CN112621794A - Mechanical arm end effector, control method thereof, mechanical arm and memory - Google Patents
Mechanical arm end effector, control method thereof, mechanical arm and memory Download PDFInfo
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- CN112621794A CN112621794A CN202011524312.4A CN202011524312A CN112621794A CN 112621794 A CN112621794 A CN 112621794A CN 202011524312 A CN202011524312 A CN 202011524312A CN 112621794 A CN112621794 A CN 112621794A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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 mechanical arm end effector, which comprises: a detection circuit; at least two jaws; the at least two electrodes are respectively arranged on the inner sides of the at least two clamping jaws and are respectively electrically connected with the detection circuit; the electrode and the close conductor can form a capacitor, an electric signal for representing the capacitor or the variation thereof is transmitted to the detection circuit, and the detection circuit is used for converting the electric signal for representing the capacitor or the variation thereof into the electric signal for representing the capacitor or the variation thereof. According to the mechanical arm end effector provided by the invention, the distance between each clamping jaw and a conductor to be grabbed can be monitored in real time through at least two electrodes on the inner sides of the at least two clamping jaws, and the synchronous or asynchronous movement of the at least two clamping jaws is controlled according to the distance between each clamping jaw and the conductor to be grabbed, so that the distance between each clamping jaw and the conductor to be grabbed is always kept consistent, and the conductor to be grabbed is clamped by the at least two clamping jaws at the same time.
Description
Technical Field
The invention relates to the field of robots, in particular to a mechanical arm end effector, a control method thereof, a mechanical arm and a memory.
Background
The robot arm clamping jaw is usually arranged at the tail end of a robot arm, and can grab a target object and transfer the target object to a specified position through the robot arm so as to transfer the target object.
When the mechanical arm clamping jaw is used for grabbing a target object, the mechanical arm clamping jaw is controlled to be opened firstly, then the mechanical arm clamping jaw is controlled to move towards the target object, after the mechanical arm clamping jaw moves to the position of the target object, the mechanical arm clamping jaw gradually contracts towards the target object so that the clamping jaw is clamped on two sides of the target object, and finally the mechanical arm clamping jaw is controlled to transfer the target object to an appointed position.
However, during the process of gripping the object by the gripper of the robot arm, the two gripping portions may contact the object one after the other. In this case, if the target is fixed at the grasping position, the holding portion that first comes into contact with the target generates a rigid force thereon, causing damage to the target; if the object is not fixed at the grasping position but is directly placed at the grasping position, the grasping portion that first comes into contact with the object pushes the object to another area that is deviated from the grasping position, resulting in that the robot arm jaws cannot grasp the object because the position of the object has changed.
Disclosure of Invention
The present invention is directed to a mechanical arm end effector, which solves the above problems in the prior art.
To achieve the above object, the present invention provides an end effector for a robot arm, including:
a detection circuit;
at least two jaws;
the at least two electrodes are respectively arranged on the inner sides of the at least two clamping jaws and are respectively and electrically connected with the detection circuit;
the electrode can constitute the electric capacity with the conductor that approaches to with be used for the representation the electric signal transmission of the electric capacity or its variation to detection circuitry, detection circuitry is used for with the representation the electric signal conversion of electric capacity or its variation is the electric signal of electric capacity or its variation.
Wherein the robotic arm end effector further comprises:
the mounting seat, at least two clamping jaws are located on the mounting seat, the mounting seat be used for with arm end connection.
Wherein the robotic arm end effector further comprises:
at least two pressure sensors, at least two pressure sensors are located respectively the inboard of at least two clamping jaws.
The invention further proposes a robot arm comprising:
a control circuit; and
the robot arm end effector described in each of the above embodiments;
the control circuit is electrically connected with the detection circuit.
The invention also provides a control method of the mechanical arm end effector, the effector comprises a detection circuit, at least two clamping jaws and electrodes respectively arranged at the inner sides of the at least two clamping jaws, the at least two electrodes are respectively and electrically connected with the detection circuit,
when the object to be clamped is a conductor, judging the proximity degree of the at least two clamping jaws and the conductor according to the capacitance or the variation thereof;
and controlling the actuator to move or controlling the at least two clamping jaws to move according to the proximity degree, so that the at least two clamping jaws clamp the conductor at the same time.
Wherein said controlling said actuator movement according to proximity comprises:
judging whether the proximity degree of each clamping jaw and the conductor is the same or not;
if the proximity degree of one clamping jaw to the conductor is different from the proximity degree of the other clamping jaws to the conductor, controlling the actuator to move towards the clamping jaw with the smaller proximity degree to the conductor until the proximity degree of each clamping jaw to the conductor is the same;
and after the closeness degree of each clamping jaw to the conductor is the same, controlling the at least two clamping jaws to move towards the conductor simultaneously.
Wherein said controlling said at least two jaw movements as a function of proximity comprises:
judging whether the proximity degree of each clamping jaw and the conductor is the same or not;
if the proximity degree of one clamping jaw to the conductor is different from the proximity degree of the other clamping jaws to the conductor, controlling the clamping jaw with the larger proximity degree to the conductor to move until the proximity degree of each clamping jaw to the conductor is the same;
and after the closeness degree of each clamping jaw to the conductor is the same, controlling the at least two clamping jaws to move towards the conductor simultaneously.
Wherein, the inboard of at least two clamping jaws still is provided with pressure sensor respectively, according to the proximity control each the clamping jaw removes alone including:
judging whether the proximity degree of each clamping jaw and the conductor is the same or not;
if the proximity degree of one clamping jaw to the conductor is different from the proximity degree of the other clamping jaws to the conductor, judging whether the clamping jaws are in contact with the conductor or not according to data fed back by the pressure sensor;
after one clamping jaw is contacted with the conductor, controlling the clamping jaw to stop moving and controlling other clamping jaws to continue moving;
and after each clamping jaw is contacted with the conductor, controlling the at least two clamping jaws to move towards the conductor simultaneously.
The invention also provides a control method of the mechanical arm end effector, the effector comprises a detection circuit, at least two clamping jaws and electrodes respectively arranged at the inner sides of the at least two clamping jaws, the at least two electrodes are respectively and electrically connected with the clamping jaws,
when the object to be clamped is a non-conductor, detecting a conductor positioned between the at least two clamping jaws according to the capacitance or the variation thereof;
and after the conductor is detected, controlling the at least two clamping jaws to stop moving.
The present invention also proposes a memory storing a computer program that, when executed by a processor, implements the method of controlling the robot arm end effector described in each of the aforementioned embodiments.
Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:
according to the mechanical arm end effector provided by the embodiment of the invention, the inner side of each clamping jaw is provided with an electrode, when at least two clamping jaws clamp an object to be grabbed, each electrode can respectively form a capacitor with the conductor to be grabbed, when the clamping jaws gradually approach the conductor to be grabbed, the capacitance value of the capacitor formed by each electrode and the conductor to be grabbed can be changed, and the distance between each electrode and the conductor to be grabbed can be calculated according to the change of the capacitance value and by combining a capacitance calculation formula. That is to say, through at least two electrodes of at least two clamping jaws inboard, can real-time supervision every clamping jaw and the conductor's that waits to snatch the distance, according to every clamping jaw and the conductor's that waits to snatch the distance, control the synchronous or asynchronous motion of at least two clamping jaws to make every clamping jaw and the conductor's that waits to snatch the distance remain unanimous throughout, thereby guarantee that at least two clamping jaws are simultaneously the centre gripping conductor that waits to snatch.
Drawings
FIG. 1 is a schematic diagram of an end effector of a robotic arm according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a clamp jaw and an electrode of the end effector of the robot arm according to the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a cross-sectional view of a clamping jaw and an electrode of an end effector of a robotic arm according to the present invention;
FIG. 5 is a schematic cross-sectional view of a clamping jaw and an electrode of an end effector of a robotic arm according to the present invention;
FIG. 6 is a schematic view of a robot arm according to an embodiment of the present invention;
FIG. 7 is a flowchart of a method of controlling an end effector of a robotic arm according to a first embodiment of the present invention;
FIG. 8 is a flowchart of a method of controlling an end effector of a robotic arm according to a second embodiment of the present invention;
FIG. 9 is a flowchart of a method of controlling an end effector of a robotic arm according to a third embodiment of the present invention;
fig. 10 is a flowchart illustrating a method for controlling an end effector of a robot arm according to a fourth embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
Example one
An embodiment of the present invention provides an end effector of a robot arm, and referring to fig. 1, the end effector of the robot arm includes:
a detection circuit;
at least two jaws 10;
the at least two electrodes 20 are respectively arranged on the inner sides of the at least two clamping jaws 10, and the at least two electrodes 20 are respectively electrically connected with the detection circuit;
the electrode 20 can form a capacitance with an approaching conductor, and transmit an electrical signal representing the capacitance or the variation thereof to the detection circuit, and the detection circuit is configured to convert the electrical signal representing the capacitance or the variation thereof into an electrical signal representing the capacitance or the variation thereof.
The end effector of the mechanical arm provided by the embodiment of the invention mainly plays a role in grabbing an article, and mainly comprises at least two clamping jaws 10, wherein the at least two clamping jaws 10 are used for clamping the side part of the article to be grabbed, so that the article is grabbed by the clamping force of the at least two clamping jaws 10. When the at least two clamping jaws 10 grab the object, the at least two clamping jaws 10 can be contracted to proper positions according to the size of the object to be grabbed until the inner sides of the at least two clamping jaws 10 respectively abut against the side parts of the object to be grabbed, so that the object to be grabbed is achieved. It will be appreciated that at least two of the jaws 10 are retracted, i.e. in order to form a gripping space adapted to the article to be gripped, and that this gripping space may vary depending on the size of the article.
The electrode 20 proposed in the embodiment of the present invention mainly functions to form a capacitor with a conductor, and transmit an electrical signal representing the capacitor or its variation to a detection circuit. The electrode 20-air-conductor constitutes a capacitance, and when the electrode 20 comes closer to the conductor, the distance between the electrode 20 and the conductor changes, which causes the capacitance formed by the electrode 20 and the conductor to change. When the capacitance changes, the electrode 20 transmits the electric signal representing the capacitance or the variation thereof to the detection circuit, and the detection circuit converts the electric signal representing the capacitance or the variation thereof into the electric signal of the capacitance or the variation thereof.
After detecting the capacitance or the variation thereof, the distance between the electrode 20 and the conductor or the variation thereof can be calculated according to the capacitance or the variation thereof, specifically, the distance is calculated according to the capacitance formula:
wherein epsilon is a dielectric constant, S is the facing area of two capacitor plates, k is an electrostatic force constant, C is a capacitance value, and d is the distance between the electrode 20 and the end of the clamping jaw 10.
In this embodiment, the electrode 20 and the conductor form two plates of a capacitor, and the facing area of the two capacitor plates is the facing area of the electrode 20 and the conductor. Specifically, when the electrode 20 is projected on the conductor, the overlapping portion of the electrode 20 and the conductor is the facing area of the two capacitor plates. The area of the electrode 20 facing the conductor may be an empirical value or an actual value calculated for each different conductor, and may be designed by those skilled in the art according to actual situations. It will be understood that the distance value calculated by using the empirical value will have a certain error, while the distance value calculated by using the actual value will be relatively accurate, but the calculation of the actual value is troublesome, which requires calculating the facing area of the electrode 20 and the conductor each time when detecting the distance to a different conductor.
According to the mechanical arm end effector provided by the embodiment of the invention, the electrode 20 is arranged on the inner side of each clamping jaw, when at least two clamping jaws 10 clamp an object to be grabbed, each electrode 20 can respectively form a capacitor with the conductor to be grabbed, when the clamping jaws 10 gradually approach the conductor to be grabbed, the capacitance value of the capacitor formed by each electrode 20 and the conductor to be grabbed can be changed, and the distance between each electrode 20 and the conductor to be grabbed can be calculated according to the change of the capacitance value and by combining a capacitance calculation formula. That is, the distance between each clamping jaw 10 and the conductor to be grabbed can be monitored in real time through at least two electrodes 20 on the inner sides of at least two clamping jaws 10, and the synchronous or asynchronous movement of at least two clamping jaws 10 is controlled according to the distance between each clamping jaw 10 and the conductor to be grabbed, so that the distance between each clamping jaw 10 and the conductor to be grabbed is always kept consistent, and the conductor to be grabbed is clamped by at least two clamping jaws 10 at the same time.
It should be noted that, controlling the at least two clamping jaws 10 to move synchronously means that the at least two clamping jaws 10 are driven by a power source, such as an air cylinder, and the at least two clamping jaws 10 are respectively connected with a piston rod of the air cylinder in a transmission manner, and are driven by the piston rod to open or close synchronously. By controlling the at least two jaws 10 to move asynchronously, it is meant that each jaw 10 is provided with a power source, so that each jaw 10 can be driven to move separately, for example, one of the jaws 10 is controlled to stop moving, and the other jaws 10 are kept moving.
Example two
The end effector of the mechanical arm provided by the embodiment of the invention also comprises: and the mounting seat 30 is provided with at least two clamping jaws 10, and the mounting seat 30 is used for connecting with the tail end of the mechanical arm. In this embodiment, the mounting base 30 is mainly used for mounting at least two clamping jaws 10, and fixing the at least two clamping jaws 10 at the end of the robot arm, so as to drive the at least two clamping jaws 10 to move through the end of the robot arm. The specific structure of the mounting seat 30 can be designed according to actual conditions, and this embodiment does not limit this, and only needs to implement the above two functions.
Specifically, after the mounting base 30 is fixed to the tail end of the mechanical arm, the mechanical arm drives the at least two clamping jaws 10 to move to the position where the article is to be grabbed, the at least two clamping jaws 10 clamp the article to be grabbed, and after the article is grabbed, the mechanical arm drives the at least two clamping jaws 10 which grab the article to move to the preset position, so that the grabbing and transferring of the article are completed.
In the process, the electrodes 20 arranged on the inner sides of the at least two clamping jaws 10 can detect the distance between the electrodes and the conductor to be grabbed in real time, and if the distance between each electrode 20 and the conductor to be grabbed is the same, the distance between each clamping jaw 10 and the conductor to be grabbed is always the same, so that the motion states of the at least two clamping jaws 10 are not required to be changed; if the distance between one electrode 20 and the conductor to be grabbed is different, the distance between the clamping jaw 10 corresponding to the electrode 20 and the conductor to be grabbed is represented, and is different from the distances between the other electrodes 20 and the conductor to be grabbed, and at this time, the movement state of the clamping jaws needs to be changed to ensure that the distance between each clamping jaw and the conductor to be grabbed is the same.
For example, if the two clamping jaws are provided, the distance between the left clamping jaw 10 and the conductor to be gripped is 3 cm, the distance between the right clamping jaw 10 and the conductor to be gripped is 4 cm, which means that the left clamping jaw 10 is closer to the conductor to be gripped, and the right clamping jaw 10 is farther from the conductor to be gripped, at this time, the left clamping jaw 10 can be controlled to stop moving, and the right clamping jaw 10 can be controlled to move towards the conductor to be gripped continuously until the distance between the right clamping jaw 10 and the conductor to be gripped is 3 cm, and then the left clamping jaw 10 can be controlled to move towards the conductor to be gripped. Or, the left clamping jaw 10 and the right clamping jaw 10 are controlled to stop moving, and then the end effector is controlled to move towards the left side integrally until the distance between the left clamping jaw 10 and the right clamping jaw 10 and the conductor to be grabbed is the same, namely the distance between the left clamping jaw 10 and the conductor to be grabbed is 3.5 cm, and the distance between the right clamping jaw 10 and the conductor to be grabbed is 3.5 cm.
EXAMPLE III
The end effector of the mechanical arm provided by the embodiment of the invention also comprises: at least two pressure sensors are respectively arranged on the inner sides of the clamping jaws 10. In this embodiment, when at least two clamping jaws 10 clamp an object to be grabbed, if the distance between one clamping jaw 10 and a conductor to be grabbed is different from the distances between the other clamping jaws 10 and the conductor, the movement of the clamping jaw 10 can be controlled continuously until the clamping jaw contacts the conductor to be grabbed, and when the clamping jaw 10 contacts the conductor to be grabbed, a pressure sensor arranged inside the clamping jaw 10 detects the signal and sends the signal to a controller, so that the controller controls the clamping jaw 10 to stop moving according to the signal. Then, after other clamping jaws 10 are also in contact with the conductor to be grabbed, the clamping jaws 10 are controlled to continue to move towards the conductor to be grabbed, so that each clamping jaw 10 simultaneously exerts a clamping force on the conductor to be grabbed, and the conductor to be grabbed is prevented from moving. Likewise, the contact of the other jaws with the conductor to be gripped is also detected by a pressure sensor arranged inside the jaws.
For example, assuming that the two clamping jaws 10 are provided, the distance between the left clamping jaw 10 and the conductor to be gripped is 3 cm, and the distance between the right clamping jaw 10 and the conductor to be gripped is 4 cm, the distances between the left and right clamping jaws 10 and the conductor to be gripped are different, so that the motion state of the clamping jaw 10 needs to be changed to ensure that the left and right clamping jaws 10 simultaneously clamp the conductor to be gripped. Specifically, after the distance value is detected, the motion states of the two clamping jaws 10 are not changed, after the left clamping jaw 10 is contacted with the conductor to be grabbed, the left clamping jaw 10 is controlled to stop moving, the right clamping jaw 10 continues to move towards the conductor to be grabbed until the right clamping jaw 10 is also contacted with the conductor to be grabbed, and then the left clamping jaw 10 and the right clamping jaw 10 are controlled to simultaneously move towards the conductor to be grabbed so as to apply clamping force to the conductor to be grabbed, so that the conductor to be grabbed is clamped and the conductor is ensured to be immobilized in the original position.
Example four
Referring to fig. 2 to 3, the electrode 20 according to the embodiment of the present invention includes a sensing region 21 and a connection region 22 connected to each other, the sensing region 21 of the electrode 20 can form a capacitance with a conductor in proximity, and the connection region 22 of the electrode 20 is used to transmit an electrical signal representing the capacitance or a variation thereof to an external circuit.
In this embodiment, the electrode 20 includes a sensing region 21 and a connection region 22, the sensing region 21 of the electrode 20 and an adjacent conductor form a capacitance, and the electrical signal representing the capacitance or the variation thereof may be, for example, an electrical signal representing the capacitance value of the capacitance or the variation thereof, an electrical signal representing the oscillation frequency value of the capacitance or the variation thereof, a voltage representing the capacitance or the variation thereof, or the like. The external circuit acquires an electrical signal representing the capacitance or its variation and, after processing, may obtain data reflecting the distance or variation between the electrode 20 and the conductor.
The distance or variation of the electrode 20 from the conductor means: the amount of distance between the electrode 20 and the conductor, or the relative position between the electrode 20 and the conductor, for example, closer or farther away. It will be appreciated that the distance between the approaching conductor and the electrode 20, or variations thereof, may be used to characterize the distance or relative position of the approaching conductor to the end effector of the robotic arm.
EXAMPLE five
Referring to fig. 4, the end effector of the robot arm according to the embodiment of the present invention further includes: and the shielding layer 40 is positioned on the inner sides of the at least two clamping jaws 10, the shielding layer 40 is arranged corresponding to the electrodes 20, and the area of the shielding layer 40 is not smaller than that of the corresponding electrode 20. In this embodiment, the shielding layer 40 can play an anti-interference role, and the shielding layer 40 is grounded, so that an interference signal inside the clamping jaw 10 can be introduced to the ground, the interference of the interference signal to the electrode 20 is reduced, and the sensing accuracy of the electrode 20 to an approaching conductor is improved. Further, the shielding layer 40 may also be electrically suspended, or used to connect to a detection circuit to receive a predetermined voltage, so as to realize active shielding. The shielding layer 40 may be disposed corresponding to the electrodes 20, and it is sufficient to ensure that the area of the shielding layer 40 is not smaller than the area of the corresponding electrode 20, and the shielding layer 40 may also completely cover the inner side surface of the clamping jaw 10 to enhance the shielding effect.
EXAMPLE six
Referring to fig. 5, the detection circuit according to the embodiment of the present invention includes a detection circuit board 51, the detection circuit board 51 is fixed inside the clamping jaw 10 or embedded in the clamping jaw 10, a through hole t is formed in a portion of the clamping jaw 10 between the electrode 20 and the detection circuit board 51, and the detection circuit is connected to the electrode 20 through the through hole t. In this embodiment, the portion of the clamping jaw 10 between the electrode 20 and the detection circuit board 51 is provided with a via hole t, and the via hole t can allow a conductor such as a wire, a lead wire or a pin to pass through so as to connect the detection circuit board 51 and the connection region 22 of the electrode 20, so that the detection circuit board 51 can be connected with the electrode 20 through the via hole t.
EXAMPLE seven
The detection circuit board 51 provided by the embodiment of the invention is fixed in the clamping jaw 10 by glue, screw connection or welding. In this embodiment, the detection circuit board 51 may be fixed in the clamping jaw 10 by a glue bonding method, a screw hole connection method, and a welding method. It can be understood that the clamping jaw 10 includes a housing, the interior of the housing is hollow to form a receiving cavity for installing the detecting circuit board 51, the processor and other components, the detecting circuit board 51 is firstly placed in a preset position in the housing, and then the detecting circuit board is fixed by glue, screw connection or welding. Specifically, a pad is disposed at a position of the detection circuit board 51 corresponding to the via hole t, and the detection circuit board 51 is fixed to the conductive portion by soldering via the pad.
Example eight
The material of the electrode 20 proposed by the embodiment of the present invention includes copper, silver, aluminum or ITO. In this embodiment, ITO is an N-type oxide semiconductor, indium tin oxide. The ITO may be formed as an ITO thin film, i.e., an indium tin oxide semiconductor transparent conductive film, as the electrode 20. The material of the electrodes 20 may be one or more of copper, silver, aluminum, or ITO, that is, when the number of the electrodes 20 is two or more, different electrodes 20 may be the same material or different materials.
Referring to fig. 6, the present invention further proposes a robot arm, comprising:
a control circuit; and
the robot arm end effector described in each of the above embodiments;
the control circuit is electrically connected with the detection circuit.
In this embodiment, the mechanical arm specifically includes a base, a moving part, a control circuit, and an end effector of the mechanical arm, where the moving part is disposed on the base, and the end effector of the mechanical arm is connected to the moving part in a transmission manner, so as to drive the end effector of the mechanical arm to move along a set direction through the moving part. The inside of the clamping jaw that arm end effector contained is provided with the electrode, can real-time supervision every clamping jaw and the distance of the conductor of waiting to snatch through the electrode, according to every clamping jaw and the distance of the conductor of waiting to snatch, the synchronous or asynchronous motion of two at least clamping jaws is controlled to make every clamping jaw keep unanimous with the distance of the conductor of waiting to snatch all the time, thereby guarantee that two at least clamping jaws are held the conductor of waiting to snatch simultaneously.
The invention also provides a control method of the end effector of the mechanical arm, referring to fig. 7, the effector comprises a detection circuit, at least two clamping jaws and electrodes respectively arranged at the inner sides of the at least two clamping jaws, the at least two electrodes are respectively and electrically connected with the detection circuit, an object to be clamped is a conductor, and the control method of the end effector of the mechanical arm comprises the following steps:
s10, receiving the capacitance or the variation data thereof sent by the detection circuit;
s20, judging the proximity of at least two clamping jaws and the conductor according to the capacitance or the variation data thereof;
and S30, controlling the actuator to move or controlling the at least two clamping jaws to move according to the approaching degree, so that the at least two clamping jaws clamp the conductor at the same time.
In this embodiment, an electrode is disposed on the inner side of the clamping jaw, and an electric signal representing capacitance or a variation thereof can be detected by the electrode and transmitted to the detection circuit, so that the electric signal representing capacitance or a variation thereof is converted into an electric signal representing a capacitance or a variation thereof by the detection circuit.
The mechanical arm end effector can judge the proximity degree of at least two clamping jaws and a conductor according to the received capacitance value or the variation data thereof, and specifically according to a capacitance calculation formula:
under the condition of known capacitance values, since epsilon, S, pi and k are all known quantities, the proximity degree of at least two clamping jaws and the conductor can be judged according to the change condition of the capacitance values. It should be noted that the proximity, i.e. the distance between the at least two jaws and the conductor, is defined as the proximity, because the distance calculated by the electrodes is not a precise value.
When the conductor to be grabbed is clamped by the at least two clamping jaws, the distance between the electrode arranged on the inner side of the at least two clamping jaws and the conductor to be grabbed can be detected in real time, if the distance between each electrode and the conductor to be grabbed is the same, the distance between each clamping jaw and the conductor to be grabbed is always the same, and therefore the motion states of the at least two clamping jaws do not need to be changed; if the distance between one electrode and the conductor to be grabbed is different, the distance between the clamping jaw corresponding to the electrode and the conductor to be grabbed is represented, and is different from the distances between the other electrodes and the conductor to be grabbed, and at this time, the movement state of the clamping jaw needs to be changed to ensure that the distances between the clamping jaws and the conductor to be grabbed are the same.
For example, if two clamping jaws are provided, the distance between the left clamping jaw and the conductor to be grabbed is 3 cm, the distance between the right clamping jaw and the conductor to be grabbed is 4 cm, which means that the left clamping jaw is closer to the conductor to be grabbed, and the right clamping jaw is farther from the conductor to be grabbed, at this time, the left clamping jaw can be controlled to stop moving, and the right clamping jaw can be controlled to move towards the conductor to be grabbed continuously until the distance between the right clamping jaw and the conductor to be grabbed is 3 cm, and then the left clamping jaw is controlled to move towards the conductor to be grabbed. Or the left clamping jaw and the right clamping jaw are controlled to stop moving firstly, and then the end effector is controlled to move towards the left side integrally until the distance between the left clamping jaw and the right clamping jaw and the conductor to be grabbed is the same, namely the distance between the left clamping jaw and the conductor to be grabbed is 3.5 cm, and the distance between the right clamping jaw and the conductor to be grabbed is 3.5 cm.
Further, referring to fig. 8, controlling the actuator movement according to the proximity includes the steps of:
s31, judging whether the proximity degrees of the clamping jaws and the conductor are the same or not;
s32, if the approach degree of one clamping jaw to the conductor is different from the approach degree of the other clamping jaws to the conductor, the actuator is controlled to move towards the clamping jaw with the smaller approach degree to the conductor until the approach degree of each clamping jaw to the conductor is the same;
and S33, controlling at least two clamping jaws to move towards the conductor at the same time after the clamping jaws are close to the conductor to the same extent.
In this embodiment, can real-time detection every clamping jaw and the degree of proximity of the conductor of waiting to snatch through the electrode, press from both sides the in-process of getting the conductor of waiting to snatch, judge whether every clamping jaw is the same with the degree of proximity of the conductor of waiting to snatch, if wherein the degree of proximity of a certain clamping jaw and conductor is different, then need be through the motion state that changes this clamping jaw to guarantee that each clamping jaw is the same with the distance of the conductor of waiting to snatch.
Concretely, suppose the clamping jaw sets up to two, the distance of left side clamping jaw and the conductor of waiting to snatch is 3 centimetres, the right side clamping jaw is 4 centimetres with the conductor distance of waiting to snatch, so then it is nearer to show the left side clamping jaw distance to wait the conductor of snatching, and the right side clamping jaw is farther away from the conductor of waiting to snatch, then can control left side clamping jaw and right side clamping jaw stop motion earlier this moment, control end effector whole towards the left side motion again, it is the same with the distance of the conductor of waiting to snatch to reach left side clamping jaw and right side clamping jaw distance, that is the distance of left side clamping jaw and the conductor of waiting to snatch is 3.5 centimetres, the distance of right side clamping jaw and the conductor of waiting to snatch is 3.
Further, referring to fig. 9, controlling the movement of the at least two jaws according to the proximity comprises:
s34, judging whether the proximity degrees of the clamping jaws and the conductor are the same or not;
s35, if the approach degree of one clamping jaw to the conductor is different from the approach degree of the other clamping jaws to the conductor, controlling the clamping jaw with the larger approach degree to the conductor to move until the approach degrees of the clamping jaws to the conductor are the same;
and S36, controlling at least two clamping jaws to move towards the conductor at the same time after the clamping jaws are close to the conductor to the same extent.
In this embodiment, can real-time detection every clamping jaw and the degree of proximity of the conductor of waiting to snatch through the electrode, press from both sides the in-process of getting the conductor of waiting to snatch, judge whether every clamping jaw is the same with the degree of proximity of the conductor of waiting to snatch, if wherein the degree of proximity of a certain clamping jaw and conductor is different, then need be through the motion state that changes this clamping jaw to guarantee that each clamping jaw is the same with the distance of the conductor of waiting to snatch.
Concretely, the hypothesis clamping jaw sets up to two, the left side clamping jaw is 3 centimetres with the distance of the conductor of waiting to snatch, the right side clamping jaw is 4 centimetres with the conductor distance of waiting to snatch, so then it is more nearly to indicate the left side clamping jaw distance to wait the conductor of snatching, and the right side clamping jaw is farther away from the conductor of waiting to snatch, then steerable left side clamping jaw stop motion this moment, continue to control the right side clamping jaw simultaneously and wait the conductor motion of snatching, the distance of the conductor of waiting to snatch is 3 centimetres until the right side clamping jaw, then control the left side clamping jaw towards the conductor motion of waiting to snatch again, thereby guarantee about two clamping jaws.
Further, referring to fig. 10, the inner sides of at least two clamping jaws are respectively provided with a pressure sensor, and controlling the clamping jaws to move independently according to the proximity degree comprises:
s37, judging whether the proximity degrees of the clamping jaws and the conductor are the same or not;
s38, if the proximity degree of one clamping jaw and the conductor is different from the proximity degree of other clamping jaws and the conductor, judging whether each clamping jaw is in contact with the conductor according to data fed back by the pressure sensor;
s39, after one clamping jaw is contacted with the conductor, controlling the clamping jaw to stop moving and controlling other clamping jaws to continue moving;
and S3A, after each clamping jaw is contacted with the conductor, controlling at least two clamping jaws to move towards the conductor simultaneously.
In this embodiment, when at least two clamping jaws clamp the object to be grabbed, if the distance between one clamping jaw and the conductor to be grabbed is different from the distances between the other clamping jaws and the conductor, the clamping jaws can be controlled to move continuously until the clamping jaws are contacted with the conductor to be grabbed, and when the clamping jaws are contacted with the conductor to be grabbed, the pressure sensors arranged on the inner sides of the clamping jaws detect the signal and send the signal to the controller, so that the controller controls the clamping jaws to stop moving according to the signal. Then, after other clamping jaws are also contacted with the conductor to be grabbed, the clamping jaws are controlled to continue to move towards the conductor to be grabbed, so that the clamping jaws simultaneously apply clamping force on the conductor to be grabbed, and the conductor to be grabbed is prevented from moving. Likewise, the contact of the other jaws with the conductor to be gripped is also detected by a pressure sensor arranged inside the jaws.
For example, suppose the clamping jaw sets up to two, and the distance of left side clamping jaw and the conductor of waiting to snatch is 3 centimetres, and the distance of right side clamping jaw and the conductor of waiting to snatch is 4 centimetres, and two clamping jaws are different with the distance of the conductor of waiting to snatch this moment about, therefore need to change the motion state of clamping jaw to two clamping jaws are held the conductor of waiting to snatch simultaneously about guaranteeing. Specifically, after the distance value is detected, the motion states of the two clamping jaws are not changed, after the left clamping jaw is contacted with the conductor to be grabbed, the left clamping jaw is controlled to stop moving, the right clamping jaw continues to move towards the conductor to be grabbed until the right clamping jaw is also contacted with the conductor to be grabbed, and then the left clamping jaw and the right clamping jaw are simultaneously controlled to move towards the conductor to be grabbed so as to apply clamping force to the conductor to be grabbed, so that the conductor to be grabbed is clamped and the conductor is ensured to be immobile in the original position.
The present invention also provides a memory storing a computer program that, when executed by a processor, implements the method for controlling an end effector of a robot arm described in each of the aforementioned embodiments, the method for controlling an end effector of a robot arm including at least the steps of:
s10, receiving the capacitance or the variation data thereof sent by the detection circuit;
s20, judging the proximity of at least two clamping jaws and the conductor according to the capacitance or the variation data thereof;
and S30, controlling the actuator to move or controlling the at least two clamping jaws to move according to the approaching degree, so that the at least two clamping jaws clamp the conductor at the same time.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (10)
1. An end effector for a robot arm, comprising:
a detection circuit;
at least two jaws;
the at least two electrodes are respectively arranged on the inner sides of the at least two clamping jaws and are respectively and electrically connected with the detection circuit;
the electrode can form a capacitor with a close conductor and transmits an electric signal for representing the capacitor or the variation thereof to the detection circuit, and the detection circuit is used for converting the electric signal for representing the capacitor or the variation thereof into an electric signal for representing the capacitor or the variation thereof.
2. The end effector of a robotic arm of claim 1, further comprising:
the mounting seat, at least two clamping jaws are located on the mounting seat, the mounting seat be used for with arm end connection.
3. The end effector of a robotic arm of claim 1, further comprising:
at least two pressure sensors, at least two pressure sensors are located respectively the inboard of at least two clamping jaws.
4. A robot arm, comprising:
a control circuit; and
the end effector of a robotic arm of any one of claims 1-3;
the control circuit is electrically connected with the detection circuit.
5. The manipulator end effector control method is characterized in that an object to be clamped is a conductor, the manipulator comprises a detection circuit, at least two clamping jaws and electrodes arranged on the inner sides of the at least two clamping jaws respectively, and the at least two electrodes are electrically connected with the detection circuit respectively:
receiving capacitance or variable data thereof sent by the detection circuit;
judging the proximity degree of the at least two clamping jaws and the conductor according to the capacitance or the variation data thereof;
and controlling the actuator to move or controlling the at least two clamping jaws to move according to the proximity degree, so that the at least two clamping jaws clamp the conductor at the same time.
6. The method of controlling an end effector of a robotic arm according to claim 5, wherein said controlling the movement of the effector according to the proximity comprises:
judging whether the proximity degree of each clamping jaw and the conductor is the same or not;
if the proximity degree of one clamping jaw to the conductor is different from the proximity degree of the other clamping jaws to the conductor, controlling the actuator to move towards the clamping jaw with the smaller proximity degree to the conductor until the proximity degree of each clamping jaw to the conductor is the same;
and after the closeness degree of each clamping jaw to the conductor is the same, controlling the at least two clamping jaws to move towards the conductor simultaneously.
7. The method of controlling an end effector of a robotic arm of claim 5, wherein the controlling the movement of the at least two jaws as a function of proximity comprises:
judging whether the proximity degree of each clamping jaw and the conductor is the same or not;
if the proximity degree of one clamping jaw to the conductor is different from the proximity degree of the other clamping jaws to the conductor, controlling the clamping jaw with the larger proximity degree to the conductor to move until the proximity degree of each clamping jaw to the conductor is the same;
and after the closeness degree of each clamping jaw to the conductor is the same, controlling the at least two clamping jaws to move towards the conductor simultaneously.
8. The method of controlling an end effector of a robotic arm according to claim 5, wherein said at least two jaws are further provided with pressure sensors on their inner sides, respectively, said controlling said at least two jaws to move according to proximity comprises:
judging whether the proximity degree of each clamping jaw and the conductor is the same or not;
if the proximity degree of one clamping jaw to the conductor is different from the proximity degree of the other clamping jaws to the conductor, judging whether the clamping jaws are in contact with the conductor or not according to data fed back by the pressure sensor;
after one clamping jaw is contacted with the conductor, controlling the clamping jaw to stop moving and controlling other clamping jaws to continue moving;
and after each clamping jaw is contacted with the conductor, controlling the at least two clamping jaws to move towards the conductor simultaneously.
9. The manipulator end effector control method is characterized in that an object to be clamped is a non-conductor, the manipulator comprises a detection circuit, at least two clamping jaws and electrodes arranged on the inner sides of the at least two clamping jaws respectively, and the at least two electrodes are electrically connected with the clamping jaws respectively:
receiving capacitance or variable data thereof sent by the detection circuit;
detecting a conductor between the at least two clamping jaws according to the capacitance or the variation data thereof;
and after the conductor is detected, controlling the at least two clamping jaws to stop moving.
10. A memory storing a computer program that, when executed by a processor, implements the method of controlling an end effector of a robotic arm as claimed in any one of claims 5 to 9.
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| CN202011524312.4A CN112621794A (en) | 2020-12-21 | 2020-12-21 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
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| CN202011524312.4A CN112621794A (en) | 2020-12-21 | 2020-12-21 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
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| CN215471198U (en) * | 2020-12-21 | 2022-01-11 | 深圳市越疆科技有限公司 | Mechanical arm end effector, mechanical arm and robot |
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| JPH08141956A (en) * | 1994-11-17 | 1996-06-04 | Sanyo Electric Co Ltd | Method for controlling object gripping robot |
| CN205852835U (en) * | 2016-07-01 | 2017-01-04 | 合肥鑫晟光电科技有限公司 | Robot arm |
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