CN115107015A - Mechanical arm operation system, robot and mechanical arm operation method - Google Patents

Abstract

A manipulator operating system, a robot and a manipulator operation method, wherein the manipulator system comprises an information collection terminal, an operation end storage cabinet and a manipulator assembly, the information collection terminal is arranged on the manipulator assembly, the The information collection terminal is used to obtain the information of the operation terminal that matches the position to be operated, the operation terminal storage cabinet is used to store a plurality of different types of operation terminals, and the operation terminal is used to adapt to the different types of the operation terminals to be operated. The robot arm assembly is arranged at intervals from the operation end storage cabinet, and the robot arm assembly is used to select and clamp the operation end matching the to-be-operated part, and to perform the operation on the to-be-operated part. operate. The use of the manipulator operating system solves the problem of manually replacing the operating ends of the robot when operating different operating ends of the power distribution cabinet in the prior art.

Description

Mechanical arm operation system, robot and mechanical arm operation method

Technical Field

The application relates to the technical field of robots, in particular to a mechanical arm operating system, a robot and a mechanical arm operating method.

Background

For guaranteeing safety, generally adopt the robot to operate the switch board in the high-voltage distribution room of power plant, and the switch board usually has a plurality of operation positions of multiple model and same switch board and usually has different types, and prior art need the manual work to change the operation end of robot when operating the switch board of different models or operating the operation end of different grade type on the same switch board usually to the work efficiency who leads to the robot is low.

Disclosure of Invention

For overcoming the defects of the prior art, the application provides a mechanical arm operating system, a robot and a mechanical arm operating method so as to solve the problem that the operation tail end of the robot needs to be manually replaced when different operation tail ends of a power distribution cabinet are operated in the prior art.

In a first aspect, the application provides a mechanical arm operating system for operating equipment, equipment is including treating the operation position, the mechanical arm system includes the information acquisition terminal, operates terminal storing compartment and robotic arm assembly, the information acquisition terminal is located robotic arm assembly, the information acquisition terminal be used for acquireing with treat the terminal information of operation position assorted operation, the terminal storing compartment of operation is used for depositing the operation end of a plurality of different grade types, the operation end is used for the adaptation different grade type treat the operation position, robotic arm assembly with the terminal storing compartment interval of operation sets up, robotic arm assembly be used for selecting and the centre gripping with treat the operation position assorted operation end, and right treat the operation position and operate.

In a second aspect, the present application provides a robot comprising:

a robot body;

the robot arm operating system is provided on the top of the robot body.

In a third aspect, the present application provides a method of manipulator arm manipulation for use with a manipulator arm manipulation system or robot as described above, the method comprising:

acquiring information of the operation tail end matched with the part to be operated;

determining placement position information of the operation terminal matched with the part to be operated based on the information;

and fixing the operation tail end to the tail end of the mechanical arm assembly based on the position information and operating the part to be operated.

The application provides a mechanical arm operating system, a robot and a mechanical arm operating method, the mechanical arm operating system comprises an information acquisition terminal, an operation tail end storage cabinet and a mechanical arm assembly, the mechanical arm operating system is used for operating a to-be-operated part of equipment, information of an operation tail end matched with the to-be-operated part on the equipment is firstly acquired through the information acquisition terminal, then position information of the to-be-operated part matched with the to-be-operated part is determined based on the acquired information of the operation tail end, and finally the operation tail end is fixed at the tail end of the mechanical arm assembly and is operated on the to-be-operated part based on the position information. The problem of prior art need the manual work to change the terminal operation of robot when operating the different operation positions of switch board is solved, the work efficiency of robot has been improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of an operating mechanism according to an embodiment of the present disclosure;

fig. 3 is a schematic cross-sectional profile view of an operational tip placement tray in a vertical direction according to an embodiment of the present application;

fig. 4 is a schematic cross-sectional profile view of an operating tip placement tray in a vertical direction according to an embodiment of the present application;

fig. 5 is a schematic flow chart illustrating a method for operating a robot arm according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.

It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the embodiment of the present application are only used to explain the relative positional relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

Furthermore, the descriptions in this application that refer to "first," "second," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope claimed in the present application.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot 1000 according to an embodiment of the present disclosure, the robot 1000 includes a robot arm operating system 100, the robot arm operating system 100 is used for operating a device, the operated device includes a to-be-operated portion, the robot arm operating system includes an information acquisition terminal 110, an operation end storage 120 and a robot arm assembly 130, the information acquisition terminal 110 is disposed in the robot arm assembly 130, the information acquisition terminal 110 is used for acquiring information of an operation end 121 matched with the to-be-operated portion, the operation end storage 120 is used for storing a plurality of different types of operation ends 121, the operation end 121 is used for adapting to different types of to-be-operated portions, the robot arm assembly 130 is spaced from the operation end storage 120, and the robot arm assembly 130 is used for selecting and clamping the operation end 121 matched with the to-be-operated portion and operating the to-be-operated portion.

The to-be-operated part comprises at least one of a button, a knob, an opening and closing switch and the like, the information acquisition terminal 110 comprises any one of a two-dimensional code sensor, a bar code sensor, a camera, a smart phone, a tablet personal computer, a mobile computer and the like, the specific type of the operation terminal 121 is adapted according to the type of the operation part, the operation terminal 121 comprises a wrench, a pliers, a screwdriver, a hammer and the like, the mechanical arm operation system 100 provided by the application can be used for operating any equipment, such as a power distribution cabinet, a refrigerator, an air conditioner and a large machine in a factory in a high-voltage distribution room, in practical application, the corresponding operation terminal 121 needs to be stored in the operation terminal storage cabinet 120 according to the types of all the operation parts on the specific equipment so that when the equipment breaks down or needs to be overhauled, the mechanical arm operation system 100 provided by the application is used for operating the equipment.

In practical application, when one device fails or needs to be overhauled, the information acquisition terminal 110 is firstly adopted to scan a graphic code (for example, a two-dimensional code, a bar code or the like) attached to the device to acquire information of the operation terminal 121 matched with a part to be operated on the device, then the placement position information of the operation terminal 121 matched with the part to be operated is determined based on the acquired information of the operation terminal 121, and finally the operation terminal 121 is fixed at the end of the mechanical arm assembly 130 based on the position information and is operated on the part to be operated. The problem of prior art need the manual work to change the terminal 121 of operation of robot 1000 when operating the terminal 121 of different operations of equipment is solved, the work efficiency of robot 1000 has been improved.

Illustratively, there are different types of power distribution cabinets in the high-voltage power distribution room, the operation parts on the different types of power distribution cabinets include three types of buttons, knobs and opening and closing gates, the operation terminal storage cabinet 120 stores the operation terminals 121 for operating the three types of operation parts, i.e., the buttons, the knobs and the opening and closing gates, the information acquisition terminal 110 is a two-dimensional code sensor, when a certain power distribution cabinet in a high-voltage power distribution room breaks down, firstly, a two-dimensional code attached to the power distribution cabinet is scanned by a two-dimensional code sensor to obtain the information of an operation tail end 121 matched with a part to be operated on the power distribution cabinet, then, the placing position information of the operation terminal 121 matched with the part to be operated is determined based on the acquired information of the operation terminal 121, and finally, the operation terminal 121 is fixed at the tail end of the mechanical arm assembly 130 based on the placing position information and the part to be operated of the power distribution cabinet is operated. If the part to be operated is the knob, information of a wrench operating the knob is acquired, then placement position information of the wrench is determined according to the information of the wrench, and finally the wrench is fixed at the tail end of the mechanical arm assembly 130 based on the placement position information of the wrench and the knob is operated.

In some embodiments, the robot assembly 130 includes a robot mechanism 131 and an operating mechanism 132, the operating mechanism 132 is connected to a distal end of the robot mechanism 131, and the operating mechanism 132 is driven by the robot mechanism 131 to select and clamp the operating distal end 121 matching the part to be operated and operate the part to be operated, so that the robot assembly 130 can be disassembled, and the robot assembly 130 can be conveniently maintained.

In some embodiments, the operating mechanism 132 includes a rotating motor 1320, a mounting plate 1321, a connecting member 1322 and a clamping member 1323, which are connected in sequence, the mounting plate 1321 is connected with the mechanical arm mechanism 131, the rotating motor 1320 is used for providing a rotating driving force, the connecting member 1322 is used for transmitting the rotating driving force to the clamping member 1323, the clamping member 1323 is used for clamping the operating end 121 and realizing the action of clamping or releasing the operating end 121 under the driving of the rotating motor 1320, and the mounting plate 1321 is provided with a connecting hole 1325 connected with the end of the mechanical arm mechanism 131, so that the rotating motor 1320 can act on the operating mechanism 132 independently, and the clamping effect of the clamping member 1323 is improved.

In some embodiments, the manipulator mechanism 132 further includes a clip 1324, the clip 1324 being disposed on the mounting plate 1321, the clip 1324 being configured to comb wires and/or wires in the robotic arm manipulator system 100, in such embodiments to prevent the wires and/or wires from crossing at an intricate level to affect the electrical circuit or wire speed.

In some embodiments, the mechanical arm mechanism 131 includes a base 1310 and a plurality of swing arms 1311, the number of swing arms 1311 is several, the plurality of swing arms 1311 are sequentially connected to the base 1310, and the plurality of swing arms 1311 can achieve six degrees of freedom of movement, so that the flexibility of the mechanical arm mechanism 131 is improved, and the mechanical arm mechanism 131 can swing in any direction.

Note that the number of the swing arms 1311 is several, which means that the number of the swing arms 1311 may be any number such as 1, 2, 3, or 5.

Illustratively, as shown in fig. 1, the robot arm mechanism 131 includes 5 swing arms 1311.

In some embodiments, the side of the storage cabinet 120 opposite the robot arm assembly 130 is provided with a plurality of handling tip slots 122, and the handling tip slots 122 are used for placing the handling tips 121, so that the robot arm assembly 130 can access the handling tips 121 conveniently.

It should be noted that the cross-sectional profile of the inner wall of the operation end placement groove 122 in the vertical direction includes a straight line and/or a curved line.

Illustratively, as shown in fig. 1, the cross-sectional profile of the inner wall of the operational tip placement groove 122 in the vertical direction is circular.

Illustratively, as shown in fig. 3, the cross-sectional profile of the inner wall of the operational tip placement groove 122 in the vertical direction is rectangular.

Illustratively, as shown in fig. 4, the cross-sectional profile of the inner wall of the operation tip placement groove 122 in the vertical direction is a racetrack type.

In some embodiments, the robot handling system 100 further comprises a thermal imager 140, the thermal imager 140 being disposed at the handling end bin 120 or the robot arm assembly 130, the thermal imager 140 being configured to detect a surface temperature of the equipment.

Illustratively, as shown in FIG. 1, a thermal imaging camera 140 is disposed in the end of arm storage bin 120, and preferably, the thermal imaging camera 140 is disposed on a side of the end of arm storage bin 120 facing away from the robot arm assembly 130.

The thermal imaging system 140 is a device that converts a temperature distribution image of the device into a visible image by detecting infrared radiation of the device, and performing signal processing, photoelectric conversion, and the like using an infrared thermal imaging technique. Because of equipment can produce the heat at the during operation, the people can't be through the condition of generating heat of these equipment of naked eye observation, in case overheat or short circuit phenomenon appear, probably cause serious loss extremely, through setting up thermal imaging appearance 140, can clearly patrol the surface temperature condition of equipment to present with visual image, the people of being convenient for in time discover and eliminate the potential safety hazard.

Referring to fig. 2, the present embodiment further provides a robot 1000, where the robot 1000 includes a robot body 200 and any one of the robot arm operating systems 100 described above. The robot 1000 further includes a moving chassis 210, and the moving chassis 210 has a moving function, a pivot steering function, a navigation function, a control motion precision, and a posture maintaining capability.

In some embodiments, the robot 1000 further includes a camera 300, the camera 300 is disposed at the front end of the robot 1000, and the camera 300 is used for capturing a front view of the robot 1000, so as to prevent the robot 1000 from colliding with an obstacle in front during movement.

It should be noted that the camera 300 may be disposed on the robot 1000 body 200 or the operation end storage 120.

Illustratively, the camera 300 is provided to the end of operation placement cabinet 120 as shown in fig. 1.

In some embodiments, the robot 1000 further includes a cradle head 500 and a rotating table 400, the cradle head 500 is disposed at the operation end, the cabinet 120 is disposed at the operation end, the rotating table 400 is disposed at the top of the cradle head 500, the camera 300 and the thermal imager 140 are disposed at two sides of the rotating table 400 respectively, the viewing angle of the camera 300 and the viewing angle of the thermal imager 140 are both set forward, the rotating table 400 is used for adjusting the viewing angle of the camera 300 and the horizontal and pitch angles of the viewing angle of the thermal imager 140, and therefore the purpose of routing inspection of the thermal imager 140 to the equipment is achieved. Preferably, the pan/tilt head 500 is disposed on a side of the end of arm storage bin 120 facing away from the robotic arm assembly 130.

Referring to fig. 5, an embodiment of the present invention further provides a robot arm operating method for any of the robot arm operating systems 100 or the robots 1000 described above, where the robot arm operating method includes steps S100 to S300.

S100, acquiring information of the operation tail end matched with the part to be operated;

in some embodiments, step S100 includes steps S101 to S102, so as to improve the accuracy of the robot arm operation method and avoid errors.

Step S101, obtaining the part to be operated on the equipment and the information of the part to be operated.

In practical application, when the equipment is in fault or needs to be overhauled at regular time, the information acquisition terminal 110 may acquire the part to be operated and the information of the part to be operated on the equipment by scanning a graphic code attached to the equipment, where the information of the part to be operated includes a specific position of the part to be operated and a type of the part to be operated.

It should be noted that, the detailed description of the information acquisition terminal and the graphic code has been described in detail above, and is not repeated herein.

And S102, acquiring the information of the operation end matched with the part to be operated according to the type of the part to be operated.

Wherein the information of the operation end comprises the type of the operation end, for example, when the part to be operated is a knob, the operation end may be a wrench.

And S200, determining the placement position information of the operation tail end matched with the part to be operated based on the information.

It is understood that the information in step S200 refers to information of the operation terminal matched with the portion to be operated, and the placement position information of the operation terminal refers to a specific position of the operation terminal on the operation terminal storage cabinet.

And S300, fixing the operation tail end at the tail end of the mechanical arm assembly based on the position information and operating the part to be operated.

After the placement position information of the operation tail end matched with the part to be operated is determined, the tail end of the mechanical arm assembly firstly moves to the placement position of the operation tail end matched with the part to be operated, then the mechanical arm assembly fixes the operation tail end matched with the part to be operated at the tail end of the mechanical arm assembly, and finally the operation tail end operates the part to be operated under the driving of the mechanical arm assembly.

In some embodiments, the method further includes steps 400 to 500 after the operation on the to-be-operated part is completed, so as to further improve the working efficiency of the robot 1000.

And step S400, acquiring information of the next part to be operated.

Wherein the information of the next part to be operated comprises the specific position and type of the next part to be operated.

Step S500A, if the type of the next to-be-operated portion is the same as the type of the to-be-operated portion, operating the next to-be-operated portion by the operating end under the driving of the robot arm assembly.

Step S500B, if the type of the next part to be operated is different from the type of the part to be operated, the operation end is replaced, and the steps S100 to S500 are continued.

It is to be understood that, in step S500B, if the manipulation end cannot be replaced, the manipulation ends may be sequentially placed according to a preset placement position, and the placement position information of the manipulation ends may be updated so as to manipulate the portion to be manipulated using the manipulation ends again.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A manipulator operating system for operating a device including a site to be operated,

the mechanical arm system comprises an information acquisition terminal, an operation tail end storage cabinet and a mechanical arm assembly;

the information acquisition terminal is arranged on the mechanical arm assembly and used for acquiring information of the operation tail end matched with the part to be operated;

the operation tail end storage cabinet is used for storing a plurality of different types of operation tail ends, and the operation tail ends are used for adapting to different types of parts to be operated;

the mechanical arm assembly and the operation tail end storage cabinet are arranged at intervals, and the mechanical arm assembly is used for selecting and clamping the operation tail end matched with the part to be operated and operating the part to be operated.

2. The robotic arm handling system according to claim 1, wherein the robotic arm assembly comprises:

a mechanical arm mechanism;

and the operating mechanism is connected to the tail end of the mechanical arm mechanism, and the operating mechanism is driven by the mechanical arm mechanism to select and clamp the operating tail end matched with the part to be operated and operate the part to be operated.

3. The mechanical arm operating system as claimed in claim 2, wherein the operating mechanism comprises a rotating motor, a mounting plate, a connecting piece and a clamping piece which are connected in sequence, the mounting plate is connected with the mechanical arm mechanism, the rotating motor is used for providing a rotating driving force, the connecting piece is used for transmitting the rotating driving force to the clamping piece, the clamping piece is used for clamping the operating tail end and realizing the action of clamping or loosening the operating tail end under the driving of the rotating motor, and the mounting plate is provided with a connecting hole connected with the tail end of the mechanical arm mechanism.

4. The robotic arm operating system according to claim 3, wherein the operating mechanism further comprises:

the wire clamp is arranged on the mounting plate and is used for combing wires and/or nets in the mechanical arm operating system.

5. The robotic arm handling system according to claim 2, wherein the robotic arm mechanism comprises:

a base;

a swing arm; the quantity is a plurality of, a plurality of swing arm connects gradually in the base, a plurality of the motion of six degrees of freedom can be realized to the swing arm.

6. The manipulator system of claim 1, wherein the handling tip storage compartment is provided with a plurality of handling tip placement slots on a side opposite the manipulator arm assembly, the handling tip placement slots for placement of the handling tips.

7. The robotic arm handling system according to claim 1, further comprising:

and the thermal imager is arranged on the operation tail end placing cabinet or the mechanical arm assembly and used for detecting the surface temperature of the equipment.

8. A robot, comprising:

a robot body;

a robot arm handling system as claimed in any of claims 1 to 7, provided at the top of the robot body.

9. The robot of claim 8, further comprising a camera disposed at a front end of the robot, the camera configured to capture a front view of the robot.

10. A robot arm handling method for use in a robot arm handling system according to any one of claims 1 to 7 or a robot according to any one of claims 8 to 9, the method comprising:

acquiring information of the operation tail end matched with the part to be operated;

determining placement position information of the operation terminal matched with the part to be operated based on the information;

and fixing the operation tail end at the tail end of the mechanical arm assembly based on the position information and operating the part to be operated.

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