CN113263494A - Control device and special robot system - Google Patents

Abstract

The invention relates to the technical field of robot control, and provides a control device and a special robot system. The control device comprises a first display screen, a second display screen, a multi-dimensional controller and a control system, wherein the control system is in communication connection with a controller of the special robot, the first display screen is used for displaying image information shot by the vision device, and the second display screen is used for displaying the working state of the special robot. According to the control device and the special robot system provided by the invention, the self posture and the surrounding environment of the special robot are obtained through the first display screen, the working state of the special robot including the load condition, the alarm condition or the power supply condition of the special robot is obtained through the second display screen, the control error caused by overlarge load of a joint driving part, power failure or other abnormal alarms is avoided in advance, the technical problem of low control safety of the existing control device is solved, and the safety and the reliability of a control mode are improved.

Description

Control device and special robot system

Technical Field

The invention relates to the technical field of robot control, in particular to a control device and a special robot system.

Background

The special robot is a kind of robot which is developed rapidly and widely used in recent years, and is applied to various industries of national economy in China. The application range mainly comprises: agriculture, electric power, building, logistics, medical treatment, nursing, rehabilitation, security and rescue, military, nuclear industry, mining, petrochemical, municipal engineering, and the like.

Traditional special type robot is mainly used to realize patrolling and examining the function many times, patrols and examines the robot like electric power patrols and examines, the piping lane is patrolled and examined, the garden is patrolled and examined and the danger chemical plant patrols and examines, and this type of robot does not possess the arm or only carries on a single arm, and the operation kind that can carry out is few. When the special robot faces the requirements of maintenance or operation and maintenance in a special environment, the traditional inspection robot cannot effectively replace manual work to carry out on-site physical operation, and the special robot mainly has a monitoring function but cannot actually solve the problem.

In the prior patent known to the inventor, please refer to fig. 1, the chinese patent application No. 201810739677.5, which provides a technical solution for a high-degree-of-freedom explosive-handling robot and a control method thereof. The high-freedom-degree explosive-handling robot comprises a moving chassis 1 and a mechanical arm 2, wherein the moving chassis 1 is provided with a traveling wheel 10 and a longitudinal support 31, a global vision sensor 3 is connected to the longitudinal support 31, and the front end of the mechanical arm 2 with multiple degrees of freedom is connected with an end effector 21 and an end vision sensor 22. The mechanical arm 2 is provided with a plurality of joints, and the high-freedom explosive-handling robot needs an operator to select keys of the corresponding joints of the mechanical arm 2 first and respectively and independently control each joint so as to control the movement of the mechanical arm. However, the operator does not know the working state of the robot during operation, so that misoperation is easy to occur, and the operation safety is low. Therefore, the prior control device has the technical problem of low control safety.

Disclosure of Invention

The invention aims to provide an operation control device and a special robot system, and aims to solve the technical problem that the existing operation control device is low in operation control safety.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a control device, is applied to special type robot, control device includes first display screen, second display screen, multidimension controller and control system, control system be used for with special type robot's controller communication connection, first display screen, second display screen with the multidimension controller respectively with control system electric connection, first display screen is used for showing the image information that special type robot's vision device was shot, the second display screen is used for showing special type robot's operating condition, the multidimension controller is used for input control multidimension data that the end of arm of special type robot removed, control system basis multidimension data to the controller sends multidimension position appearance control command.

In one embodiment, the multidimensional manipulator is a 3D mouse, and the 3D mouse obtains the multidimensional data based on an operation action of an operator.

In one embodiment, the control device further comprises a control panel, the second display screen is mounted on the control panel, the control panel has an arm control area, and the multidimensional manipulator is mounted on the arm control area.

In one embodiment, the control device further comprises a movement speed adjusting switch mounted on the arm control area, and the movement speed adjusting switch is used for adjusting the gear of the movement speed of the mechanical arm.

In one embodiment, the manipulation device further comprises a motion mode adjustment switch mounted on the arm manipulation area, the motion mode adjustment switch is used for adjusting motion modes of the mechanical arm, and the motion modes comprise at least two of a global motion mode, a translation motion mode and a point-around motion mode.

In one embodiment, the control device further comprises a reset key installed in the arm control area, and the reset key is used for controlling the mechanical arm to reset to a preset operation posture.

The invention also provides a special robot system, which comprises a special robot and the control device, wherein the special robot comprises a chassis, a body main body, a mechanical arm, a visual device and a controller, the body main body is arranged on the chassis, one end of the mechanical arm is arranged on the body main body, the other end of the mechanical arm is provided with an end effector, the mechanical arm is provided with a plurality of movable joints, each movable joint comprises a joint driving piece, the visual device is used for sensing the self posture and the surrounding environment of the special robot, and the controller is respectively and electrically connected with the visual device and the joint driving pieces.

In one embodiment, the robotic arm further comprises a force sensor coupled to the end effector, the force sensor configured to detect coupling stress information between the robotic arm and the end effector, and the second display screen further configured to display the coupling stress information.

In one embodiment, the vision device includes a plurality of cameras, at least one of the cameras is installed through an electric pan tilt, the control device further includes a control panel, the control panel is further provided with a switching key and a control lever, the switching key is used for switching image information of the cameras displayed on the first display screen, and the control lever is used for controlling the electric pan tilt to perform rotation motion and pitching motion.

In one embodiment, the number of the robot arms is more than one, the number of the multidimensional manipulator is the same as that of the robot arms, and the multidimensional manipulator and the robot arms are arranged in a one-to-one correspondence manner.

The control device and the special robot system provided by the invention have the beneficial effects that: the operator can intuitively sense the surrounding environment of the special robot through the first display screen, the mechanical arm is prevented from colliding with surrounding obstacles, the mechanical arm can be safely and accurately controlled, the working state of the special robot can be timely known through the second display screen, the working state comprises the load condition, the alarm condition or the power supply condition of the special robot, the operation error caused by overlarge load of a joint driving piece and power failure or other abnormal alarms can be avoided in advance, the technical problem that the operation safety is low in the existing operation device is solved, and the safety and the reliability of the operation mode are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a explosive ordnance disposal robot in the prior art;

FIG. 2 is a side view of a specialty robot provided in accordance with an embodiment of the present invention;

FIG. 3 is a perspective view of the specialty robot of FIG. 2;

FIG. 4 is a further perspective view of the specialty robot of FIG. 2;

FIG. 5 is a schematic structural view of a robotic arm of the specialty robot of FIG. 4;

FIG. 6 is a schematic view of a fourth rotary joint of the robotic arm of FIG. 5;

FIG. 7 is a schematic structural view of an end effector of the specialty robot of FIG. 4;

FIG. 8 is a connection diagram of the implement mounting portion of the end effector of FIG. 4 to a wrist portion of a robotic arm;

FIG. 9 is an exploded view of FIG. 8;

FIG. 10 is an exploded view from another perspective of FIG. 8;

FIG. 11 is a schematic structural diagram of an operating device according to an embodiment of the present invention;

FIG. 12 is a schematic view of a control panel of the control device in FIG. 11;

fig. 13 is a schematic view of the robot arm manipulation zone of the manipulation panel of fig. 11.

Wherein, in the figures, the respective reference numerals:

1-a movable chassis, 10-a running wheel, 2-a multi-degree-of-freedom mechanical arm, 21-an end effector, 22-an end vision sensor, 3-a global vision sensor and 31-a longitudinal support;

x1-first vertical axis, X2-second vertical axis, Y1-first horizontal axis, Y2-second horizontal axis;

100-chassis, 110-cabin, 120-running gear;

200-body main body, 201-support;

300-a mechanical arm, 301-a first rotary joint, 302-a first swing joint, 303-a second rotary joint, 304-a second swing joint, 305-a third rotary joint, 306-a third swing joint, 307-a fourth rotary joint, 308-a joint, 310-a shoulder, 320-a big arm, 330-an elbow, 340-a small arm, 350-a wrist, 351-a wrist housing, 3511-a first reset line, 352-a rotary adapter, 3521-a second reset line, 353-a rotary mounting part, 3531-a first mounting groove, 3532-a second mounting hole, 354-a rubber sleeve, 361-a force sensor, 362-a joint driving part, 363-a reducer, 364-an encoder and 365-a brake;

410-a first camera, 411-a first electric pan-tilt head, 420-a second camera, 421-a second electric pan-tilt head, 430-a column, 440-a third camera, 450-a fourth camera, 460-a fifth camera;

500-end actuator, 510-actuator mounting part, 511-mounting piece, 512-first mounting hole, 513-limiting piece, 520-actuator working part, 521-first clamping finger and 522-second clamping finger;

600-control device, 601-first display screen, 602-control panel, 610-second display screen, 620-arm control area, 621-multidimensional controller, 622-motion speed regulating switch, 623-motion mode regulating switch, 624-reset key, 625-actuator operating key, 626-actuator rotating key, 630-visual device control area, 631-first control rod, 632-second control rod, 633-switching key, 640-switch wiring area, 650-chassis control area.

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 illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Example one

Referring to fig. 2 to 4, a special robot includes a chassis 100, a body main body 200, a robot arm 300, a vision device, and a controller, wherein the body main body 200 is mounted on the chassis 100. One end of the robot arm 300 is attached to the body portion 200, and the end effector 500 is attached to the other end of the robot arm 300, and the robot arm 300 has a plurality of movable joints 308, and the movable joints 308 include joint driving members 362 (see fig. 6).

The visual device is used for perceiving the self posture and the surrounding environment of the special robot. The controller is electrically connected to the vision device and the plurality of joint driving members 362, respectively. The vision device may be mounted alone or may be mounted on the chassis 100, the body 200, or the robot arm 300.

In one embodiment, referring to fig. 3, there are two robot arms 300, and the two robot arms 300 are respectively installed at both sides of the body portion main body 200.

In yet another embodiment, referring to fig. 5, the robot arm 300 includes a shoulder 310, a big arm 320, an elbow 330, a small arm 340 and a wrist 350 connected in sequence, the number of the movable joints 308 is seven, and the seven movable joints 308 are a first rotary joint 301 connecting the body main body 200 and the shoulder 310, a first swing joint 302 of the shoulder 310, a second rotary joint 303 of the big arm 320 and the elbow 330, a second swing joint 304 of the elbow 330, a third rotary joint 305 of the small arm 340 and the wrist 350, a third swing joint 306 of the wrist 350 and a fourth rotary joint 307 of the end of the wrist 350, respectively.

The movable joint 308 includes a first rotation joint 301, a first swing joint 302, a second rotation joint 303, a second swing joint 304, a third rotation joint 305, a third swing joint 306, and a fourth rotation joint 307. The large arm 320 is fixedly mounted to the shoulder 310. The small arm 340 is fixedly mounted to the elbow 330.

Thus, the robot arm 300 has both a pivot joint and a rotary joint, has a greater freedom of movement, can meet various operation requirements, can flexibly drive the end effector 500 to operate, and can implement complex single-arm or double-arm cooperative operation to perform diversified field operation tasks.

Optionally, the axes of rotation of adjacent live joints 308 are perpendicular to each other.

In yet another embodiment, referring to fig. 7-9, end effector 500 is removably mounted to wrist 350 to allow an operator to quickly change end effector 500, such as jaws, scissors pliers, breakers, laser heads, etc., depending on the field conditions.

Specifically, referring to fig. 7 to 10, the end effector 500 includes an effector mounting portion 510 and an effector operating portion 520 mounted to the effector mounting portion 510, the effector mounting portion 510 has a mounting piece 511 extending toward the fourth rotary joint 307, the mounting piece 511 has a first mounting hole 512 penetrating through the mounting piece 511, and the effector mounting portion 510 further has a stopper piece 513 extending toward the fourth rotary joint 307.

The fourth rotation joint 307 includes a wrist housing 351 and a rotation mounting portion 353. The rotation mounting portion 353 is rotatably mounted to the wrist housing 351. The rotation mounting portion 353 has a first mounting groove 3531 into which the mounting piece 511 is inserted, a side wall of the rotation mounting portion 353 has a second mounting hole 3532 corresponding to the first mounting hole 512, and the rotation mounting portion 353 further has a stopper groove (not shown) into which the stopper piece 513 is inserted.

When the end effector 500 needs to be mounted to the robot arm 300, the operator inserts the mounting pieces 512 of the end effector 500 into the first mounting grooves 3531 of the rotation mounting portion 353, and inserts the stopper pieces 513 into the stopper grooves, and then inserts the fasteners from the circumferential outer side of the robot arm 300 into the first mounting holes 513 and the second mounting holes 3532.

Specifically, the wrist housing 351 is connected to the rotation mounting portion 353 through the rotation adaptor 352.

In this manner, the mounting plate 512 is inserted into the first mounting groove 3531, so that the end effector 500 is limited in the circumferential direction of the rotation mounting portion 353, the limiting plate 513 limits the end effector 500 in the radial direction of the rotation mounting portion 353, and the fastener is inserted into the first mounting hole 513 and the second mounting hole 3532, so that the end effector 500 is limited in the axial direction of the rotation mounting portion 353, the end effector 500 is tightly connected to the rotation mounting portion 353, and the end effector 500 can rotate relative to the axis of the wrist housing 351 along with the rotation mounting portion 353 and the rotation adaptor 352.

Specifically, referring to fig. 9 and 10, the outer surface of the wrist housing 351 has a first reset wire 3511, and the outer surface of the rotation adaptor 352 has a second reset wire 3521, so that the rotation adaptor 352 is in an initial state when the first reset wire 3511 is aligned with the second reset wire 3521. The arrangement of the first and second reset wires 3511, 3521 facilitates accurate resetting of the rotary adapter 352 and the end effector 500 coupled thereto.

For a special robot, when a job is finished or a process of a certain stage of the job is finished, the end effector 500 needs to be reset, so that a subsequent job can be performed, the control device 600 gives a multi-dimensional displacement control instruction of the end effector 500 based on the reset state.

In an embodiment of the present invention, referring to fig. 6, the fourth rotary joint 307 further includes a force sensor 361, the force sensor 361 is connected to the output shaft of the joint driving member 362 and the end effector 500, respectively, the force sensor 361 is used for detecting connection stress information between the joint driving member 362 and the end effector 500, and the force sensor 361 is electrically connected to the controller to send the connection stress information to the controller. Before the connection stress exceeds the alarm stress value, the controller can adjust the posture of the mechanical arm 300 in advance or replace the end effector 500 which is proper, and the end effector 500 is prevented from being broken due to overlarge stress in the operation process.

In particular, the joint drive 362 is connected to a force sensor 361 via a reduction gear 363. The joint driver 362 is electrically connected to the controller via an encoder 364.

Specifically, referring to fig. 6, the movable joint 308 further includes a brake 365 electrically connected to the driver of the joint driving member 362, the driver of the joint driving member 362 is connected to the controller, and the controller is configured to send a braking command to the driver of the joint driving member 362, so that the brake 365 mechanically locks the joint driving member 362. When the special robot is powered off or gives an unexpected alarm, the brake 365 realizes the mechanical forced locking of the joint driving piece 362.

Wherein brake 365 is optionally an electromagnetic brake. In the fourth rotary joint 307, a joint driver 362 is mounted inside the wrist housing 351.

Optionally, the joint drive 362 is a servo motor.

In another embodiment, referring to fig. 2 to 4, the vision device includes a first camera 410, a second camera 420 and a column 430, the first camera 410 is rotatably mounted on the top of the body 200 around a first vertical axis X1 by a first motorized pan and tilt head 411, the column 430 is mounted on the chassis 100, the second camera 420 is rotatably mounted on the top of the column 430 around a second vertical axis X2 by a second motorized pan and tilt head 421, and the controller is electrically connected to the first camera 410, the second camera 420, the first motorized pan and tilt head 411 and the second motorized pan and tilt head 421 respectively.

The first camera 410 conforms to the visual angle of the human eyes of the operator during operation and is used for intuitively sensing the operation space in front of the special robot, and the second camera 420 is used for sensing the surrounding environment at two sides or the rear side of the special robot, so that the operation safety is improved. The controller acquires the image information shot by the first camera 410 and the second camera 420, and can control the first camera 410 and the second camera 420 to rotate by controlling the first electric pan-tilt 411 and the second electric pan-tilt 421, so as to acquire the image information with wider visual angle and construct the effective working space of the special robot.

The working space refers to a set of target points that the robot arm 300 and the end effector 500 of the robot can reach, and includes a working space located in front of the robot and working spaces located at the sides and the rear of the robot. The constrained space refers to a working space reduced by the special robot due to environmental constraints (such as walls and other barriers in the surrounding environment). The effective working space is the remaining working space after the constraint space is subtracted from the working space. The robot arm 300 moves in an effective working space, and safety can be ensured.

Optionally, referring to fig. 3, the first motorized pan and tilt head 411 can also drive the first camera 410 to perform a pitching motion around the first horizontal axis Y1. The second motorized pan and tilt head 421 can also drive the second camera 420 to perform a pitching motion around the second horizontal axis Y2.

Optionally, the first camera 410 and the second camera 420 are both high definition infrared cameras.

In another embodiment, referring to fig. 7, the actuator working portion 520 includes a first clamping finger 521 and a second clamping finger 522 both rotatably disposed.

Optionally, the vision device further includes a third camera 440 mounted to the implement work portion 520.

Further, the third camera 440 is obliquely installed to the end effector 500 to face the front of the end effector 500, i.e., to the motion performing part of the end effector 500, so that the working position of the end effector 500 is located at the center of the image taken by the third camera 440 for the close-up observation of the operator.

In another embodiment, the chassis 100 includes a cabin 110 and a traveling mechanism 120 for driving the cabin 110 to travel, the controller is installed in the cabin 110, the controller is electrically connected to the traveling mechanism 120, the special robot further includes a fourth camera 450 and a fifth camera 460, which are electrically connected to the controller, respectively, the fourth camera 450 is installed on the front side of the cabin 110, and the fifth camera 460 is installed on the rear side of the cabin 110.

The fourth camera 450 is used to observe the progress of the specialty robot and the auxiliary guidance of near-ground work tasks.

The fifth camera 460 is used to observe the backward movement of the special robot and the auxiliary guidance of the near-ground work task.

Optionally, the fourth camera 450 is an infrared night vision camera.

Optionally, the fifth camera 460 is an infrared night vision camera.

Optionally, the travel mechanism 120 is a track mechanism, a roller mechanism, or a foot-leg mechanism.

In another embodiment, referring to fig. 3, the body 200 is mounted on the chassis 100 by a support 201 in a swinging manner. So, body portion main part 200 can drive arm 300 whole and carry out the every single move to in order to carry out the every single move operation, simultaneously, when the scene operation of every single move, first camera 410 keeps looking straight, is favorable to controlling personnel to observe the operation space clearly, and guide arm 300 carries out the meticulous operation.

Example two

Referring to fig. 11 to 13, the present embodiment provides a control device 600 applied to a special robot in any one of the embodiments of the present invention.

Specifically, referring to fig. 4 to 6 together, the special robot includes a chassis 100, a body main body 200, a robot arm 300, a vision device, and a controller, wherein the body main body 200 is mounted on the chassis 100. One end of the robot 300 is attached to the body 200, the end effector 500 is attached to the other end of the robot 300, the robot 300 has a plurality of movable joints 308, and the movable joints 308 include joint driving members 362. The visual device is used for perceiving the surrounding environment of the special robot. The controller is electrically connected to the vision device and the plurality of joint driving members 362, respectively.

The control device 600 includes a first display screen 601, a second display screen 610, a multidimensional controller and a control system, the control system is in communication connection with a controller of the special robot, the first display screen 601, the second display screen 610 and the multidimensional controller 621 are respectively electrically connected with the control system, the first display screen 601 is used for displaying image information captured by the vision device, the second display screen 610 is used for displaying a working state of the special robot, and the working state of the special robot includes a current state of a joint driving member 362 of the movable joint 308, such as a load condition, a current position and a current rotation angle of the joint driving member 362, and includes a battery state of the special robot, and the like. When the special robot further comprises a brake 365, a force sensor 361 and an electric cloud platform, the working state of the special robot further comprises the working state of the brake 365, connection stress information detected by the force sensor 361, the rotation angle of the electric cloud platform and the like. When the special robot further comprises other joints, the working state of the special robot further comprises the current states of the other joints.

The multi-dimensional manipulator 621 is used to input multi-dimensional data for controlling the movement of the end of the robot 300. And the control system sends a multi-dimensional pose control instruction to the controller according to the multi-dimensional data.

The control device 600 provided by the embodiment has the beneficial effects that a controller can intuitively sense the self posture and the surrounding environment of the special robot through the first display screen 601, the mechanical arm 300 is prevented from colliding with surrounding obstacles, so that the mechanical arm 300 can be accurately controlled, the working state of the special robot can be timely known through the second display screen 610, including the load condition, the alarm condition or the power supply condition, the working state of each movable joint 308 can be known, the control errors caused by overlarge load of the joint driving piece 362 and power failure or other abnormal alarms can be avoided in advance, the technical problem of low control safety of the existing control device 600 is solved, and the safety and the reliability of a control mode are improved.

The controller of the special robot can calculate the driving instruction corresponding to each joint driving member 362 according to the multi-dimensional pose control instruction, and send the driving instruction to the corresponding joint driving member 362. The operator does not need to send a specific driving instruction for controlling each movable joint 308, and does not need to control each movable joint 308 independently, so that the operation efficiency is high, and the operation difficulty is small.

The multidimensional controller 621 is a device capable of independently outputting a spatial three-dimensional translation variable and a spatial three-dimensional rotation variable.

In an embodiment, referring to fig. 11 and 12, the multidimensional controller 621 is a 3D mouse, and the 3D mouse obtains multidimensional data based on an operation action of an operator.

Wherein the multidimensional data comprises incremental multidimensional data and absolute multidimensional data. The incremental multidimensional data is a displacement distance that is newly added based on the current position of the end effector 500 according to the operation motion of the operator. For example, if the operator moves the 3D mouse by a distance S toward the lower left, the incremental multidimensional data represents that the end effector 500 needs to move by a distance M toward the lower left based on the current position. The moving distance S and the moving distance M have a linear proportional relationship.

Therefore, an operator inputs multidimensional data through the 3D mouse, the control system generates a multidimensional pose control instruction based on the multidimensional data and sends the multidimensional pose control instruction to the controller of the special robot, the controller automatically calculates the rotation angle required by the relevant movable joint 308 and sends a corresponding rotation instruction to the corresponding joint driving piece 362, so that the end effector 500 reaches the position designated by the operator, and the use difficulty of the control device 600 is greatly reduced.

In an embodiment, referring to fig. 12, the control device 600 further includes a control panel 602, the second display screen 610 is mounted on the control panel 602, the control panel 602 has an arm control area 620, and the multi-dimensional controller 621 is mounted on the arm control area 620. The human operator can complete the manipulation of the robotic arm 300 within the arm manipulation region 620.

Alternatively, the number of arm manipulation regions 620 corresponds one-to-one to the number of robotic arms 300.

Specifically, referring to fig. 13, the control device 600 further includes a movement speed adjusting switch 622 installed on the arm control area 620, wherein the movement speed adjusting switch 622 is used for adjusting the shift position of the movement speed of the robot arm 300.

For example, the moving speed adjusting switch 622 is a three-speed knob switch, and includes a first speed gear, a second speed gear, and a third speed gear, in which the moving speed of the robot arm 300 decreases in sequence.

Specifically, referring to fig. 12, the manipulation device 600 further includes a motion mode adjustment switch 623 installed in the arm manipulation region 620, wherein the motion mode adjustment switch 623 is used for adjusting a motion mode of the robot arm 300, and the motion mode includes at least two of a global motion mode, a translational motion mode, and a point-around motion mode.

For example, the motion mode adjustment switch 623 is a three-step knob switch, and has a global motion mode, a translational motion mode, and a rotational motion mode.

When the operator directs the motion mode adjustment switch 623 to the global motion mode, the multidimensional controller 621 inputs multidimensional data including six degrees of freedom, and is capable of controlling the end of the robot 300 to make global motion in the effective working space.

When the operator directs the exercise mode adjustment switch 623 to the translational exercise mode, the multidimensional manipulator 621 inputs multidimensional data containing six degrees of freedom, and the control system retains translational data along three axes and rotational data around a vertical axis (Z axis) in the three-dimensional coordinate system, and ignores rotational data of two horizontal axes (X axis and Y axis), that is, controls only translation and rotation around the vertical axis of the end of the robot 300. For example, when the end effector 500 grips the object to be worked, the end effector 500 does not topple in the translational motion mode, and liquid in the object to be worked is prevented from spilling or the object is prevented from dropping.

When the operator points the motion mode adjustment switch 623 to the point-surrounding motion mode, the multidimensional controller 621 inputs multidimensional data including six degrees of freedom, the control system retains rotation data around three axes in the three-dimensional coordinate system, and ignores translation data along the three axes, i.e., the control system can control the end of the mechanical arm 300 to rotate only but not translate. For example, when the special robot performs explosive ordnance disposal operation and needs to perform trimming operation, in the point-winding motion mode, the end effector 500 keeps pointing to the point in the three-dimensional space, and performs spatial rotation motion around the point, thereby realizing fine operation under special environment and functional requirements.

When the number of the robot arms 300 is two, the motion pattern further includes a two-arm joint synchronous motion pattern. In the dual-arm joint synchronous movement mode, the operator operates one multi-dimensional manipulator 621 to input multi-dimensional data, and then the ends of the two robot arms 300 move synchronously according to the multi-dimensional data. For example, the two robot arms 300 clamp a certain object to be worked together, and the two robot arms 300 move synchronously in the dual-arm joint synchronous motion mode, so that the object to be worked is prevented from falling off due to asynchronous and separated movement of the two robot arms 300.

Specifically, referring to fig. 13, the control device 600 further includes a reset key 624 installed in the arm control region 620, wherein the reset key 624 is used for controlling the robot arm 300 to reset to the preset operation posture.

For example, the number of the reset keys 624 is four, and the operator can set four preset operation postures. For example, one of the reset keys 624 is used to reset the end effector 500 corresponding to a preset working posture of the robot arm 300, and when the operator presses the reset key 624, the first reset wire 3511 of the wrist housing 351 and the second reset wire 3521 of the rotation adaptor 352 are aligned to achieve quick reset of the end effector 500. For another example, a reset key 624 corresponds to the preset operation posture of the robot 300 as an initial posture as shown in fig. 3, and when the operator presses the reset key 624, the entire robot 300 is reset to the initial posture.

Specifically, referring to fig. 13, the control device 600 further includes an actuator operating button 625 installed in the arm control region 620, and the actuator operating button 625 is used for controlling the opening and closing of the end effector 500.

Specifically, referring to fig. 13, the control device 600 further includes an actuator rotation button 626 mounted in the arm control region 620, wherein the actuator rotation button 626 is used for controlling the fourth rotation joint 307 to rotate forward and backward, so as to implement outward rotation and inward rotation of the end effector 500.

In one embodiment, referring to fig. 13, the control panel 602 further has a switch connection area 640, a chassis control area 650 and a vision device control area 630, wherein the switch connection area 640 is provided with a power switch and a plurality of connection sockets. The chassis manipulation region 650 is used to input a walking stick and a walking key for controlling the walking mechanism 120 of the chassis 100.

EXAMPLE III

The invention also provides a special robot system, which comprises the special robot in any embodiment of the first embodiment and the control device 600 in any embodiment of the second embodiment.

In one embodiment, referring to fig. 4-6, the specialty robot includes a chassis 100, a body 200, a robotic arm 300, a vision device, and a controller, the body 200 being mounted to the chassis 100. One end of the robot 300 is attached to the body 200, the end effector 500 is attached to the other end of the robot 300, the robot 300 has a plurality of movable joints 308, and the movable joints 308 include joint driving members 362. The visual device is used for perceiving the surrounding environment of the special robot. The controller is electrically connected to the vision device and the plurality of joint driving members 362, respectively.

Referring to fig. 11 to 13, the control device 600 includes a first display screen 601, a second display screen 610, a multi-dimensional controller and a control system, the control system is communicatively connected to the controller of the special robot, the first display screen 601, the second display screen 610 and the multi-dimensional controller 621 are respectively electrically connected to the control system, the first display screen 601 is used for displaying image information captured by the vision device, and the second display screen 610 is used for displaying a working state of the special robot. The multi-dimensional manipulator 621 is used to input multi-dimensional data for controlling the movement of the end of the robot 300. And the control system sends a multi-dimensional pose control instruction to the controller according to the multi-dimensional data.

The operator can intuitively sense the surrounding environment of the special robot through the first display screen 601, the mechanical arm 300 is prevented from colliding with surrounding obstacles, the mechanical arm 300 can be accurately controlled, the working state of the special robot can be timely known through the second display screen 610, the technical problem of control failure of the existing control device 600 is solved, and the safety and the reliability of a control mode are improved.

In one embodiment, the robot 300 further comprises a force sensor 361 connected to the end effector 500, the force sensor 361 is configured to detect connection stress information between the robot 300 and the end effector 500, and the second display screen 610 is further configured to display the connection stress information, so that an operator can know the stress between the robot 300 and the end effector 500 in time to accurately and safely input multidimensional data.

In a specific embodiment, referring to fig. 3, the vision device includes a plurality of cameras, at least one camera is installed through the electric pan-tilt, and the plurality of cameras may be any three or more of the first camera 410, the second camera 420, the third camera 440, the fourth camera 450, and the fifth camera 460 described in the first embodiment. A plurality of cameras are optionally mounted to the chassis 100, body 200 and end effector 500. The first camera 410 and the second camera 420 are installed through a motorized pan and tilt head.

In an embodiment, referring to fig. 12, the control panel 602 further includes a switch button 633 and a joystick, the switch button 633 is used for switching the image information of the camera displayed on the first display 601, and the joystick is used for controlling the electric pan-tilt to perform a rotation motion and a pitching motion. For example, the control rod moves left and right to show that the electric pan-tilt rotates forward and backward, and the control rod moves up and down to show that the electric pan-tilt does pitching motion.

Optionally, the joystick comprises a first joystick 631 for manipulating the first motorized pan and tilt head 411 and a second joystick 632 for manipulating the second motorized pan and tilt head 421.

Alternatively, referring to fig. 11, an operator switches to display a single camera or simultaneously displays images captured by at least two cameras on the first display screen 601 through a switch key 633.

In addition, the first display 601 can also be used to enlarge or reduce the display image.

In an embodiment, referring to fig. 11 and 12, the number of the robots 300 is two or more, the number of the multi-dimensional manipulators 621 is the same as the number of the robots 300, and the multi-dimensional manipulators 621 and the robots 300 are arranged in a one-to-one correspondence.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a control device, is applied to special type robot which characterized in that: the control device comprises a first display screen, a second display screen, a multi-dimensional controller and a control system, the control system is used for being in communication connection with a controller of the special robot, the first display screen, the second display screen and the multi-dimensional controller are respectively electrically connected with the control system, the first display screen is used for displaying image information shot by a visual device of the special robot, the second display screen is used for displaying the working state of the special robot, the multi-dimensional controller is used for inputting and controlling multi-dimensional data of the movement of the tail end of a mechanical arm of the special robot, and the control system sends a multi-dimensional pose control instruction to the controller according to the multi-dimensional data.

2. The manipulation device of claim 1, wherein: the multidimensional controller is a 3D mouse, and the 3D mouse acquires the multidimensional data based on the operation action of an operator.

3. The manipulation device according to claim 1 or 2, wherein: the control device further comprises a control panel, the second display screen is mounted on the control panel, the control panel is provided with an arm control area, and the multidimensional manipulator is mounted in the arm control area.

4. The manipulation device of claim 3, wherein: the control device further comprises a movement speed adjusting switch arranged in the arm control area, and the movement speed adjusting switch is used for adjusting the gear of the movement speed of the mechanical arm.

5. The manipulation device of claim 3, wherein: the control device further comprises a motion mode adjusting switch installed in the arm control area, the motion mode adjusting switch is used for adjusting motion modes of the mechanical arm, and the motion modes comprise at least two of a global motion mode, a translation motion mode and a point-winding motion mode.

6. The manipulation device of claim 3, wherein: the control device further comprises a reset key installed in the arm control area, and the reset key is used for controlling the mechanical arm to reset to a preset operation posture.

7. A special robot system, characterized in that: the special robot comprises a chassis, a body main body, a mechanical arm, a visual device and a controller, wherein the body main body is arranged on the chassis, one end of the mechanical arm is arranged on the body main body, an end effector is arranged at the other end of the mechanical arm, the mechanical arm is provided with a plurality of movable joints, each movable joint comprises a joint driving piece, the visual device is used for sensing the self posture and the surrounding environment of the special robot, and the controller is electrically connected with the visual device and the joint driving pieces respectively.

8. The specialty robotic system of claim 1, wherein: the mechanical arm further comprises a force sensor connected with the end effector, the force sensor is used for detecting connection stress information between the mechanical arm and the end effector, and the second display screen is further used for displaying the connection stress information.

9. The specialty robotic system of claim 1, wherein: the vision device comprises a plurality of cameras, at least one camera is installed through an electric pan-tilt, the control device further comprises a control panel, the control panel is further provided with a switching key and a control rod, the switching key is used for switching image information of the camera displayed by the first display screen, and the control rod is used for controlling the electric pan-tilt to perform rotary motion and pitching motion.

10. A specialty robotic system as claimed in any one of claims 7 to 9, wherein: the number of the mechanical arms is more than one, the number of the multi-dimensional controllers is the same as that of the mechanical arms, and the multi-dimensional controllers and the mechanical arms are arranged in a one-to-one correspondence mode.

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