CN114872017A - Double-arm flexible operation robot system - Google Patents
Double-arm flexible operation robot system Download PDFInfo
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- CN114872017A CN114872017A CN202210449052.1A CN202210449052A CN114872017A CN 114872017 A CN114872017 A CN 114872017A CN 202210449052 A CN202210449052 A CN 202210449052A CN 114872017 A CN114872017 A CN 114872017A
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—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
- B25J9/1697—Vision controlled systems
Abstract
The present invention provides a robot system with two smart arms, comprising: the mounting frame is internally provided with an accommodating space; the double-arm robot is arranged in the accommodating space and comprises a robot main body, five-finger grabbing arms arranged on two sides of the robot main body and grabbing and sucking integrated grabbing arms; the sensing device comprises a pose sensor, a force sense sensor and a vision sensor, wherein the pose sensor is arranged on the double-arm robot, the vision sensor is arranged on the mounting frame, the pose sensor is used for acquiring pose information of the double-arm robot, the force sense sensor is used for acquiring moment change information of the double-arm robot, and the vision sensor is used for acquiring vision data information of an object to be operated; and a support device for conveying the object to be operated. The invention provides a double-arm flexible operation robot system, and aims to solve the problem that a double-arm robot in the traditional technology has single grabbing and operating capabilities.
Description
Technical Field
The invention relates to the technical field of double-arm robots, in particular to a double-arm flexible operation robot system.
Background
Mechanical arm grabbing and operation are basic and important basic operations of the robot, and with continuous expansion of the robot to fields such as industrial deep application and service, health, military, aerospace and the like, the interaction demand and capacity of the robot with a target object and an environment are higher and higher. Therefore, the various smart grasping and complex operation capabilities of the robot are improved, and the continuous research and development investment and the wide attention are obtained for more than half a century;
end effectors for robotic arms come in a variety of forms, and each has advantages and disadvantages: the five-finger hand has stronger flexibility and adaptability when grabbing and operating objects, but is complex to control and insufficient in robustness; the vacuum chuck has a simple structure, can adapt to the grabbing and operation of objects in various forms, but needs smooth surfaces of the objects and light weight; the parallel two-finger clamping jaw is simple in structure and mature in industrial application, but the object needs to be grabbed and operated regularly.
At present, the research on the flexible operation of the robot is mainly concentrated in scientific research institutions, most of the built mechanical arm flexible grabbing and operating platforms are single-arm-matched five-finger-shaped hands or double-arm-matched parallel grabbing and vacuum chucks, scientific research projects which can be carried out by a single platform are relatively single, multiple end effectors cannot make up for deficiencies and mutually cooperate, and the grabbing and operating capabilities of the double-arm robot cannot be fully exerted.
Disclosure of Invention
The invention provides a robot system capable of flexibly operating two arms, and aims to solve the problem that the grabbing and operating capabilities of a two-arm robot in the prior art are single.
Aiming at the problems in the prior art, the invention provides a double-arm smart operation robot system, which comprises:
the mounting frame is internally provided with an accommodating space;
the double-arm robot is arranged in the accommodating space and comprises a robot main body, five-finger grabbing arms arranged on two sides of the robot main body and grabbing and sucking integrated grabbing arms;
the sensing device comprises a pose sensor, a force sense sensor and a vision sensor, wherein the pose sensor is arranged on the double-arm robot, the vision sensor is arranged on the mounting frame, the pose sensor is used for acquiring pose information of the double-arm robot, the force sense sensor is used for acquiring moment change information of the double-arm robot, and the vision sensor is used for acquiring vision data information of an object to be operated; and the number of the first and second groups,
and the supporting device is arranged corresponding to the double-arm robot and is used for conveying the article to be operated.
According to the double-arm smart operation robot system provided by the invention, the five-finger grabbing arm comprises a first connecting arm arranged on the robot main body, a five-finger smart hand arranged at the end part of the first connecting arm and a connecting flange arranged between the first connecting arm and the five-finger smart hand, wherein a wire passing hole is formed in the connecting flange.
According to the double-arm smart operation robot system provided by the invention, the grabbing and sucking integrated grabbing arm comprises a second connecting arm arranged on the robot main body and a clamping and sucking integrated claw arranged at the end part of the second connecting arm, and the clamping and sucking integrated claw comprises a base, a clamping part and an adsorption part which are respectively arranged on the base;
the clamping part comprises a clamping jaw cylinder arranged on the base, the clamping jaw cylinder comprises two clamping blocks, the two clamping blocks are provided with movable strokes which are close to or far away from each other, and the adsorption part comprises a vacuum chuck arranged on the base.
According to the double-arm smart operation robot system provided by the invention, the supporting device comprises a lifting platform and a driving part, wherein the lifting platform is arranged corresponding to the double-arm robot, and the driving part is in driving connection with the lifting platform so that the lifting platform has a movable stroke extending along the height direction of the double-arm robot.
According to the double-arm smart operation robot system provided by the invention, the upper end of the mounting frame is provided with the cantilever part, the vision sensor comprises the depth vision sensor and the 3D vision sensor which are arranged on the cantilever part, and the depth vision sensor and the 3D vision sensor are both arranged towards the double-arm robot.
According to the double-arm smart operation robot system provided by the invention, the double-arm smart operation robot system further comprises a camera device, the camera device comprises a camera arranged on the mounting rack and a display screen arranged on the mounting rack, and the display screen is electrically connected with the camera.
According to the double-arm smart operation robot system provided by the invention, the bottom of the mounting frame is provided with the first connecting block and the second connecting block, and the first connecting block and the second connecting block are both connected with the double-arm robot.
The invention also provides a control method of the robot system with double-arm smart operation, which comprises the following steps:
acquiring a three-dimensional image and position information of an object to be operated;
determining a grabbing execution mechanism according to the three-dimensional image and the position information;
acquiring pose information of the grabbing executing mechanism, and outputting a grabbing scheme according to the three-dimensional image, the position information and the pose information;
approaching and contacting the object to be operated according to the grabbing scheme;
acquiring contact force information of the object to be operated, and outputting grabbing force according to the contact force information;
and grabbing the object to be operated according to the grabbing force.
According to the control method of the double-arm smart robot system, the step of outputting the grabbing scheme according to the three-dimensional image, the position information and the pose information comprises the following steps:
determining a material grabbing point according to the three-dimensional image and the position information;
and determining a material grabbing path according to the position information and the pose information.
According to the control method of the double-arm smart operation robot system, the grabbing executing mechanism comprises a two-finger grabbing part, a vacuum adsorption part and a five-finger grabbing part.
According to the two-arm smart operation robot system provided by the invention, the five-finger grabbing arm and the grabbing and sucking integrated grabbing arm are arranged, so that the problems that the grabbing function is relatively single, various end effectors cannot make up for each other and match each other, and the grabbing and operating capabilities of a two-arm robot cannot be fully exerted in the existing robot platform can be solved; in addition, through the arrangement of the pose sensor, the force sensor and the visual sensor, multiple groups of sensing data can be acquired, a better article grabbing scheme is planned, and the article grabbing efficiency is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a dual-arm smart manipulator robot system according to the present invention;
FIG. 2 is a schematic perspective view of the mount of FIG. 1;
FIG. 3 is a partial schematic view of the five finger gripper arm of FIG. 1;
FIG. 4 is a schematic view of a portion of the integrated gripping arm of FIG. 1;
fig. 5 is a flow chart of a control method of the double-arm smart robot system provided by the invention.
Reference numerals: 1: both arms operate the robotic system dexterously; 2: a mounting frame; 3: a two-arm robot; 4: a sensing device; 5: a support device; 6: an accommodating space; 7: a cantilever portion; 8: a camera; 9: a display screen; 10: a robot main body; 11: a five-finger grasping arm; 12: a grabbing and sucking integrated grabbing arm; 13: a first connecting arm; 14: a dexterous hand with five fingers; 15: a first connecting flange; 16: a second connecting arm; 17: clamping and sucking integrated claws; 18: a base; 19: a gripping section; 20: an adsorption part; 21: a clamping block; 22: a vacuum chuck; 23: a vision sensor; 24: a lifting platform; 25: a second attachment flange.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, a first feature may be "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The dual-arm smart manipulator robot system 1 provided by the present invention will be described with reference to fig. 1 to 5.
Referring to fig. 1-4, the present invention provides a dual-arm smart manipulator robot system 1, comprising: the mounting frame 2 is provided with an accommodating space 6 formed in the mounting frame 2; the double-arm robot 3 is arranged in the accommodating space 6, the double-arm robot 3 comprises a robot main body 10, five-finger grabbing arms 11 and grabbing and sucking integrated grabbing arms 12, the five-finger grabbing arms 11 are arranged on two sides of the robot main body 10, the five-finger grabbing arms 11 are normally grabbed by five fingers, and the grabbing and sucking integrated grabbing arms 12 comprise multi-finger grabbing and negative air pressure sucking; in the traditional technology, the robot has a plurality of end effectors, but the end effectors can not make up for each other, so that the grabbing and operating capabilities of the robot can be fully exerted; this application is through the cooperation of five fingers grab arm 11 with grab and inhale integrative grab arm 12, can improve double-armed robot 3's gripping ability effectively, all has good operation effect of snatching to various types of article.
The robot system 1 capable of skillfully operating by two arms further comprises a sensing device 4, wherein the sensing device 4 comprises a pose sensor, a force sensor and a vision sensor 23, the pose sensor and the vision sensor are arranged on the mounting frame 2, the pose sensor is arranged inside a five-finger grabbing arm 11 and a grabbing and sucking integrated grabbing arm 12 of the two-arm robot 3 and can feed back the arm joint postures of the five-finger grabbing arm 11 or the grabbing and sucking integrated grabbing arm 12, and the force sensor is also arranged inside the five-finger grabbing arm 11 and the grabbing and sucking integrated grabbing arm 12 and is used for feeding back the torque change information of the five-finger grabbing arm 11 or the grabbing and sucking integrated grabbing arm 12 when the two-arm robot 3 grabs an object, so that the grabbing strength is better controlled and the object is prevented from being damaged; the vision sensor 23 is used for acquiring vision data information of the object to be operated, such as a three-dimensional image, a position, posture information and the like of the object to be operated; based on various data information collected by the sensing device 4, a suitable grabbing mode and grabbing path of the double-arm robot 3 can be planned, so that the working efficiency and grabbing effect of the double-arm robot 3 are improved;
of course, the dual-arm smart manipulator robot system 1 provided by the present application further includes a support device 5, and the support device 5 is disposed corresponding to the dual-arm robot 3 and is used for conveying the object to be manipulated. It should be noted that the supporting device 5 is generally movably disposed, and may be a conveyor belt or a lifting platform, and is used for conveying an article, and may be specifically disposed according to an actual working condition, which is not limited in this application.
According to the double-arm smart operation robot system 1 provided by the invention, the five-finger grabbing arm 11 and the grabbing and sucking integrated grabbing arm 12 are arranged, so that the problems that the grabbing function is relatively single, various end effectors cannot make up for each other and match each other, and the grabbing and operating capabilities of the double-arm robot 3 cannot be fully exerted in the conventional robot platform can be solved; in addition, through the arrangement of the position and pose sensor, the force sensor and the visual sensor 23, multiple groups of sensing data can be acquired, a better article grabbing scheme is planned, and the quality and the efficiency of article grabbing are effectively improved.
Specifically, the five-finger grip arm 11 includes a first link arm 13 provided to the robot main body 10 and a five-finger dexterous hand 14 provided to an end of the first link arm 13. The first connecting arm 13 is of a 7-axis redundancy design and has a collision detection function, and the five-finger dexterous hand 14 has 20 degrees of freedom; the five-finger gripping arm 11 is mainly used for gripping irregular-shaped objects with large mass, and can provide stable gripping force for the objects. Furthermore, the five-finger grabbing arm 11 further comprises a first connecting flange 15 arranged between the first connecting arm 13 and the five-finger dexterous hand 14, and the first connecting flange 15 can be detachably connected with the first connecting arm 13 and the five-finger dexterous hand 14 through bolts or detachably connected with the first connecting arm 13 and the five-finger dexterous hand 14 through threads, which is not limited in the application. In addition, a wire hole is formed on the first connecting flange 15, and a data line or a power line of the dexterous five-finger hand 14 can be connected with the first connecting arm 13 through the wire hole.
Further, the grabbing and sucking integrated grabbing arm 12 comprises a second connecting arm 16 arranged on the robot main body 10 and a grabbing and sucking integrated claw 17 arranged at the end part of the second connecting arm 16, and the second connecting arm 16 is 7-shaft redundant in design and has a collision detection function; the gripping and suction integrated claw 17 includes a base 18, and a gripping section 19 and a suction section 20 provided separately on the base 18. The clamping and sucking integrated claw 17 can provide the functions of multi-finger clamping and air pressure adsorption, namely, the two functions are integrated on one mechanical arm; the gripping part 19 is mainly suitable for the articles with regular shapes and light weight, and the adsorption part 20 is mainly suitable for the articles with irregular shapes and light weight. As described above, the dexterous five-finger hand 14 can be applied to articles having irregular shapes and heavy mass, and thus the double-arm robot 3 provided by the present application can provide a good picking effect for various types of articles. It should be further noted that, the sensing device 4 is provided in the present application, so that a three-dimensional image, position information, and the like of an object to be operated can be acquired, and thus a suitable grabbing component is selected; of course, there may be multiple picking modes for one article to be operated, and if the initially selected grabbing component does not grab successfully, other grabbing components may be used to grab continuously, which is not limited in the present application. It should be further noted that, in the technical solution provided in the present application, a second connecting flange 25 is further provided between the second connecting arm 16 and the clamping and sucking integrated claw 17, and the second connecting flange 25 is similar to the first connecting flange 15 in structure.
It should be noted that the clamping unit 19 and the adsorbing unit 20 have various embodiments, in the technical solution provided in the present application, the clamping unit 19 includes a clamping jaw cylinder disposed on the base 18, the clamping jaw cylinder includes two clamping blocks 21, the two clamping blocks 21 have moving strokes approaching to each other or moving away from each other, the two clamping blocks 21 are used for clamping an article to be operated in the moving strokes approaching to each other, of course, a clamping manner by three clamping blocks 21 may also be adopted, which is not limited in the present application; the suction unit 20 includes a vacuum chuck 22 provided on the base 18. Since the clamping jaw cylinder and the vacuum chuck 22 both require aerodynamic force, an air pump is further disposed on the second connecting arm 16, and the air pump is respectively communicated with the clamping jaw cylinder and the vacuum chuck 22.
Further, the supporting device 5 includes a lifting platform 24 provided corresponding to the two-arm robot 3, and a driving part which is drivingly connected to the lifting platform 24 so that the lifting platform 24 has a moving stroke extending in the height direction of the two-arm robot 3. It should be noted that, the driving part can adopt driving cylinder or driving motor etc. through the setting of lift platform 24, can adjust the height of platform movably, increases the flexibility, also can satisfy the operating space requirement of double-armed robot 3 simultaneously, is favorable to double-armed robot 3 to pick up different kinds of article portably.
Referring to fig. 1-3, the mounting frame 2 mainly includes three parts, an upper end is a cantilever part 7, a middle part is a supporting part, and a lower end is a bearing part; the cantilever part 7 extends forwards, and the cantilever part 7 adopts a truss structure, so that the integral rigidity and torsion resistance can be improved; the vision sensor 23 includes a depth vision sensor and a 3D vision sensor provided in the cantilever portion 7, and the depth vision sensor and the 3D vision sensor are both provided toward the two-arm robot 3. It should be noted that 3 or more than 3 depth vision sensors may be arranged in the same plane to form a complete viewing field, and the cantilever portion 7 is provided with a plurality of assembling holes, so that the position of the vision sensor 23 can be movably adjusted as required.
Furthermore, the double-arm smart robot system 1 further comprises a camera device, the camera device comprises a camera 8 arranged on the mounting frame 2 and a display screen 9 arranged on the mounting frame 2, and the display screen 9 is electrically connected with the camera 8. The camera 8 is also arranged on the cantilever part 7 and is arranged towards the double-arm robot 3, so that the motion of the double-arm robot 3 can be shot, and in addition, the installation angle or the installation position of the camera 8 can be adjusted through the assembly hole; on the supporting part was located to display screen 9, placed forward, convenience of customers observed the operation of double-armed robot 3 in real time, was convenient for control it. In addition, because the rotation can take place at the activity in-process for double-arm robot 3, influence the stability of its operation, in the technical scheme that this application provided, the bottom of mounting bracket 2 is equipped with first connecting block and second connecting block, first connecting block all is connected with double-arm robot 3 with the second connecting block, first connecting block and second connecting block play spacing fixed effect to double-arm robot 3 for restrict double-arm robot 3 at the X direction and in the ascending degree of freedom of Y direction.
Based on the above-mentioned dual-arm smart robot system 1, the present invention further provides a control method of the dual-arm smart robot system, including:
s10, acquiring a three-dimensional image and position information of the object to be operated;
s20, determining a grabbing executing mechanism according to the three-dimensional image and the position information;
s30, acquiring pose information of the grabbing executing mechanism, and outputting a grabbing scheme according to the three-dimensional image, the position information and the pose information;
s40, approaching and contacting the object to be operated according to the grabbing scheme;
s50, obtaining contact force information of the object to be operated, and outputting grabbing force according to the contact force information;
and S60, grabbing the object to be operated according to the grabbing force.
Based on the depth vision sensor and the 3D vision sensor, a three-dimensional image and position information of an object to be operated can be obtained, the three-dimensional image and the position information can cover the type, size, position, shape and three-dimensional pose of the object to be operated, and through analysis of the data, a grabbing execution mechanism can be determined, for example, the grabbing execution mechanism is irregular in shape and large in mass, the grabbing execution mechanism is grabbed by selecting a five-finger flexible hand, the grabbing execution mechanism is irregular in shape and light in weight, and the vacuum chuck 22 is selected for adsorption; after the grabbing execution mechanism is selected, the pose information of the grabbing execution mechanism needs to be acquired, the pose information can feed back the pose of the joint of the grabbing execution mechanism, and a grabbing scheme can be planned according to the position of an object to be grabbed and the pose of the joint of the execution mechanism. When the grabbing executing mechanism is contacted with the object to be operated, the grabbing force can be controlled according to contact force information transmitted from a contact point of the object to be operated, and then grabbing operation is carried out. It should be noted that the efficiency and quality of gripping an article by the two-arm robot 3 can be improved by analyzing and processing a plurality of kinds of sensing data.
Specifically, S30, outputting a capture solution according to the three-dimensional image, the position information, and the pose information includes:
s31, determining a material grabbing point according to the three-dimensional image and the position information;
and S32, determining a material grabbing path according to the position information and the pose information.
Whether the article is regular in shape or irregular in shape, the selection of the material grabbing points is particularly important, and the selection of the proper material grabbing points can improve the stability of material grabbing and the efficiency of material grabbing. In the technical scheme provided by the application, firstly, material grabbing points are determined according to a three-dimensional image and position information, for example, the material grabbing points grabbed by five fingers are preferably distributed in the circumferential direction of an article to be operated, the material grabbing points grabbed by two fingers are preferably distributed on two sides or two ends of the article to be operated, and the material grabbing points subjected to vacuum adsorption are preferably distributed on a surface which is smooth and large in area of the article to be operated. After the material grabbing points are selected, a material grabbing path needs to be planned, and due to the fact that the first connecting arm or the second connecting arm is provided with the plurality of joints, the movement paths of the plurality of joints need to be determined, and the most appropriate material grabbing path is planned.
In the technical solution provided in the present application, the grasping actuator includes a two-finger grasping unit, a vacuum absorbing unit, and a five-finger grasping unit, and of course, two of the three types of grasping units may be selected and combined, which is defined in the present application.
The present application also provides an electronic device, which may include: the system comprises a processor (processor), a communication Interface (communication Interface), a memory (memory) and a communication bus, wherein the processor, the communication Interface and the memory are communicated with each other through the communication bus. The processor may invoke logic instructions in the memory to perform a method of controlling a dual-arm smart manipulator robot system, the method comprising:
s10, acquiring a three-dimensional image and position information of the object to be operated;
s20, determining a grabbing executing mechanism according to the three-dimensional image and the position information;
s30, acquiring pose information of the grabbing executing mechanism, and outputting a grabbing scheme according to the three-dimensional image, the position information and the pose information;
s40, approaching and contacting the object to be operated according to the grabbing scheme;
s50, obtaining contact force information of the object to be operated, and outputting grabbing force according to the contact force information;
and S60, grabbing the object to be operated according to the grabbing force.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the control method of the dual-arm smart manipulation robot system provided above, the method including:
s10, acquiring a three-dimensional image and position information of the object to be operated;
s20, determining a grabbing executing mechanism according to the three-dimensional image and the position information;
s30, acquiring the pose information of the grabbing executing mechanism, and outputting a grabbing scheme according to the three-dimensional image, the position information and the pose information;
s40, approaching and contacting the object to be operated according to the grabbing scheme;
s50, obtaining contact force information of the object to be operated, and outputting grabbing force according to the contact force information;
and S60, grabbing the object to be operated according to the grabbing force.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A dual-arm smart manipulator robot system, comprising:
the mounting frame is internally provided with an accommodating space;
the double-arm robot is arranged in the accommodating space and comprises a robot main body, five-finger grabbing arms arranged on two sides of the robot main body and grabbing and sucking integrated grabbing arms;
the sensing device comprises a pose sensor, a force sense sensor and a vision sensor, wherein the pose sensor is arranged on the double-arm robot, the vision sensor is arranged on the mounting frame, the pose sensor is used for acquiring pose information of the double-arm robot, the force sense sensor is used for acquiring moment change information of the double-arm robot, and the vision sensor is used for acquiring vision data information of an object to be operated; and the number of the first and second groups,
and the supporting device is arranged corresponding to the double-arm robot and is used for conveying the article to be operated.
2. The dual-arm smart manipulator system according to claim 1, wherein the five-finger grabbing arm comprises a first connecting arm arranged on the robot body, a five-finger smart hand arranged at the end of the first connecting arm, and a connecting flange arranged between the first connecting arm and the five-finger smart hand, and a wire passing hole is formed in the connecting flange.
3. The dual-arm smart manipulator robot system according to claim 2, wherein the gripping and suction integrated gripper arm comprises a second connecting arm provided on the robot body and a gripping and suction integrated claw provided on an end of the second connecting arm, the gripping and suction integrated claw comprises a base and a gripping part and a suction part respectively provided on the base;
the clamping part comprises a clamping jaw cylinder arranged on the base, the clamping jaw cylinder comprises two clamping blocks, the two clamping blocks are provided with movable strokes which are close to or far away from each other, and the adsorption part comprises a vacuum chuck arranged on the base.
4. The dual-arm smart manipulator system according to claim 1, wherein the support means comprises a lifting platform provided corresponding to the dual-arm robot, and a driving unit drivingly connected to the lifting platform so that the lifting platform has a stroke extending in a height direction of the dual-arm robot.
5. The dual-arm smart manipulator system according to claim 1, wherein the upper end of the mounting frame is provided with a cantilever portion, and the vision sensor comprises a depth vision sensor and a 3D vision sensor provided on the cantilever portion, and the depth vision sensor and the 3D vision sensor are both provided toward the dual-arm robot.
6. The dual-arm smart manipulator robot system of claim 1, further comprising a camera device including a camera mounted to the mounting and a display screen mounted to the mounting, the display screen being electrically connected to the camera.
7. The dual-arm smart manipulator system according to claim 1, wherein the bottom of the mounting frame is provided with a first connecting block and a second connecting block, both of which are connected to the dual-arm robot.
8. A control method of a double-arm smart robot system, comprising:
acquiring a three-dimensional image and position information of an object to be operated;
determining a grabbing executing mechanism according to the three-dimensional image and the position information;
acquiring pose information of the grabbing executing mechanism, and outputting a grabbing scheme according to the three-dimensional image, the position information and the pose information;
approaching and contacting the object to be operated according to the grabbing scheme;
acquiring contact force information of the object to be operated, and outputting grabbing force according to the contact force information;
and grabbing the object to be operated according to the grabbing force.
9. The control method of a dual-arm smart manipulator robot system according to claim 8, wherein outputting a grasping plan based on the three-dimensional image, the position information, and the pose information comprises:
determining a material grabbing point according to the three-dimensional image and the position information;
and determining a material grabbing path according to the position information and the pose information.
10. The control method of a dual-arm smart manipulator robot system according to claim 8, wherein the grasping actuator includes a two-finger grasping unit, a vacuum suction unit, and a five-finger grasping unit.
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| CN202210449052.1A CN114872017A (en) | 2022-04-26 | 2022-04-26 | Double-arm flexible operation robot system |
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| CN115958575A (en) * | 2023-03-16 | 2023-04-14 | 中国科学院自动化研究所 | Humanoid dexterous operation mobile robot |
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