CN113290549A - Special robot and control method thereof - Google Patents

Abstract

The invention relates to the technical field of robots, and provides a special robot and a control method thereof. The special robot comprises a chassis, a body main body, a mechanical arm and a controller, wherein the controller is electrically connected with a plurality of driving motors of the mechanical arm respectively, the controller is used for being in communication connection with an external control device so as to receive a multi-dimensional pose control instruction sent by the control device, and the controller calculates a driving instruction corresponding to the driving motor according to the multi-dimensional pose control instruction and sends the driving instruction to the corresponding driving motor. The invention provides a special robot and a control method thereof.A control operator sends a multi-dimensional pose control instruction based on the current position of an end effector through a control device, and a controller automatically calculates a specific driving instruction corresponding to each joint, so that the technical problem of low control efficiency of the existing special robot is solved, the control convenience of the special robot is improved, and the control difficulty is reduced.

Description

Special robot and control method thereof

Technical Field

The invention relates to the technical field of robots, in particular to a special robot and a control method thereof.

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 has a plurality of degrees of freedom, and the high-degree-of-freedom explosive-handling robot needs an operator to select the key of the mechanical arm 2 corresponding to the degree of freedom, and the operator can control each degree of freedom respectively to complete the movement of the end effector, so that the technical problem of low operation efficiency exists.

Disclosure of Invention

The invention aims to provide a special robot and a control method thereof, and aims to solve the technical problem that the existing special robot is low in control efficiency.

In order to achieve the purpose, the invention adopts the technical scheme that: a specialty robot comprising:

a chassis;

a body main body mounted to the chassis;

a robot arm, one end of which is mounted to a side portion of the body portion main body and the other end of which is mounted with an end effector, the robot arm having a plurality of joints, the joints including a drive motor; and

the controller is electrically connected with the plurality of driving motors respectively, is used for being in communication connection with an external control device so as to receive the multidimensional pose control instruction sent by the control device, and calculates the driving instruction corresponding to the driving motors according to the multidimensional pose control instruction and sends the driving instruction to the corresponding driving motors.

In one embodiment, the special robot further comprises a first camera, a second camera and a stand column, the first camera is rotatably mounted at the top of the body main body through a first electric pan-tilt, the stand column is mounted on the chassis, the second camera is rotatably mounted at the top of the stand column through a second electric pan-tilt, and the controller is electrically connected with the first camera, the second camera, the first electric pan-tilt and the second electric pan-tilt respectively.

In one embodiment, the specialty robot further includes a third camera electrically connected to the controller, the third camera being mounted at an angle to the end effector so as to face a front of the end effector.

In one embodiment, the chassis includes the cabin body and is used for driving the running gear that the cabin body walked, the controller install in the cabin body, the controller with running gear electric connection, special robot still include respectively with controller electric connection's fourth camera and fifth camera, the fourth camera install in the front side of the cabin body, the fifth camera install in the rear side of the cabin body, the controller acquires respectively the image signal that the fourth camera and the fifth camera shot, and with image signal sends to outside controlling means.

In one embodiment, the robot arm includes a shoulder, a big arm, an elbow, a small arm, and a wrist connected in this order, and the joints have seven, which are a first rotary joint connecting the body main body and the shoulder, a first swing joint provided in the shoulder, a second rotary joint connecting the big arm and the elbow, a second swing joint provided in the elbow, a third rotary joint connecting the small arm and the wrist, a third swing joint provided in the wrist, and a fourth rotary joint provided in the end of the wrist, respectively.

In one embodiment, the fourth rotary joint includes a force sensor and the driving motor, the force sensor is connected to an output shaft of the driving motor and the end effector respectively, the force sensor is configured to detect connection stress information between the driving motor and the end effector, and the force sensor is electrically connected to the controller to send the connection stress information to the controller.

In one embodiment, the joint further includes a brake electrically connected to the driver of the driving motor, and the controller is configured to send a braking instruction to the driver of the driving motor, so that the brake mechanically locks the driving motor.

The invention also provides a control method of the special robot, which is applied to the special robot and comprises the following steps:

receiving a multi-dimensional pose control instruction;

calculating a driving instruction corresponding to the driving motor according to the multi-dimensional pose control instruction and the current state of the mechanical arm;

and sending the driving command to the corresponding driving motor.

In one embodiment, the special robot further includes a first camera, a second camera, and a column, the first camera is rotatably mounted on the top of the body main body through a first electric pan-tilt, the column is mounted on the chassis, and the second camera is rotatably mounted on the top of the column through a second electric pan-tilt, wherein the step of sending the driving command to the corresponding driving motor further includes:

receiving a first vector instruction sent by an operation control device, calculating a first motion instruction according to the first vector instruction and the current state of the first electric pan-tilt, and sending the first motion instruction to the first electric pan-tilt;

and receiving a second vector instruction sent by an operation control device, calculating a second motion instruction according to the second vector instruction and the current state of the second electric pan-tilt, and sending the second motion instruction to the second electric pan-tilt.

In one embodiment, the multi-dimensional pose control instruction is periodically sent to the controller, the controller completes calculation and sending of the current driving instruction in a single period, and the driving motor operates according to the current driving instruction immediately after receiving the current driving instruction.

The special robot and the control method thereof provided by the invention have the beneficial effects that: the control personnel send the multidimension position appearance control command based on end effector current position through controlling device, special robot's controller calculates the required turned angle of relevant joint, and send corresponding drive command to corresponding driving motor, make end effector reach the appointed position of control personnel, control personnel need not send the concrete drive command that is used for controlling each joint to correspond, it is convenient to control, the technical problem that the control efficiency that has solved current special robot exists is low, thereby the control convenience of special robot has been improved, reduce and control the degree of difficulty, a succinct efficient mode of controlling is provided.

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 structural view of an end effector of the specialty robot of FIG. 4;

FIG. 7 is an exploded view of the end effector of FIG. 6;

FIG. 8 is a schematic view of the upper cover of the end effector of FIG. 7;

FIG. 9 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. 10 is an exploded view of FIG. 9;

FIG. 11 is an exploded view from another perspective of FIG. 9;

FIG. 12 is a mechanism schematic of the fourth rotary joint of FIG. 5;

fig. 13 is a schematic flow chart illustrating a method for operating a special robot according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a control device for controlling a special robot according to an embodiment of the present invention;

FIG. 15 is a schematic view of a control panel of the control device in FIG. 14;

fig. 16 is a schematic view of the robot arm manipulation zone of the manipulation panel of fig. 15.

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;

x-a first vertical axis, Y-a second vertical 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 driving motor, 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 effector, 501-second mounting groove, 502-light-transmitting through hole, 510-effector mounting part, 511-mounting piece, 512-first mounting hole, 513-limiting piece, 520-effector working part, 521-first clamping finger, 522-second clamping finger, 523-upper cover, 524-mounting main body and 525-lower cover;

600-control device, 601-control panel, 602-switch connection area, 603-arm control area, 6031-motion speed adjusting switch, 6032-motion mode adjusting switch, 6033-quick reset key, 6034-actuator working key, 6035-actuator rotating key, 604-chassis control area, 605-visual control area, 610-first display screen, 620-second display screen, 630-3D mouse, 640-first control rod and 650-second control rod.

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.

Referring to fig. 2, 3 and 13, a special robot includes a chassis 100, a body main body 200, a robot arm 300 and a controller, wherein the body main body 200 is mounted on the chassis 100.

Referring also to fig. 5, one end of the robot 300 is mounted to the side of the body 200, the other end of the robot 300 is mounted with the end effector 500, the robot 300 has a plurality of joints 308, and the joints 308 include a driving motor 362 (see fig. 12). The driving motor 362 is a power source for the joint 308 to rotate, and the controller controls the joint 308 to rotate by controlling the driving motor 362.

The controller is electrically connected to the driving motors 362, and is configured to communicate with an external control device 600 (see fig. 14) to receive the multidimensional pose control command sent by the control device 600, and the controller calculates a driving command corresponding to the driving motor 362 according to the multidimensional pose control command and sends the driving command to the corresponding driving motor 362.

The special robot provided by the invention has the beneficial effects that: an operator sends a multidimensional pose control command based on the current pose of the end effector 500 through the control device 600, a controller of the special robot calculates a rotation angle required by the relevant joint 308 and sends a corresponding driving command to the corresponding driving motor 362, so that the end effector 500 reaches the pose designated by the operator, the operator does not need to send a specific driving command for controlling each joint 308, each joint 308 does not need to be controlled independently in a complicated manner, the operation and the control are convenient, the technical problem of low operation and control efficiency of the existing special robot is solved, the operation and control convenience of the special robot is improved, the operation and control difficulty is reduced, and a simple and efficient operation and control mode is provided for the operator.

In an embodiment of the present invention, referring to fig. 3, there are two robot arms 300, the two robot arms 300 are respectively installed on two sides of the body 200, and each robot arm 300 has a plurality of joints 308 similar to human arms, so as to meet the working habits of operators, and facilitate the operators to operate the two robot arms 300 to perform various field work tasks in cooperation according to the daily working habits, so that the special robot can effectively replace human beings to work.

Referring to fig. 13 and 14, the control device 600 has two 3D mice 630. The operator operates the 3D mouse 630 to move, and inputs multidimensional data, such as six-dimensional data, to the manipulating device 600, so as to control the end effector 500 to perform multidimensional displacement, such as moving 1 meter to the lower left. The manipulation system of the manipulation device 600 generates a multi-dimensional pose control instruction according to the multi-dimensional data. One for each 3D mouse 630, the robotic arm 300. One of the 3D mice 630 is used to send a first multi-dimensional pose control instruction for controlling one of the robot arms 300, and the other 3D mouse 630 is used to send a first multi-dimensional pose control instruction for controlling the other robot arm 300.

In still another embodiment of the present invention, 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 joints 308 are seven in total, and the seven 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, connected in sequence.

The joints 308 of the robot arm 300 include 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 swing joint and a rotation joint, has a greater freedom of movement, can meet various operational 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 joints 308 are perpendicular to each other.

In one embodiment of the present invention, referring to fig. 9-11, end effector 500 is removably mounted to wrist 350 to allow an operator to quickly change end effector 500, such as a jaw, a pair of scissors, a demolition tool, a laser head, etc., depending on the field conditions.

In an embodiment of the present invention, referring to fig. 7, 9, 10 and 11, the end effector 500 includes an effector mounting portion 510 and an effector operating portion 520 mounted on the effector mounting portion 510, the effector mounting portion 510 has a mounting piece 511 extending toward the fourth rotating 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 limiting piece 513 extending toward the fourth rotating joint 307.

The fourth rotation joint 307 includes a wrist housing 351 and a rotation mounting portion 353, the driving motor 362 of the fourth rotation joint 307 is mounted in the wrist housing 351, and the rotation mounting portion 353 is rotatably mounted in the wrist housing 351 and connected to an output end of the driving motor 362 located in the wrist housing 351. Alternatively, the rotation mounting portion 353 is indirectly mounted to the wrist housing 351 via the rotation adaptor 352, and the rotation mounting portion 353 is indirectly connected to the output end of the driving motor 362 via the speed reducer 363 and the force sensor 361. 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. 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 at 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 pose control instruction of the end effector 500 based on the reset state.

In an embodiment of the present invention, referring to fig. 12, the fourth rotary joint 307 further includes a force sensor 361 in addition to the driving motor 362. The force sensor 361 is connected with the output shaft of the driving motor 362 and the end effector 500 respectively, the force sensor 361 is used for detecting the connection stress information between the driving motor 362 and the end effector 500, and the force sensor 361 is electrically connected with the controller so as to send the connection stress information to the controller. The controller can give warning information before the connection stress exceeds the warning stress value, so as to remind an operator to adjust the posture of the mechanical arm 300 or replace the end effector 500 with proper posture, and avoid the damage of the end effector 500 due to overlarge stress in the operation process.

Specifically, the drive motor 362 is connected to a force sensor 361 through a speed reducer 363. The driving motor 362 is electrically connected to the controller through an encoder 364.

Specifically, referring to fig. 12, the joint 308 further includes a brake 365 electrically connected to the driver of the driving motor 362, and the controller is electrically connected to the driver of the driving motor 362 and configured to send a braking command to the driver of the driving motor 362 so that the brake 365 mechanically locks the driving motor 362. When the special robot is powered off or gives an alarm accidentally, the brake realizes the mechanical forced locking of the driving motor 362.

Wherein brake 365 is optionally an electromagnetic brake.

Referring to fig. 12, the brake 365 is integrated with the encoder 364.

The driver of the driving motor 362 is a control unit corresponding to the joint 308, and is used for performing electrical and bus communication transmission with the controller.

Optionally, the drive motor 362 is a servo motor. The controller controls the rotation of each servo motor, thereby controlling the rotation angles of each rotary joint and each swing joint of the joint 308, and finally realizing the control of the motion trajectory of the end effector 500.

In an embodiment of the present invention, referring to fig. 2 to 4, the special robot further 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 main body 200 around a first vertical axis X1 through 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 through 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 controller respectively acquires image signals captured by the first camera 410 and the second camera 420, and transmits the image signals to an external control device.

An operator can remotely sense the surrounding environment of the special robot through the control device. 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 a wider viewing angle, thereby constructing the effective working space of the special robot. The controller calculates whether the movement locus of the robot arm 300 exceeds the effective working space before sending a drive instruction to the drive motor 362. If all possible motion trajectories exceed the effective working space, a warning message is sent to the control device 600. Otherwise, a drive command is sent to the drive motor 362.

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 special robot moves in an effective working space, and the safety can be ensured.

Optionally, referring to fig. 3, the first camera 410 is pivoted to the first motorized pan and tilt head 411 around the first horizontal axis Y1. The second camera 420 is pivoted to the second motorized pan and tilt head 421 around a second horizontal axis Y2. Thus, the first camera 410 and the second camera 420 can rotate by 180 degrees from left to right, can tilt by 90 degrees up and down, and have wide viewing angles, so as to guide the mechanical arm 300 to finely operate and sense the surrounding environment of the special robot.

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

In another embodiment of the present invention, referring to fig. 6 and 7, the actuator working part 520 includes a first clamping finger 521, a second clamping finger 522, an upper cover 523, a mounting body 524, and a lower cover 525. The rotating shafts of the first clamping finger 521 and the second clamping finger 522 are rotatably inserted into the inner cavity of the mounting body 524, and the connecting shaft 526 extends into the inner cavity to drive the first clamping finger 521 and the second clamping finger 522 to rotate. The upper cover 523 is attached to the upper side of the attachment body 524, and the lower cover 525 is attached to the lower side of the attachment body 524, thereby covering the rotation shafts of the first and second clamp fingers 521 and 522 exposed from the attachment body 524 and protecting the attachment body 524.

Alternatively, the upper cover 523 forms the second mounting groove 501, so that the third camera 440 can be relatively independently mounted between the upper cover 523 and the mounting body 524.

In an embodiment of the present invention, referring to fig. 6 and 7, the special robot further includes a third camera 440 electrically connected to the controller, and the third camera 440 is obliquely installed on the end effector 500 to face the front portion of the end effector 500, i.e., the motion executing portion of the end effector 500, so that the working position of the end effector 500 is located at the center of the image captured by the third camera 440, rather than at the edge of the image, which is more convenient for the operator to perform close-up observation through the controller, thereby implementing fine operation of the end effector 500.

The third camera 440 moves along with the robot 300, and can observe the object at a close distance and at a plurality of angles.

Specifically, referring to fig. 8, the end effector 500 has a second mounting groove 501 for the third camera 440 to be mounted in an inclined manner. The second mounting groove 501 is used for the inclined mounting and positioning of the third camera 440 and protects the third camera 440.

Optionally, in order to facilitate the third camera 440 to shoot images, the upper cover 523 of the end effector 500 further has a light-transmitting through hole 502 communicating with the second mounting groove 501, or the upper cover 523 has a light-transmitting plate for the third camera 440 to shoot.

In an embodiment of the present invention, referring to fig. 4, 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 respectively electrically connected to the controller, 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 controller respectively acquires image signals photographed by the fourth camera 450 and the fifth camera 460, and transmits the image signals to the external manipulation device 700. 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. The operator inputs a walking control instruction to the control device 700 with the aid of the fourth camera 450 and the fifth camera 460, and the controller receives the walking control instruction sent by the control device 700 and sends an administrative driving instruction to the walking mechanism 120 to control the special robot to walk safely.

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. The traveling mechanism 120 can realize the autonomous operation of the special robot in a dangerous place or a place where people cannot conveniently enter, so as to replace manual operation. Wherein, crawler is favorable to advancing in special environment such as mire, sand ground, meadow, and the climbing ability is stronger, more be difficult to heeling and card die.

On the basis of the foregoing embodiment, the number of the third cameras 440 is the same as that of the robot arms 300, and is two. Therefore, the special robot is provided with a multi-view visual system which at least comprises six camera devices. The multi-view vision system is used for monitoring the joint motion of the mechanical arm 300 of the special robot, the state of the end effector 500 and the surrounding environment information, transmitting the information to the external control device 600 through the controller in a real-time image form, and displaying multiple paths of image information or amplifying and displaying image information of a certain path on the first display screen 610 of the control device 600 in real time according to requirements.

In another embodiment of the present invention, referring to fig. 3, the body 200 is rotatably mounted to the chassis 100 by a support 201. 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.

Referring to fig. 14 to 16, the control device 600 for controlling a special robot according to the present invention can be communicatively connected to a controller. The manipulation device 600 includes a first display screen 610, a second display screen 620, a 3D mouse 630, a first joystick 640, and a second joystick 650.

The first display screen 610 is used to display images taken by a multi-view vision system, such as the first camera 410, the second camera 420, the third camera 440, the fourth camera 450, or the fifth camera 460. Of course, the first display screen 610 may also display images taken by several cameras at the same time. The second display screen 620 is used to display the stress information detected by the force sensor, as well as the drive motor status at each joint 308 of the robotic arm 300.

The number of the 3D mice 630 corresponds to the number of the mechanical arms 300 one by one, and the 3D mice 630 output multidimensional pose control instructions according to the actions of the operators operating the 3D mice 630 in real time and transmit the multidimensional pose control instructions to the controller. For example, if the operator moves the 3D mouse 630 by the distance S to the lower left, the multi-dimensional pose control command output by the operator control device 600 indicates that the end effector 500 needs to move by the distance M to the lower left. Wherein, the moving distance S and the moving distance M have linear proportional relation. The controller of the special robot calculates a driving instruction of the driving motor 362 corresponding to the robot arm 300 according to the multi-dimensional pose control instruction, thereby realizing that the end effector 500 moves a distance M downward and leftward.

In which the 3D mouse 630 can move up and down, can slide on a plane, and can be rotated and screwed, thereby enabling multi-dimensional data to be input.

When the number of the mechanical arms 300 is two, the multi-dimensional pose control instruction comprises a first pose control instruction for controlling one end effector 500 and a second pose control instruction for controlling the other end effector 500, the controller calculates whether the motion tracks of the two mechanical arms 300 interfere with each other, if the motion tracks interfere with each other, the controller does not respond to the pose control instruction, the control device 600 performs alarm feedback, and if the motion tracks do not interfere with each other, the two mechanical arms 300 move simultaneously.

The first joystick 640 is used to control the first camera 410 to rotate about the first vertical axis X1, as well as to rotate about the first horizontal axis. The second joystick 650 is used to control the rotation of the second camera 420 about the second vertical axis X2, as well as about the second horizontal axis. The operator controls the rotation of the first camera 410 and the second camera 420 through the first joystick 640 and the second joystick 650.

Referring to fig. 13 to 15, the control device 600 includes a control panel 601 pivotally connected to the first display screen 610. The control panel 601 includes a second display 620, a switch connection area 602, an arm control area 603, a chassis control area 604, and a visual control area 605, and the switch connection area 602 is provided with a power switch and a plurality of connection sockets. The chassis manipulation region 604 is used for inputting a walking joystick and a walking key for controlling the walking mechanism 120 of the chassis 100. The visual manipulation zone 605 is provided with a first joystick 640 and a second joystick 650.

The number of arm manipulation areas 603 corresponds one-to-one to the number of robot arms 300.

The arm manipulation section 603 includes a movement speed adjustment switch 6031, a movement mode adjustment switch 6032, a quick reset key 6033, an actuator work key 6034, and an actuator rotation key 6035.

The movement speed adjusting switch 6031 is used to control the movement speed of the robot 300, that is, the rotation speed of the joint 308 output by the driving motor 362. For example, the movement speed adjusting switch 6031 is a three-speed knob switch, and has a first speed gear, a second speed gear, and a third speed gear that decrease in sequence according to the movement speed of the robot arm 300.

In the three-dimensional space coordinate system, the movement pattern adjustment switch 6032 is used to adjust the movement pattern of the robot arm 300. For example, the motion mode adjustment switch 6032 is a three-step knob switch having a global motion mode, a translational motion mode, and a rotational motion mode.

When the human operator points the movement mode adjustment switch 6032 to the global movement mode, the 3D mouse 630 may control the global movement of the end effector 500 within the effective work space, for example, the end effector 500 moves the distance M from the upper left to the lower right.

When the operator points the movement mode adjustment switch 6032 to the translational movement mode, and the 3D mouse 630 inputs multidimensional data including six degrees of freedom, only translational data along the X-axis, the Y-axis, and the Z-axis and rotational data around the Z-axis are valid, and rotational data of two horizontal axes (the X-axis and the Y-axis) are invalid, that is, the end of the control robot 300 can only translate and rotate around the vertical axis. 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 6032 to the point-winding motion mode, the 3D mouse 630 may control the end effector 500 to perform a point-winding rotational motion in the effective execution space based on the preset point. For example, after the end effector 500 points to a certain point, the point-around rotation function is turned on, and at this time, when the operator controls the robot 300 to move by operating the 3D mouse 630, the end effector 500 keeps pointing to the point in the three-dimensional space, and only rotates but cannot translate, that is, the coordinates of the X axis, the Y axis, and the Z axis in the three-dimensional space remain unchanged, but the end effector 500 can realize spatial rotation around the point, thereby realizing fine operation under special environment and function requirements.

The quick reset key 6033 is used to restore the robot arm 300 to a predetermined posture. Alternatively, the number of the quick reset keys 6033 is four, and the operator can set four preset postures. For example, when an operator presses the quick reset key 6033, referring to fig. 10, 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, wherein the quick reset key 6033 corresponds to a preset posture of the robot arm 300 to reset the end effector 500.

Actuator work button 6034 is used to control the opening and closing of end effector 500.

The actuator rotation button 6035 is used to control the outward rotation and inward rotation of the fourth rotation joint 307.

Referring to fig. 13, the present invention further provides a method for controlling a special robot, which is applied to the special robot, and includes:

s100: and receiving a multi-dimensional pose control instruction.

S200: a drive instruction corresponding to the drive motor 362 is calculated from the multi-dimensional pose control instruction.

S300: the drive command is sent to the corresponding drive motor 362.

Therefore, the operator only needs to send the multidimensional pose control instruction based on the current position of the end effector 500 through the control device 600, and the controller automatically calculates the corresponding drive instruction of the drive motor 362, so that the end effector 500 reaches the target position specified by the operator, the control convenience of the special robot is improved, the control difficulty is reduced, and a simple and efficient control mode is provided for the operator.

Wherein, the execution main body of the steps is a controller. The controller may also calculate a drive command for the corresponding drive motor 362 based on the current state of the robotic arm 300 and the multi-dimensional pose control command. The current state of the robot arm 300 includes one or more of the current pose of the robot arm 300, the rotation angle of each joint, and the load state of the drive motor.

The special robot further comprises a first camera 410, a second camera 420 and a vertical column 430, wherein the first camera 410 is rotatably arranged at the top of the body part main body 200 through a first electric holder 411, the vertical column 430 is arranged on the chassis 100, and the second camera 420 is rotatably arranged at the top of the vertical column 430 through a second electric holder 421.

In a specific embodiment of the control method of the present invention, the control method further includes:

receiving the first vector instruction sent by the control device 600, calculating a first motion instruction according to the first vector instruction and the current state of the first electric pan/tilt head 411, and sending the first motion instruction to the first electric pan/tilt head 411.

Receiving a second vector instruction sent by the control device 600, calculating a second motion instruction according to the second vector instruction and the current state of the second electric pan-tilt 421, and sending the second motion instruction to the second electric pan-tilt 421.

Thus, an operator can conveniently control the rotation motion and the pitching motion of the first electric pan/tilt head 411 and the second electric pan/tilt head 421 through the joystick of the control device 600.

In one embodiment, the chassis 100 includes a cabin 110 and a traveling mechanism 120 for driving the cabin 110 to travel, and the controller is electrically connected to the traveling mechanism 120.

The control method provided by the invention further comprises the following steps: the controller receives a third vector command for controlling the motion of the chassis 100 sent by the control device 600, and the controller calculates the third motion command and sends the third motion command to the chassis 100. Thus, the operator can conveniently control the traveling mechanism 120 of the chassis 100 to travel through the control lever and the button of the chassis control area 604 of the control device 600.

In one embodiment, the body main body 200 is pivotally mounted to the chassis 100.

The control method provided by the invention further comprises the following steps: the controller also receives a fourth vector instruction which is sent by the control device 600 and used for controlling the body main body 200, and the controller calculates a fourth motion instruction according to the fourth vector instruction and sends the fourth motion instruction to the body main body 200 so as to control the pitching motion of the body main body 200.

In this embodiment, the controller issues the driving motors 362, the chassis 100, the first electric cradle head 411, the second electric cradle head 421 and the body main body 200 periodically at a high refresh rate, so as to control them to implement corresponding command motions, thereby completing the whole process of controlling the special robot.

In one embodiment, the control device 600 sends the multi-dimensional pose control command to the controller periodically, the controller completes the calculation and sending of the current driving command in a single period, and the driving motor 362 operates according to the current driving command immediately after receiving the current driving command.

That is, the controller completes the motion trajectory calculation, the working space judgment, the alarm information processing or the calculation and issuing of the driving instruction of the robot arm 300 in a single period, and the driving motor 362 starts to operate according to the driving instruction at the first time when the driving instruction is received; in the next period, a new multi-dimensional pose control instruction arrives and completes the process, and when a new driving instruction is sent to the driving motor 362, the latest received driving instruction is immediately executed no matter whether the driving instruction received in the previous instruction period of the driving motor 362 is executed, so that the low-delay real-time control is realized.

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. A specialty robot, comprising:

a chassis;

a body main body mounted to the chassis;

a robot arm, one end of which is mounted to a side portion of the body portion main body and the other end of which is mounted with an end effector, the robot arm having a plurality of joints, the joints including a drive motor; and

the controller is electrically connected with the plurality of driving motors respectively, is used for being in communication connection with an external control device so as to receive the multidimensional pose control instruction sent by the control device, and calculates the driving instruction corresponding to the driving motors according to the multidimensional pose control instruction and sends the driving instruction to the corresponding driving motors.

2. A specialty robot according to claim 1, wherein: the special robot further comprises a first camera, a second camera and a stand column, the first camera is rotatably installed at the top of the body main body through a first electric holder, the stand column is installed on the chassis, the second camera is rotatably installed at the top of the stand column through a second electric holder, and the controller is respectively electrically connected with the first camera, the second camera, the first electric holder and the second electric holder.

3. A specialty robot according to claim 2, wherein: the special robot further comprises a third camera electrically connected with the controller, and the third camera is obliquely arranged on the end effector to face the front part of the end effector.

4. A specialty robot according to claim 1, wherein: the chassis includes the cabin body and is used for the drive the running gear of cabin body walking, the controller install in the cabin is internal, the controller with running gear electric connection, special type robot still include respectively with controller electric connection's fourth camera and fifth camera, the fourth camera install in the front side of the cabin body, the fifth camera install in the rear side of the cabin body, the controller acquires respectively the fourth camera with the image signal that the fifth camera was shot, and will image signal sends to outside controlling means.

5. A specialty robot according to claim 1, wherein: the robot arm comprises a shoulder, a big arm, an elbow, a small arm and a wrist which are connected in sequence, wherein the joints are seven in total, and the seven joints are respectively a first rotary joint for connecting the body main body and the shoulder, a first swinging joint for the shoulder, a second rotary joint for connecting the big arm and the elbow, a second swinging joint for the elbow, a third rotary joint for connecting the small arm and the wrist, a third swinging joint for the wrist and a fourth rotary joint for the tail end of the wrist.

6. A specialty robot according to claim 5, wherein: the fourth rotary joint comprises a force sensor and the driving motor, the force sensor is respectively connected with an output shaft of the driving motor and the end effector, the force sensor is used for detecting connection stress information between the driving motor and the end effector, and the force sensor is electrically connected with the controller so as to send the connection stress information to the controller.

7. A specialty robot according to any one of claims 1 to 6, wherein: the joint further comprises a brake electrically connected with the driver of the driving motor, the controller is electrically connected with the driver of the driving motor, and the controller is used for sending a braking instruction to the driver of the driving motor so that the brake mechanically locks the driving motor.

8. A control method of a special robot applied to the special robot according to claim 1, comprising:

receiving a multi-dimensional pose control instruction sent by an operation control device;

calculating a driving instruction corresponding to the driving motor according to the multi-dimensional pose control instruction;

and sending the driving command to the corresponding driving motor.

9. The method of controlling a specialty robot as claimed in claim 8, further comprising a first camera rotatably mounted to a top of said body portion body by a first motorized pan and tilt head, a second camera rotatably mounted to said chassis, and a mast rotatably mounted to a top of said mast by a second motorized pan and tilt head, said method further comprising:

receiving a first vector instruction sent by the control device, calculating a first motion instruction according to the first vector instruction and the current state of the first electric pan-tilt, and sending the first motion instruction to the first electric pan-tilt;

and receiving a second vector instruction sent by the control device, calculating a second motion instruction according to the second vector instruction and the current state of the second electric pan-tilt, and sending the second motion instruction to the second electric pan-tilt.

10. The method of controlling a specialty robot as claimed in claim 8, wherein: the multi-dimensional pose control instruction is periodically sent to the controller, the controller completes calculation and sending of the current driving instruction in a single period, and the driving motor immediately runs according to the current driving instruction after receiving the current driving instruction.

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