CN114800462A - Stage arm motion position detection device - Google Patents
Stage arm motion position detection device Download PDFInfo
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- CN114800462A CN114800462A CN202210173394.5A CN202210173394A CN114800462A CN 114800462 A CN114800462 A CN 114800462A CN 202210173394 A CN202210173394 A CN 202210173394A CN 114800462 A CN114800462 A CN 114800462A
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- mechanical arm
- sensor
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- arm
- inclination angle
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- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 claims 1
- 230000006698 induction Effects 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention relates to the technical field of mechanical arm movement position detection devices, and particularly discloses a stage mechanical arm movement position detection device which comprises a calculation module and a detection assembly, wherein the calculation module is used for calculating the movement position of a stage mechanical arm; the detection assembly comprises an inclination angle sensor arranged on a rotary table of the mechanical arm, and data obtained by the inclination angle sensor is transmitted to the calculation module; the side wall of the lower end base of the mechanical arm is provided with a starting point plate matched with the inclination angle sensor, and the inclination angle sensor is matched with the starting point plate to measure the rotation angle degree of the rotary table of the mechanical arm. The stage mechanical arm movement position detection device provided by the invention is provided with a calculation module and a detection assembly, wherein an inclination angle sensor, a starting point plate, an induction plate, a laser position sensor and a receiver in the detection assembly are matched with each other to establish a three-dimensional rectangular coordinate system, and the calculation modules are matched with each other, so that the tail end position of the mechanical arm can be determined in the three-dimensional rectangular coordinate system.
Description
Technical Field
The invention relates to the technical field of mechanical arm movement position detection devices, in particular to a stage mechanical arm movement position detection device.
Background
The stage is used as a carrier for artistic expression and plays an important role in the society, the mechanical arm is a prop commonly used in stage places, it has strong adaptability and dynamic problem solving capability, is mainly used for scene transportation, assistance in arrangement of space modeling, stage special artistic effect display and the like, the main components of the device generally comprise a base, a rotary table, a large arm, a small arm, a tail end, a rotary table driving motor, a large arm driving motor and a small arm driving motor, wherein the rotary table is rotatably connected with the base, the large arm is respectively connected with the rotary table and the small arm, the small arm is connected with the tail end, the tail end is used for arranging an actuator, the rotary table driving motor is used for driving the rotary table to rotate relative to the base, the large arm driving motor is used for driving the large arm to move, the small arm driving motor is used for driving the small arm to move, and the large arm and the small arm can drive the tail end to move in a working space by utilizing a parallelogram principle.
In order to determine the position of the tail end of the mechanical arm in the prior art, a laser position sensor is usually arranged at the tail end of the mechanical arm, and a sensor joint and a sensor mounting frame are arranged on a base.
In order to solve the above problems, the present invention provides a stage mechanical arm movement position detection device.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the problems that in order to determine the position of the tail end of a mechanical arm, a laser position sensor is usually arranged at the tail end of the mechanical arm, and a sensor joint and a sensor mounting frame are arranged on a base in the prior art, but the structure often cannot obtain an accurate detection result and brings inconvenience in use.
(II) technical scheme
The technical scheme adopted by the invention for solving the technical problems is as follows: a stage mechanical arm movement position detection device comprises a calculation module and a detection assembly;
the power supply module comprises a control power supply for supplying power to the detection device and a driving power supply for supplying power to the calculation module, the calculation module is provided with a plurality of different calculation modules, and different data transmitted in the detection device are matched for calculation so as to calculate the position of the tail end of the final mechanical arm.
The detection assembly comprises an inclination angle sensor arranged on a rotary table of the mechanical arm, and data obtained by the inclination angle sensor is transmitted to the calculation module; the control mechanism of the tilt angle sensor is connected with the control power supply, and a touch screen is arranged for controlling the tilt angle sensor to work in a man-machine interaction mode.
A starting point plate matched with the inclination angle sensor is arranged on the side wall of the lower end base of the mechanical arm, and the inclination angle sensor is matched with the starting point plate to measure the rotation angle degree of the rotary table of the mechanical arm;
the end-to-end connection of arm have with inclination sensor matched with tablet, inclination sensor with tablet cooperatees and can measure the end of arm with line between the inclination sensor with the contained angle degree between the horizontal plane at inclination sensor place.
The control mechanism of the tilt angle sensor is connected with the control touch screen, is convenient for man-machine interaction, and is used for manually controlling the tilt angle sensor to clear and reset a zero starting point, so that the detection accuracy is improved.
Preferably, the tail end of the mechanical arm is further provided with a laser position sensor, a receiver matched with the laser position sensor is arranged on a rotary table of the mechanical arm, and data measured by the laser position sensor is transmitted to the calculation module.
Preferably, the receiver detects the presence of a predetermined distance between the tip end of the robot arm and the turn table of the robot arm from the output signal of the laser position sensor.
The control mechanism of the laser position sensor is connected with the control power supply and is also connected with the touch screen and used for controlling the laser position sensor to clear and reposition when measuring different positions.
Preferably, the length of two right-angle sides of a first right-angle triangle with a connecting line between the tail end of the mechanical arm and the tilt sensor as a hypotenuse is calculated by the calculation module by acquiring a preset distance between the tail end of the mechanical arm and a rotary table of the mechanical arm and an included angle degree between the connecting line between the tail end of the mechanical arm and the tilt sensor and a horizontal plane where the tilt sensor is located, wherein one right-angle side is located on the horizontal plane where the tilt sensor is located.
Preferably, the two right-angle sides of the second right-angle triangle with the right-angle side on the horizontal plane where the tilt sensor is located as the hypotenuse are calculated through the calculation module by acquiring the rotation angle degree of the turntable of the mechanical arm and the length of the right-angle side on the horizontal plane where the tilt sensor is located.
Preferably, a straight line of a right-angle side of the second right-angled triangle close to the turntable of the mechanical arm is an X-axis, a straight line of a side of the turntable of the mechanical arm perpendicular to the right-angle side is a Y-axis, and a straight line perpendicular to a horizontal plane where the tilt sensor is located and intersecting with an intersection point of the X-axis and the Y-axis is a Z-axis, so as to establish a three-dimensional right-angled coordinate system, and the position of the tail end of the mechanical arm in the three-dimensional right-angled coordinate system is calculated by the calculation module.
(III) advantageous effects
1. The invention provides a stage mechanical arm movement position detection device, which is provided with a calculation module and a detection assembly, wherein an inclination angle sensor, a starting point plate, an induction plate, a laser position sensor and a receiver in the detection assembly are matched with each other to establish a three-dimensional rectangular coordinate system, and the calculation modules are matched with each other, so that the tail end position of a mechanical arm can be determined in the three-dimensional rectangular coordinate system, the detection result is accurate, and the operation is simple and convenient.
2. The invention provides a stage mechanical arm movement position detection device, wherein after a rotary table of a mechanical arm rotates to a required angle to stop rotating, a large arm and a small arm of the mechanical arm are also adjusted to proper positions to stop rotating, the tail end of the mechanical arm is static, at the moment, an inclination angle sensor and an induction plate are matched, the inclination angle sensor can be cleared firstly during working, a zero starting point is reset, the horizontal plane where the inclination angle sensor is located is taken as the zero starting point, the included angle degree between a connecting line between the tail end of the mechanical arm and the inclination angle sensor and the horizontal plane where the inclination angle sensor is located can be conveniently measured, and then the included angle degree is transmitted to a calculation module.
3. The invention provides a stage mechanical arm movement position detection device, wherein after a rotary table of a mechanical arm rotates to a required angle to stop rotating, a large arm and a small arm of a mechanical wall are also adjusted to proper positions to stop rotating, the tail end of the mechanical arm is static, and at the moment, a preset distance between the tail end of the mechanical arm and the rotary table of the mechanical arm is measured through the mutual matching between a laser position sensor and a receiver; the control mechanism of the laser position sensor is connected with the control power supply and is also connected with the touch screen and used for controlling the laser position sensor to clear and reposition when measuring different positions.
Drawings
FIG. 1 is a schematic view of the overall structure and robotic arm structure of the present invention;
fig. 2 is a diagram of the position relationship of the end of the robot arm in a three-dimensional rectangular coordinate system according to the present invention.
Wherein: the positions of the detection assembly 1, the mechanical arm 2, the turntable 21, the tail end 22 and the tail end 220 are detected.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1-2, a stage robot arm 2 movement position detection device includes a calculation module and a detection assembly 1.
The power supply module comprises a control power supply for supplying power to the detection device and a driving power supply for supplying power to the calculation module, the calculation module is provided with a plurality of different calculation modules, and different data transmitted in the detection device are matched with each other to calculate so as to calculate the position of the tail end 22 of the final mechanical arm 2.
The detection assembly 1 comprises an inclination angle sensor arranged on a rotary table 21 of the mechanical arm 2, and data obtained by the inclination angle sensor is transmitted to the calculation module; the control mechanism of the tilt angle sensor is connected with the control power supply, and a touch screen is arranged for controlling the tilt angle sensor to work in a man-machine interaction mode.
The side wall of the lower end base of the mechanical arm 2 is provided with a starting point plate matched with the inclination angle sensor, and the inclination angle sensor is matched with the starting point plate to measure the rotation angle degree of the rotary table 21 of the mechanical arm 2.
In the technical scheme, after the rotary table 21 of the mechanical arm 2 rotates to a required angle and stops rotating, the work of the tilt angle sensor is matched with the starting point plate, the number of rotating angles of the rotary table 21 of the mechanical arm 2 is measured, and then the measured number is transmitted to the calculating module, wherein the starting point plate is used as a zero starting point of the tilt angle sensor, and the work accuracy of the tilt angle sensor is improved.
The end 22 of arm 2 be connected with inclination sensor matched with tablet, inclination sensor with tablet cooperatees and can measure arm 2 end 22 with line between the inclination sensor with the contained angle degree between the horizontal plane at inclination sensor place.
In the technical scheme, after the rotary table 21 of the mechanical arm 2 rotates to a required angle to stop rotating, the large arm and the small arm of the mechanical arm are also adjusted to be in proper positions to stop rotating, the tail end 22 of the mechanical arm 2 is static, at the moment, the tilt angle sensor and the induction plate are matched, the tilt angle sensor can be cleared at first during working, a zero position starting point is reset, the horizontal plane where the tilt angle sensor is located is taken as the zero position starting point, the included angle degree between the connecting line between the tail end 22 of the mechanical arm 2 and the tilt angle sensor and the horizontal plane where the tilt angle sensor is located can be conveniently measured, and then the included angle degree is transmitted to the calculation module.
The control mechanism of the tilt angle sensor is connected with the control touch screen, is convenient for man-machine interaction, and is used for manually controlling the tilt angle sensor to zero and reset a zero starting point, so that the detection accuracy is improved.
The tail end 22 of the mechanical arm 2 is further provided with a laser position sensor, a receiver matched with the laser position sensor is arranged on the rotary table 21 of the mechanical arm 2, and data measured by the laser position sensor is transmitted to the computing module.
The receiver detects the presence of a predetermined distance between the tip end 22 of the robot arm 2 and the turn table 21 of the robot arm 2 from the output signal of the laser position sensor.
In the above technical solution, after the turntable 21 of the robot arm 2 rotates to a required angle and stops rotating, and the large arm and the small arm of the robot arm are also adjusted to appropriate positions and stop, the end 22 of the robot arm 2 is stationary, and at this time, a predetermined distance is measured between the end 22 of the robot arm 2 and the turntable 21 of the robot arm 2 through the mutual cooperation between the laser position sensor and the receiver; the control mechanism of the laser position sensor is connected with the control power supply and is also connected with the touch screen and used for controlling the laser position sensor to clear and reposition when measuring different positions.
Referring to fig. 2, by obtaining a predetermined distance between the tail end 22 of the mechanical arm 2 and the turntable 21 of the mechanical arm 2 and an included angle degree between a connecting line between the tail end 22 of the mechanical arm 2 and the tilt angle sensor and a horizontal plane where the tilt angle sensor is located, the length of two right-angle sides of a first right-angle triangle with the connecting line between the tail end 22 of the mechanical arm 2 and the tilt angle sensor as a hypotenuse is calculated by the calculation module, wherein one right-angle side is located on the horizontal plane where the tilt angle sensor is located.
In the technical scheme, a connecting line between the tail end 22 of the mechanical arm 2 and the tilt angle sensor is A, the length of A is a, an included angle between the connecting line between the tail end 22 of the mechanical arm 2 and the tilt angle sensor and a horizontal plane where the tilt angle sensor is located is beta, data of a and alpha are transmitted to a calculation module, the calculation module is used for calculating, the right-angle side of the opposite side of the beta is B, the length of B is B, the remaining right-angle side is C, the length of C is C, the calculation basis is a trigonometric function,
b is the sine of a x the angle beta
c is the cosine of a x angle beta,
the right-angle side C is located on the horizontal plane on which the tilt sensor is located.
Through obtaining the rotation angle degree of the rotary table 21 of the mechanical arm 2 and the length of the right-angle side on the horizontal plane where the tilt angle sensor is located, and through the calculation module, two right-angle sides of a second right-angle triangle with the right-angle side on the horizontal plane where the tilt angle sensor is located as a hypotenuse are calculated.
In the above technical solution, the rotation angle of the turntable 21 of the robot arm 2 is set as an angle θ, data of c and θ are transmitted to a calculation module, the calculation module performs calculation, the right-angle side of the angle θ is set as D, the length of D is set as D, the remaining right-angle side is set as E, the length of E is set as E, the calculation basis is a trigonometric function,
d is the sine of C x angle theta
e is the cosine of C x angle θ.
And a straight line at a right-angle side of the turntable 21 close to the mechanical arm 2 in the second right-angled triangle is an X-axis, a straight line at a side perpendicular to the right-angle side on the turntable 21 of the mechanical arm 2 is a Y-axis, a straight line perpendicular to a horizontal plane where the tilt sensor is located and intersecting with the intersection point of the X-axis and the Y-axis is a Z-axis, a three-dimensional right-angled coordinate system is further established, and the position of the tail end 22 of the mechanical arm 2 in the three-dimensional right-angled coordinate system is calculated by the calculating module.
In the technical scheme, the straight line where the right-angle side E is located is an X axis, the straight line parallel to the right-angle side D and perpendicular to the X axis is a Y axis, the intersection point of the X axis and the Y axis is an O point, the straight line parallel to the right-angle side B and intersecting with the O point is a Z axis, a three-dimensional right-angle coordinate system is further established, the position of the tail end 22 of the mechanical arm 2 in the three-dimensional right-angle coordinate system is obtained through combination of various data calculated by the calculation module and displayed in the touch screen, and therefore the purpose of determining the position of the tail end 22 of the mechanical arm 2 is achieved.
The invention is provided with a calculation module and a detection assembly 1, wherein a tilt angle sensor, a starting point plate, an induction plate, a laser position sensor and a receiver in the detection assembly 1 are mutually matched to establish a three-dimensional rectangular coordinate system, and the calculation modules are mutually matched, so that the position of the tail end 22 of the mechanical arm 2 can be determined in the three-dimensional rectangular coordinate system, and the detection result is accurate, and the operation is simple and convenient.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (6)
1. The utility model provides a stage arm motion position detection device which characterized in that: comprises a calculation module and a detection component (1);
the detection assembly (1) comprises an inclination angle sensor arranged on a rotary table (21) of the mechanical arm (2), and data obtained by the inclination angle sensor is transmitted to the calculation module;
a starting point plate matched with the inclination angle sensor is arranged on the side wall of a base at the lower end of the mechanical arm (2), and the inclination angle sensor is matched with the starting point plate to measure the rotation angle of a rotary table (21) of the mechanical arm (2);
the end (22) of arm (2) be connected with inclination sensor matched with tablet, inclination sensor with tablet cooperatees and can measure the end (22) of arm (2) with between the inclination sensor line with the contained angle degree between the horizontal plane at inclination sensor place.
2. The stage robot arm (2) movement position detection device according to claim 1, characterized in that: the tail end (22) of the mechanical arm (2) is further provided with a laser position sensor, a receiver matched with the laser position sensor is arranged on a rotary table (21) of the mechanical arm (2), and data measured by the laser position sensor is transmitted to the computing module.
3. The stage robot arm (2) movement position detection device according to claim 2, characterized in that: the receiver detects the presence of a predetermined distance between the tip (22) of the robot arm (2) and the turntable (21) of the robot arm (2) from the output signal of the laser position sensor.
4. The stage robot arm (2) movement position detection device according to claim 1, characterized in that: the method comprises the steps of obtaining a preset distance between the tail end (22) of the mechanical arm (2) and a rotary table (21) of the mechanical arm (2) and an included angle degree between a connecting line between the tail end (22) of the mechanical arm (2) and an inclination angle sensor and a horizontal plane where the inclination angle sensor is located, and calculating the lengths of two right-angle sides of a first right-angle triangle with the connecting line between the tail end (22) of the mechanical arm (2) and the inclination angle sensor as a hypotenuse through a calculation module, wherein one right-angle side is located on the horizontal plane where the inclination angle sensor is located.
5. The stage robot arm (2) movement position detection device according to claim 4, wherein: through obtaining the rotation angle degree of a rotary table (21) of the mechanical arm (2) and the length of the right-angle side on the horizontal plane where the inclination angle sensor is located, two right-angle sides of a second right-angle triangle with the right-angle side on the horizontal plane where the inclination angle sensor is located as a hypotenuse are calculated through the calculating module.
6. Stage manipulator (2) movement position detection device according to claim 5, characterized in that: and a straight line on one right-angle side of the second right-angled triangle, which is close to the turntable (21) of the mechanical arm (2), is an X-axis, a straight line on the turntable (21) of the mechanical arm (2), which is perpendicular to the right-angle side, is a Y-axis, a straight line which is perpendicular to a horizontal plane on which the tilt sensor is positioned and intersects with the intersection point of the X-axis and the Y-axis is a Z-axis, a three-dimensional right-angle coordinate system is further established, and the position of the tail end (22) of the mechanical arm (2) in the three-dimensional right-angle coordinate system is calculated through the calculation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210173394.5A CN114800462A (en) | 2022-02-24 | 2022-02-24 | Stage arm motion position detection device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210173394.5A CN114800462A (en) | 2022-02-24 | 2022-02-24 | Stage arm motion position detection device |
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| CN114800462A true CN114800462A (en) | 2022-07-29 |
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| CN202210173394.5A Pending CN114800462A (en) | 2022-02-24 | 2022-02-24 | Stage arm motion position detection device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613924A (en) * | 2014-12-30 | 2015-05-13 | 中国矿业大学 | System and method for detecting rotating angle of tail end of flexible mechanical arm |
| CN205058074U (en) * | 2015-04-21 | 2016-03-02 | 北京航空航天大学 | Arm space orientation equipment |
| CN109129466A (en) * | 2018-07-26 | 2019-01-04 | 清华大学 | A kind of active vision device and its control method for stereotaxis robot |
| WO2019063228A1 (en) * | 2017-09-30 | 2019-04-04 | Siemens Aktiengesellschaft | Security tracking system, apparatus, method, storage medium and security system |
| CN111203861A (en) * | 2020-01-06 | 2020-05-29 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
-
2022
- 2022-02-24 CN CN202210173394.5A patent/CN114800462A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613924A (en) * | 2014-12-30 | 2015-05-13 | 中国矿业大学 | System and method for detecting rotating angle of tail end of flexible mechanical arm |
| CN205058074U (en) * | 2015-04-21 | 2016-03-02 | 北京航空航天大学 | Arm space orientation equipment |
| WO2019063228A1 (en) * | 2017-09-30 | 2019-04-04 | Siemens Aktiengesellschaft | Security tracking system, apparatus, method, storage medium and security system |
| CN109591050A (en) * | 2017-09-30 | 2019-04-09 | 西门子公司 | Security tracking systems, device, method, storage medium and security system |
| CN109129466A (en) * | 2018-07-26 | 2019-01-04 | 清华大学 | A kind of active vision device and its control method for stereotaxis robot |
| CN111203861A (en) * | 2020-01-06 | 2020-05-29 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
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