559A (en) * | 2021-06-21 | 2021-10-26 | 中国人民解放军空军工程大学 | Three-dimensional reconstruction method and device with multiple complex curved surface rotational symmetry models |
| CN114571432A (en) * | 2020-11-30 | 2022-06-03 | 沈阳新松机器人自动化股份有限公司 | Movable type flexible operation mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571432A (en) * | 2020-11-30 | 2022-06-03 | 沈阳新松机器人自动化股份有限公司 | Movable type flexible operation mechanical arm |
| CN113554559A (en) * | 2021-06-21 | 2021-10-26 | 中国人民解放军空军工程大学 | Three-dimensional reconstruction method and device with multiple complex curved surface rotational symmetry models |
| CN113554559B (en) * | 2021-06-21 | 2023-03-10 | 中国人民解放军空军工程大学 | Three-dimensional reconstruction method and device with multiple complex curved surface rotational symmetry models |
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Inventor after: Tang Qiang Inventor after: Zhu Zhibin Inventor after: Zheng Xu Inventor after: Xi Ziyang Inventor after: Shi Xiaoran Inventor after: Bu Haiming Inventor after: Li Tengfei Inventor after: Feng Feng Inventor before: Zhu Zhibin Inventor before: Zheng Xu Inventor before: Xi Ziyang Inventor before: Shi Xiaoran Inventor before: Bu Haiming Inventor before: Li Tengfei Inventor before: Feng Feng Inventor before: Tang Qiang |