CN115476379A - Flexible robot and control method thereof - Google Patents
Flexible robot and control method thereof Download PDFInfo
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- CN115476379A CN115476379A CN202211039430.5A CN202211039430A CN115476379A CN 115476379 A CN115476379 A CN 115476379A CN 202211039430 A CN202211039430 A CN 202211039430A CN 115476379 A CN115476379 A CN 115476379A
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip 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
- B25J9/1694—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
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Abstract
The invention provides a flexible robot and a control method thereof, relating to the field of mechanical automation; the robot comprises a flexible manipulator with a plurality of manipulator clamping jaws, a visual recognition module and a control module; the manipulator clamping jaw is at least provided with a first joint, a second joint and a third joint, wherein the first joint and the second joint are arranged to be similar to a steering engine structure, the third joint is composed of an SMA spring assembly, the first joint is used for changing the clamping posture of the flexible manipulator, the second joint is used for driving the paw to completely grab and move, and the third joint is used for adjusting the position of the paw; the visual recognition module is used for acquiring visual information of the object to be picked, processing and recognizing the visual information, and then feeding back a recognition result to the control module, and the control module calls a corresponding manipulator working program to drive the manipulator to work according to the recognition result so as to complete the picking of the object to be picked. The invention adopts the SMA spring assembly to form the drive of the knuckle, controls the working current thereof to adjust the clamping force of the paw, and has good flexibility, sufficient power and simple control.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a flexible robot and a control method thereof.
Background
In the initial development stage of the manipulator, the manipulator is applied to a special scene unsuitable for human work, and the personal safety is guaranteed through manual operation in a safe area; with the social development, the manipulator is not only applied to replace people to operate in a harmful environment, but also further replaces manpower to operate from monotonous, repeated and heavy labor, realizes the mechanization and automation of production, and is widely applied to the fields of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. For example, the device is applied to automatic production lines, automatic machine tools and machining centers in production workshops and used for feeding and discharging or automatic detection.
Based on the application environment of the existing manipulator, the manipulator is usually designed to be a large-size and high-strength structure, and the installation and control are very complicated and are used for grabbing large and heavy structures. With the technological progress, the manipulator casting is improved from a heavy and complex structure to a flexible and simple structure, and a flexible manipulator is a typical development direction; the flexible manipulator not only can keep the functions of the original manipulator, but also can have more flexibility, and the flexible robot formed by the flexible manipulator is an indispensable component in the automation development course of emerging industries such as the medical field, logistics, storage and the like, and the technology is mature day by day.
The flexible manipulator comprises a pneumatic type, a hydraulic type and an electric type, wherein the pneumatic type flexible manipulator is widely applied to the fields of automobile manufacturing industry, semiconductor and household appliance industry, chemical fertilizer and chemical industry, food and medicine packaging, precise instruments and the like due to the characteristics of simple structure, light weight, rapidness, energy conservation and no pollution; with the application of the pneumatic flexible manipulator, some problems are found, namely, the problems of insufficient power and unstable control exist; the hydraulic flexible manipulator has the problems of pollution, difficult sealing and liquid seepage risks.
The current lack of a new robot which can solve the problems of insufficient power, low control and equipment stability, high development cost and complex control of the existing flexible manipulator.
Disclosure of Invention
The invention aims to provide a flexible robot and a control method thereof, the disclosed flexible manipulator solves the problems of insufficient power, low control and equipment stability, high development cost and complex control of the conventional flexible manipulator, and can be suitable for clamping fragile and miniature articles.
In order to achieve the above purpose, the invention provides the following technical scheme: a flexible robot comprises a flexible manipulator, a visual recognition module and a control module;
the flexible manipulator comprises a plurality of manipulator clamping jaws, at least three joints are arranged on any manipulator clamping jaw and are marked as a first joint, a second joint and a third joint, and the first joint and the third joint are of a steering engine-like structure; the first joint is used for the flexible manipulator to adjust the mutual positions of the manipulator clamping jaws and change the clamping posture of the flexible manipulator; the second joint is a finger joint of the manipulator clamping jaw, and the finger joint is composed of an SMA spring assembly and is used for driving a paw on the manipulator clamping jaw to perform grabbing action; the third joint is used for adjusting the positions of the claws on the clamping jaws of the mechanical arms, so that the claws are close to the object to be picked up or lifted after the claws grab the object to be picked up;
the control module comprises an Arduino expansion plate, a steering engine controller connected to the Arduino expansion plate and an SMA drive module, the steering engine controller is connected to the first joint and the third joint in a control mode, and the SMA drive module is connected to the SMA spring assembly in a control mode;
the visual identification module comprises a picture acquisition unit and a raspberry pie which is in control connection with the Arduino expansion board; the picture acquisition unit is in signal connection with the raspberry group and used for acquiring visual information of an article to be picked and sending the visual information to the raspberry group; the raspberry party processes and identifies the received visual information, and sends an identification result to an Arduino expansion board;
the control module calls a preset manipulator working procedure corresponding to the recognition result to send a control signal to the steering engine controller and the SMA drive module according to the recognition result received by the Arduino expansion plate, and the steering engine controller and the SMA drive module drive the first joint, the third joint and the SMA spring assembly to work respectively according to the received control signal to complete the picking of the object to be picked.
Further, still include bluetooth module and removal end, bluetooth module connects in Arduino expansion board, remove end communication connection in bluetooth module for realize the remote control to flexible robot.
Further, the flexible manipulator further comprises a first connecting part and a second connecting part;
the manipulator clamping jaws are connected to the output end of the first joint through the first connecting part, the manipulator clamping jaws are distributed on the circumference of the same horizontal plane of the output end in an array manner, and any two adjacent manipulator clamping jaws at least have a first included angle and a second included angle under the driving of the first joint; the first included angle and the second included angle form two clamping postures of the manipulator;
the manipulator clamping jaw further comprises a connecting arm, one end of the connecting arm is fixedly connected to the first connecting part, the other end of the connecting arm is movably connected to the paw through an SMA spring assembly, the paw is connected to the output end of the third joint through the second connecting part, and the paw is driven by the third joint to have the freedom degree of movement in the vertical direction;
when the SMA driving module drives the SMA spring assembly to extend and work, the claws of the manipulator clamping jaws close to the to-be-picked object are close to each other and are folded, so that the to-be-picked object is picked.
Furthermore, the first joint and the third joint are sequentially arranged in the flexible manipulator from top to bottom to form the manipulator main body;
the first joint comprises a first shell and an electric rotating unit arranged in the first shell, and the third joint comprises a second shell and an electric telescopic unit arranged in the second shell; the first shell is fixedly arranged above the second shell, the electric rotating unit is provided with a first output shaft which vertically penetrates through the bottom surface of the first shell, and the bottom end of the first output shaft extends to the position above the second shell;
the manipulator clamping jaws comprise three manipulator clamping jaws, and the first connecting part comprises a first connecting unit, a second connecting unit and a third connecting unit which are fixedly connected with one manipulator clamping jaw respectively; the first connecting unit is arranged as a fixing part, the fixing part is connected to the top end of the manipulator clamping jaw and is used for fixedly connecting the manipulator clamping jaw fixedly connected with the fixing part to the upper surface of the second shell; the second connecting unit comprises a driving gear which is connected and arranged at the top end of the clamping jaw of the manipulator, the driving gear is attached to the upper surface of the second shell, a first through hole is formed in the axis position of the tooth surface of the driving gear, and the first through hole is tightly matched with the bottom end of the first output shaft; the third connecting unit comprises a driven gear which is connected to the top end of the clamping jaw of the manipulator, the driven gear is attached to the upper surface of the second shell, and the driven gear is meshed with the driving gear; a second through hole is formed in the axial center of the tooth surface of the driven gear, a positioning part is arranged on the upper surface of the second shell, and the positioning part is matched with the second through hole through a bearing;
when the electric rotating unit is started, the driving gear is driven to drive the driven gear to rotate, and then the manipulator clamping jaw connected with the driving gear is driven to rotate, change and clamp the gesture.
Further, the manipulator clamping jaw further comprises a connecting rod unit;
the bottom end of the connecting arm is provided with a first mounting position and a second mounting position, the paw is provided with a third mounting position and a fourth mounting position, the first mounting position is rotatably connected to the third mounting position by adopting an SMA spring assembly, the second mounting position is rotatably connected to the fourth mounting position by adopting a connecting rod unit, and the SMA spring assembly is parallel to the connecting rod unit;
defining the folding direction of the flexible manipulator as the inner side, and arranging a working surface facing to the inner side on the paw; when the SMA driving module drives the SMA spring assembly to extend and work, the bottom of the working face is driven to turn inwards, and the working face is made to contact an article to be picked.
Further, the second connecting part comprises a rotating part and three fourth connecting units with the same structure;
the electric telescopic unit is provided with a second output shaft which vertically penetrates through the bottom surface of the second shell, and the rotating part is arranged at the bottom end of the second output shaft extending out of the second shell; the rotating part comprises a rotating disc, a third through hole is formed in the middle of the rotating disc, and the third through hole of the rotating disc is connected to the second output shaft in an adaptive mode through a bearing;
the fourth connecting units are arranged on the rotating disc in an array mode, and the positions of the fourth connecting units correspond to the positions of the clamping jaws of the mechanical arm one by one; the fourth connecting unit is provided with a movable connecting part which is rotatably connected with the connecting rod unit of the manipulator clamping jaw;
when electronic flexible unit starts, drives the rotating part at vertical direction reciprocating motion, and then drives connecting rod unit and reciprocates at vertical direction rather than the hand claw of being connected.
Furthermore, the first through hole is an oval hole, and the shape of the bottom end of the first output shaft is matched with that of the first through hole.
The invention also discloses a control method of the flexible robot, which comprises the following steps:
acquiring a plurality of pieces of picture information of various articles picked up by the flexible robot, and respectively constructing a picture training set for each article;
preprocessing the training set of each picture to obtain an optimized picture training set so as to remove pictures which cannot be identified;
training a visual recognition classification model of the article according to the optimized picture training set;
receiving a first instruction, and acquiring visual information of an article to be picked up;
classifying the visual information according to a target identification classification model to obtain class information and article types corresponding to articles to be picked up;
and calling a manipulator working program corresponding to the article type to be picked according to the article type of the article to be picked, and controlling the flexible manipulator to work.
Further, the manipulator working procedure is used for determining the clamping attitude and the clamping force of the flexible manipulator, wherein the clamping attitude of the flexible manipulator is determined by controlling the first joint through the steering engine controller, and the clamping force of the flexible manipulator is controlled by setting the duty ratio of the output voltage of the SMA drive module through the SMA drive module to realize the control of the working temperature of the SMA spring assembly.
Further, the method further comprises: receiving a Bluetooth communication request sent by a mobile terminal, and establishing Bluetooth communication; and receiving a second instruction sent by the mobile terminal, and controlling the flexible robot to enter a working state.
According to the technical scheme, the technical scheme of the invention has the following beneficial effects:
the invention discloses a flexible robot and a control method thereof, wherein the robot comprises a flexible manipulator with a plurality of manipulator clamping jaws, a visual identification module and a control module; the manipulator clamping jaws are at least provided with a first joint, a second joint and a third joint which are arranged to be similar to steering engine structures, and a SMA spring assembly, wherein the first joint is used for adjusting the mutual positions of the manipulator clamping jaws and changing the clamping posture of the flexible manipulator by the flexible manipulator, the second joint is a finger joint of the manipulator clamping jaws and is used for driving the jaws to completely grab, and the third joint is used for adjusting the positions of the jaws on the clamping jaws to enable the jaws to be close to an article to be picked up or to be lifted after the jaws grab the article to be picked up; the visual identification module comprises a picture acquisition unit and a raspberry pie which is in control connection with the Arduino expansion board, and is used for acquiring visual information of an article to be picked up, processing and identifying the visual information and feeding back an identification result to the control module; the control module comprises an Arduino expansion plate, a steering engine controller connected to the Arduino expansion plate and an SMA driving module, and is used for calling corresponding manipulator working programs according to recognition results to drive the manipulators to work and complete picking of articles to be picked. The invention adopts the SMA spring assembly to form the drive of the finger joint of the clamping jaw of the flexible manipulator, and the SMA drive module adjusts the clamping force of the clamping jaw by controlling the working current of the SMA spring assembly, thereby realizing the flexible pickup of the object.
Compared with a pneumatic or hydraulic flexible manipulator, the flexible robot provided by the invention has the advantages of good flexibility, enough power, low cost and simplicity in control, is more suitable for clamping fragile articles and micro articles, and is safe and efficient. In addition, the flexible robot can also adopt a Bluetooth module to realize remote control of the mobile terminal, and further meets the requirements of most control scenes.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.
The foregoing and other aspects, embodiments and features of the present teachings will be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The figures are not intended to be drawn to scale with true references. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a first structural diagram of a flexible manipulator according to the present invention;
FIG. 2 is a schematic structural diagram of a flexible manipulator according to the present invention;
FIG. 3 is a bottom plan view of the first coupling portion of the flexible robot of the present invention;
FIG. 4 is a bottom view of the flexible manipulator of the present invention;
FIG. 5 is a perspective view of a robot gripping jaw of the present invention;
FIG. 6 is a flow chart of a flexible robot control method of the present invention;
fig. 7 is an organizational chart of the flexible robot of the present invention.
In the figure, the specific meaning of each mark is:
1-manipulator clamping jaw, 11-connecting arm, 12-gripper, 121-working face, 13-SMA spring assembly and 14-connecting rod unit; 2-a first joint, 21-a first shell; 3-third joint, 31-second housing, 32-second output shaft; 4-first connection, 41-first connection unit; 42-second connection unit, 421-driving gear; 43-third connection unit, 431-driven gear; 5-second connection, 51-rotation, 511-rotation disc; 52-fourth connection unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.
Based on the appearance of the flexible manipulator with higher flexibility, the flexible manipulator is widely applied to scenes with more complex environments and standard requirements, and some defects occur when a part of flexible manipulators are applied, for example, the pneumatic flexible manipulator has the phenomena of insufficient power and difficult sealing of the hydraulic flexible manipulator, while the electric manipulator has the common defects of the existing manipulator, and has complex structure and control and high cost although the electric manipulator does not have the problems; therefore, the invention provides the flexible manipulator with simpler structure and control, and the manipulator is applied to the flexible robot, on one hand, the robot realizes the automatic picking process by combining visual identification, on the other hand, the flexible manipulator adopted by the robot utilizes the SMA spring as the drive of the finger, not only has good flexibility and simple control, but also can be applied to the safe and stable clamping control of fragile and miniature articles.
The flexible robot and the control method thereof disclosed in the present invention will be further described in detail with reference to the specific embodiments shown in the drawings.
Referring to fig. 7, the flexible robot disclosed by the present invention includes a flexible manipulator, a visual recognition module and a control module, wherein the visual recognition module is used as an eye of the flexible robot to confirm an object to be picked up, the control module is used as a brain of the flexible robot to issue a work program according to a confirmation result, and the flexible manipulator is used as a limb of the flexible robot to implement execution of the work program.
Specifically, structurally, the flexible manipulator comprises a plurality of manipulator clamping jaws 1, at least three joints, namely a first joint 2, a second joint and a third joint 3, are arranged on any manipulator clamping jaw 1, and the first joint 2 and the third joint 3 are arranged to be similar to a steering engine structure; the first joint 2 is used for the flexible manipulator to adjust the mutual positions of the manipulator clamping jaws 1 and change the clamping posture of the flexible manipulator; the second joint is a finger joint of the manipulator clamping jaw, and the finger joint is composed of an SMA spring assembly 13 and is used for driving a paw 12 on the manipulator clamping jaw 1 to carry out grabbing action; the third joint 3 is used for adjusting the positions of the claws 12 on the manipulator clamping jaws 1 to enable the claws 12 to approach to the object to be picked up or to lift the object to be picked up after the claws 12 pick the object to be picked up; when the device works, the first joint 2, the second joint and the third joint 3 receive a control command of the control module and act according to the command.
As shown in the figure, the control module comprises an Arduino expansion plate, a steering engine controller connected to the Arduino expansion plate and an SMA drive module, the steering engine controller is connected to the first joint 2 and the third joint 3 in a control mode, and the SMA drive module is connected to the SMA spring assembly 13 in a control mode; the visual identification module is used for carrying out visual identification by constructing a Tensorflow frame by the raspberry pie and comprises a picture acquisition unit and the raspberry pie which is in control connection with the Arduino expansion board, and the Arduino expansion board and the raspberry pie realize data receiving and sending between two pieces of hardware by establishing serial port communication; the image acquisition unit is connected with the raspberry group through signals and used for acquiring visual information of an article to be picked and sending the visual information to the raspberry group; processing and identifying the received visual information by the raspberry, and sending an identification result to an Arduino expansion board; and then, the control module calls a preset manipulator working program corresponding to the identification result to send a control signal to the steering engine controller and the SMA drive module according to the identification result received by the Arduino expansion board, and the steering engine controller and the SMA drive module respectively drive the first joint 2, the third joint 3 and the SMA spring assembly 13 to work according to the received control signal, so that the object to be picked is picked.
In the scheme, the action response of the finger tip of the flexible mechanical hand mainly depends on the temperature change of the SMA spring, and the known main factors influencing the temperature change of the SMA spring are as follows: the temperature of the SMA spring, the heat exchange between the SMA spring and the environment and the phase change latent heat of the SMA spring; therefore, in order to ensure the action response speed of the finger end of the flexible manipulator, the SMA spring adopted in the embodiment is made of Ni-Ti-Cu series shape memory alloy wires; after the Ni-Ti-Cu series shape memory alloy wire is subjected to heat treatment, a driving current signal with the amplitude of 430mA, the period of 7.7s and the pulse width of 2.7s is input into the Ni-Ti-Cu series shape memory alloy wire, so that the Ni-Ti-Cu series shape memory alloy wire is heated and stretched in a power-on state, and naturally cooled to recover shrinkage after the input signal is closed, and the Ni-Ti-Cu series shape memory alloy wire is high in accuracy and low in cost.
In the embodiment, the control module selects the Arduino expansion board as the core of the control system, the Arduino expansion board allows a developer to perform customized adjustment, the functional development efficiency of the mechanical arm can be effectively improved, and the flexible mechanical arm is better applied to daily life and industrial control. The general concept of the control module is as follows: use steering wheel controller, SMA drive module, arduino expansion board, steering wheel controller can embed the bluetooth, the handle interface, can supply interface and the bus execution module of user's debugging, arduino expansion board still can connect sensor module, handle and other analog quantity gyroscope equipment, realize with the communication of external module, carry out function development to flexible manipulator through compiling different procedures, and is optional, still can utilize brake valve lever or remove the end and pass through bluetooth transmission control signal, realize the development of functions such as the whole auto-induction of manual control and the equipment of flexible manipulator and snatch the object, it gets to realize the location clamp.
For example, flexible robot still includes bluetooth module and removes the end, and wherein, bluetooth module connects in Arduino expansion board, removes end communication connection in bluetooth module for realize the remote control to flexible robot. BT06 Bluetooth module can be selected as the Bluetooth module, a UART interface and an SPP Bluetooth serial port protocol are supported, the Bluetooth module has the advantages of low cost, small volume, low power consumption, high transceiving sensitivity and the like, and powerful functions can be realized only by a few peripheral elements. When the method is implemented, firstly, the Arduino expansion board is connected with the BT06 Bluetooth module, the Bluetooth name and the password are configured according to the AT instruction set, and the successful prompt information is seen in a serial port window; after the pairing is successful, the RTX and the TXD are reconnected to the receiving and sending pins of the Arduino expansion board, and the action of the flexible manipulator is controlled on the received instruction information by setting a switch judgment statement in the Arduino expansion board; meanwhile, the mobile end Bluetooth serial port assistant is connected with a Bluetooth module and sends control information, and the flexible manipulator can complete corresponding grabbing and loosening; the Bluetooth module has high response speed, the response range is within the range of 10-30m, the Bluetooth module can transmit a long distance under the condition of no shielding object, and the requirement of most control scenes can be further met.
As shown in fig. 1 and 2, the flexible manipulator further includes a first connecting portion 4 and a second connecting portion 5; when the flexible manipulator is assembled, the manipulator clamping jaws 1 are connected to the output end of the first joint 2 through the first connecting part 4, the manipulator clamping jaws 1 are distributed on the same horizontal plane of the output end of the first joint 2 in a circumferential array manner, and any two adjacent manipulator clamping jaws 1 are driven by the first joint 2 to at least form a first included angle and a second included angle; the first included angle and the second included angle form two clamping postures of the manipulator; the manipulator clamping jaw 1 comprises a connecting arm 11, a paw 12 and an SMA spring assembly 13, when the manipulator clamping jaw is installed, one end of the connecting arm 11 is fixedly connected to the first connecting part 4, the other end of the connecting arm is movably connected to the paw 12 through the SMA spring assembly 13, the paw 12 is connected to the output end of the third joint 3 through the second connecting part 5, and the paw 12 has the freedom degree of movement in the vertical direction under the driving of the third joint 3; the control center is respectively and electrically connected with the first joint 2, the third joint 3 and the SMA spring assembly 13; when the SMA drive module drives the SMA spring assembly 13 to extend and work, the claws 12 of the mechanical arm clamping jaws 1 close to the to-be-picked object are close to each other and are closed, so that the to-be-picked object is picked up.
The flexible manipulator disclosed by the invention has the following working process: the first joint 2 drives the manipulator clamping jaw 1 to change the clamping posture of the manipulator, the third joint 3 drives the gripper 12 of the manipulator to approach to an object to be clamped, and the SMA spring assembly 13 drives the gripper 12 to clamp the surface of the object to be picked when working.
In specific implementation, as shown in fig. 1 and 2, the first joint 2 and the third joint 3 are sequentially arranged in the flexible manipulator from top to bottom to form a manipulator main body; the first joint 2 includes a first housing 21 and an electric rotating unit provided in the first housing 21, and the third joint 3 includes a second housing 31 and an electric telescopic unit provided in the second housing 31; as shown in fig. 1, the first housing 21 is fixed above the second housing 31, in the embodiment, the first housing 21 is connected to the second housing 31 by a pair of symmetrically arranged support pillars, the electric rotating unit is provided with a first output shaft vertically penetrating the bottom surface of the first housing 21, and the bottom end of the first output shaft extends above the second housing 31. In the embodiment, the manipulator main body forms a core structure of the flexible manipulator, the electric rotating unit can select a rotating motor, and the electric telescopic unit can select a telescopic motor.
In the embodiment shown in the drawings, the flexible robot is provided with three robot gripping jaws 1, so that the first joint 2 can drive the three robot gripping jaws 1 to change in gripping postures of 120 ° or 180 °.
As shown in fig. 3, the first connection portion 4 includes a first connection unit 41, a second connection unit 42, and a third connection unit 43 to which a robot gripping jaw 1 is fixedly attached, respectively; during design, the first connecting unit 41 is configured as a fixing part, and the fixing part is connected to the top end of the manipulator clamping jaw 1 and is used for fixing the manipulator clamping jaw 1 fixedly connected with the fixing part on the upper surface of the second shell 31; the second connecting unit 42 comprises a driving gear 421 connected to the top end of the manipulator clamping jaw 1, the driving gear 421 is attached to the upper surface of the second housing 31, and a first through hole is arranged at the axis position of the tooth surface of the driving gear 421; the third connecting unit 43 includes a driven gear 431 connected to the distal end of the manipulator jaw 1, the driven gear 431 is attached to the upper surface of the second housing 31, and the driven gear 431 is engaged with the driving gear 421; during assembly, the first through hole is tightly matched with the bottom end of the first output shaft, and the driving gear 421 is connected with the first joint 2 only through the first output shaft; a second through hole is formed in the axial center of the tooth surface of the driven gear 431, and a positioning portion adapted to the second through hole by using a bearing is formed on the upper surface of the second housing 31.
In the embodiment, the first through hole is an oval hole, the shape of the bottom end of the first output shaft is matched with the first through hole, and the first output shaft cannot slide after being matched with the oval hole; the positioning part is designed as a cylinder protruding from the upper surface of the second housing 31 toward the first housing 21, and the outer wall of the cylinder is installed by adopting a rolling bearing and a second through hole in a matching way. In order to facilitate installation of the embodiment shown in the drawings, the driving gear 421 and the driven gear 431 are both provided as a plate-shaped structure, the driving gear 421 and the driven gear 431 are respectively formed by a plurality of continuous teeth arranged on the periphery of one end of the plate-shaped structure, and the other end of the plate-shaped structure is connected with the upper end of the connecting arm 11 on the manipulator clamping jaw 1 by a connecting piece.
When the first joint 2 works, the electric rotating unit is started to drive the driving gear 421 to drive the driven gear 431 to rotate, so as to drive the manipulator clamping jaw 1 connected with the driving gear to rotate and change the clamping posture. In this embodiment, the manipulator clamping jaw 1 connected to the first connecting unit 41 is fixed to the upper surface of the second housing 31 and is a stationary jaw, and the manipulator clamping jaw 1 connected to the second connecting unit 42 and the third connecting unit 43 is a movable jaw, so that the electric rotating unit drives the movable jaw to adjust and change the manipulator clamping posture.
With reference to the specific structure shown in fig. 5, the robot gripping jaw 1 further includes a link unit 14; during installation, the bottom end of the connecting arm 1 is provided with a first installation position and a second installation position, and the paw 12 is provided with a third installation position and a fourth installation position; during installation, the first installation position is rotationally connected to the third installation position by adopting an SMA spring assembly 13, the second installation position is rotationally connected to the fourth installation position by adopting a connecting rod unit 14, and the SMA spring assembly 13 is parallel to the connecting rod unit 14; defining the folding direction of the flexible manipulator as the inner side, a working surface 121 facing to the inner side is arranged on the paw 12; when the SMA driving module drives the SMA spring assembly to extend and work, the bottom of the working surface 121 is driven to turn inwards, and the working surface 121 is made to contact an article to be picked; in the whole flexible manipulator, the SMA spring assemblies 13 of the three manipulator clamping jaws 1 work simultaneously and cause the clamping jaws 12 to be tightened and folded inwards, so as to finish the clamping action of the object to be picked.
As further shown in fig. 1 and 2, in the initial state of the manipulator clamping jaw 1, the length of the SMA spring assembly 13 should be not less than the length of the connecting rod unit 14, otherwise the working surface 121 of the gripper 12 is turned outwards, and the elongation of the SMA spring assembly 13 required during working is greatly increased, which is not favorable for the implementation of the clamping action; therefore, in the embodiment, the length of the link unit is equal to the length of the SMA spring assembly 13, so as shown in fig. 1, the link unit 14 and the SMA spring assembly 13 form a parallelogram after being fixedly installed from the first installation position to the fourth installation position, and then the SMA spring assembly 13 can easily drive the gripper 12 to turn inwards after being electrified and extended, thereby completing the object clamping.
The second connecting portion 5 includes a rotating portion 51 and three fourth connecting units 52 having the same structure, as shown in fig. 1, 2, 4 and 5; structurally, the electric telescopic unit is provided with a second output shaft 32 vertically penetrating through the bottom surface of the second shell 31, and the rotating part 51 is arranged at the bottom end of the second output shaft 32 extending out of the second shell 31; the rotating part 51 comprises a rotating disc 511, a third through hole is arranged in the middle of the rotating disc 511, and the third through hole of the rotating disc 511 is connected to the second output shaft 32 through a bearing in an adapting manner; the fourth connection units 52 are arrayed on the rotation plate 511 at positions corresponding one-to-one to the positions of the robot gripping jaws 1. The rotating disc 511 and the second output shaft 32 are also commonly provided with a rolling bearing, and the rolling bearing is matched with the first joint 2, so that the fourth connecting unit 52 is connected with the connecting rod unit and synchronously rotates with the manipulator clamping jaw 1, and the normal expansion and contraction of the third joint are not influenced.
When the manipulator is installed, the fourth connecting unit 52 is provided with a movable connecting part which is rotatably connected with the connecting rod unit of the manipulator clamping jaw 1; therefore, when the electric telescopic unit is started, the rotary part 51 is driven to reciprocate in the vertical direction, and the connecting rod unit and the gripper 12 connected with the connecting rod unit are driven to move up and down in the vertical direction.
As an optional embodiment, the upper part of the connecting arm 11 is provided with an L-shaped bracket, and the bent part of the L-shaped bracket is provided with a round angle, so that the structural strength of the connecting arm 11 is improved; the bottom end of the connecting arm 11 is provided with a two-step structure extending towards the inner side, the two-step structure comprises a first step located at the outer side and a second step located at the inner side, and the bottom surface of the second step is higher than that of the first step; when the first mounting groove is connected, the middle part of the first step is provided with a first mounting groove with a downward opening, the first mounting groove and the groove walls on the two sides of the first mounting groove form a first mounting position, and the second step forms a second mounting position. The upper part of the paw 12 is provided with a second mounting groove with an upward opening, the second mounting groove and two side groove walls thereof respectively form a third mounting position and a fourth mounting position, wherein the third mounting position is positioned at the lower side of the fourth mounting position, and the third mounting position and the fourth mounting position correspond to the first mounting position and the second mounting position in the vertical direction. In specific implementation, in order to avoid the phenomenon that the manipulator clamp 1 is close to an object to be picked and collides with a storage surface of the object to be picked and prevents the paw 12 from overturning, an arc-shaped transition surface is arranged on the side surface of the paw 12 opposite to the working surface 121; for example, the paw 12 shown in the drawings is designed as a triangular prism, one side of the triangular prism forms the working surface 121, the edge opposite to the side and two adjacent sides of the edge are in arc transition, the second mounting groove penetrates from one opposite side of the edge to the working surface 121, and the working surface 121 is designed as a vertical plane.
Optionally, considering that the planar clamping effect on the fragile object or the micro-object is poor when the shape of the fragile object or the micro-object is a sphere-like structure, the working surface 121 may be further designed to be an arc-shaped surface recessed inwards from the gripper 12 to adapt to the shape of the object, so that the contact area between the working surface 121 and the object is increased, and the clamping effect is effectively improved. In some embodiments, a rubber layer is further attached to the working surface 121 of the gripper 12, so that the rubber layer improves the friction between the gripper 12 and the article, and the robot is prevented from falling off when the robot grips an excessively smooth article.
As an optional embodiment, the SMA spring assembly 13 includes an SMA spring, and a first connector and a second connector respectively fixedly connected to two ends of the SMA spring; one end of the first connecting joint, which is far away from the SMA spring, is arranged into an annular structure, and the annular structure is rotatably arranged in the first mounting groove by adopting a rotating shaft assembly; the one end that the SMA spring was kept away from to the second connector sets up to the semi-cylindrical structure, is provided with the fourth through-hole along being on a parallel with its axial on this semi-cylindrical structure, and this fourth through-hole adopts the pivot subassembly to rotate and sets up in the second mounting groove to the arcwall face butt of this semi-cylindrical structure is in the tank bottom face of second mounting groove. When the SMA spring is electrified and extends, the SMA spring assembly 13 is integrally extended, and the paw 12 is pushed to turn inwards from the butt part of the second connector and the second mounting groove, so that the extension amount of the SMA spring is adapted, and the posture change of the paw 12 is realized. In the embodiment shown in the attached drawings, the first connecting head and the second connecting head are made of ceramic, clamping grooves are respectively formed in the first connecting head and the second connecting head during fixing, and two ends of the SMA spring are respectively fixedly clamped in the preset clamping grooves.
As an alternative embodiment, as shown in fig. 5, the fourth connecting unit 52 includes an L-shaped support and a cross bar, the upper end of the L-shaped support is fixedly connected to the disc surface of the rotating disc 511, and the bottom end of the L-shaped support is rotatably connected to one end of the cross bar by using a rotating shaft assembly; the connecting rod unit 14 of the manipulator clamping jaw 1 comprises a pair of connecting rods which are arranged in parallel, the connecting rods are symmetrically arranged at the outer sides of the first mounting groove and the second mounting groove, and two ends of each connecting rod are respectively rotatably connected to the groove walls of the first mounting groove and the second mounting groove by adopting a rotating shaft assembly; when assembling, the other end of the cross rod is disposed between the two parallel connecting rods and connected to the middle of the two connecting rods by the rotating shaft assembly, i.e., the cross rod constitutes the movable connecting portion of the fourth connecting unit 52.
As an optional embodiment, the rotating shaft assembly is designed into a double-ended stud and at least two nuts which are matched with the double-ended stud; for the SMA spring assembly 13, the stud symmetrically penetrates through the groove walls on the two sides of the first mounting groove or the second mounting groove, the first connector and the second connector are respectively sleeved on the rod section of the stud in the groove, and the two ends of the stud protruding out of the groove walls are locked by adopting nuts; for the connecting rod unit, the stud symmetrically penetrates through the two side groove walls of the second step or the second mounting groove, and two ends of the symmetrical connecting rod are respectively connected to one end of the stud protruding out of the second step or the second mounting groove wall and then locked by a bolt; for the cross rod, the cross rod is connected with the SMA spring at a position similar to that of the cross rod during installation; when the rotating shaft assembly consisting of the double-end studs is installed, all the double-end studs are parallel to each other. Currently, for a manipulator with a larger volume, the rotating shaft assembly can be formed by matching the rotating shaft with other locking units.
Referring to fig. 6, another embodiment of the present invention discloses a method for controlling the flexible robot, including the following steps:
step S102, acquiring a plurality of pieces of picture information of various articles picked up by the flexible robot, and respectively constructing a picture training set for each article;
generally, the types of articles picked up by the flexible robot, such as batteries, vegetables, fruits, plastic bottles, pop cans and the like, are selected in advance, specific articles of various types are determined, then the articles are photographed from multiple angles, and the photographs of each article form an independent training set.
Step S104, preprocessing the training set of each picture to obtain an optimized picture training set so as to remove pictures which cannot be identified;
step S106, training a visual identification classification model of the object according to the optimized picture training set;
in the implementation, lobx software is adopted for preprocessing and model training, and photos which cannot be recognized in the Lobx software need to be deleted, so that a visual recognition classification model is obtained; according to the scheme, the effect test is carried out after the visual recognition classification model is obtained and the visual recognition classification model is guided into the raspberry group.
Step S108, receiving a first instruction, and acquiring visual information of the article to be picked up;
the first instruction is an input flexible robot starting command, such as pressing a starting button; when the control module receives the command to start working, the control module controls the picture acquisition unit, if the camera takes a picture of an object to be picked up, visual information formed by the picture is obtained, and the visual information is sent to the raspberry group.
Step S110, classifying the visual information according to the target identification classification model to obtain the class information and the article type corresponding to the article to be picked up;
the raspberry group calls the stored target identification classification model to classify the received visual information of the article to be picked, namely, the Arduino expansion board reads the pre-stored category information of the raspberry group through a serial port, so that the type of the article to be picked can be judged according to the comparison and analysis category information.
And step S112, calling a corresponding manipulator working program according to the article type of the article to be picked up, and controlling the flexible manipulator to work. The manipulator working procedure is stored in the control module and used for determining the clamping posture and the clamping force of the flexible manipulator, the clamping posture of the flexible manipulator is determined by the steering engine controller to control the first joint, the clamping force of the flexible manipulator is controlled by the SMA driving module to set the duty ratio of the output voltage of the SMA driving module to realize the control of the working temperature of the SMA spring assembly, and further the precise control of the clamping force of each article is realized.
As an optional embodiment, the control method further includes: receiving a Bluetooth communication request sent by a mobile terminal, and establishing Bluetooth communication; receiving a second instruction sent by the mobile terminal, and controlling the flexible robot to enter a working state; and the remote control of the flexible robot is realized. When the BT06 Bluetooth module connected with the control module receives the Bluetooth communication request to establish communication with the mobile terminal, the mobile terminal can directly send a working instruction to the control module remotely through a second instruction, and the action recognizing process of the flexible robot is realized.
The flexible robot and the control method thereof disclosed by the invention have the advantages that the finger ends of the robot are driven by the SMA springs to realize the clamping work of the articles, the power is sufficient, the structure and the control are simple, the flexible robot can be suitable for clamping fragile and miniature articles, and the control is stable; according to the control method, the visual identification classification model is constructed in advance, the manipulator working procedure is selected after the object to be picked is identified through the visual identification classification model, the clamping posture of the flexible manipulator and the clamping force of the paw are accurately controlled, and the stable and safe picking of the object is finally realized.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. The flexible robot is characterized by comprising a flexible manipulator, a visual recognition module and a control module;
the flexible manipulator comprises a plurality of manipulator clamping jaws, at least three joints are arranged on any manipulator clamping jaw and are marked as a first joint, a second joint and a third joint, and the first joint and the third joint are of a steering engine-like structure; the first joint is used for adjusting the mutual positions of the manipulator clamping jaws by the flexible manipulator and changing the clamping posture of the flexible manipulator; the second joint is a finger joint of the manipulator clamping jaw, and the finger joint is composed of an SMA spring assembly and is used for driving a paw on the manipulator clamping jaw to perform grabbing action; the third joint is used for adjusting the positions of the claws on the clamping jaws of the mechanical arms, so that the claws are close to the object to be picked up or lifted after the claws grab the object to be picked up;
the control module comprises an Arduino expansion plate, a steering engine controller connected to the Arduino expansion plate and an SMA drive module, the steering engine controller is connected to the first joint and the third joint in a control mode, and the SMA drive module is connected to the SMA spring assembly in a control mode;
the visual identification module comprises a picture acquisition unit and a raspberry pie which is in control connection with the Arduino expansion board; the picture acquisition unit is in signal connection with the raspberry group and used for acquiring visual information of an article to be picked and sending the visual information to the raspberry group; the raspberry derivative processes and identifies the received visual information, and sends an identification result to an Arduino expansion board;
the control module calls a preset manipulator working procedure corresponding to the recognition result to send a control signal to the steering engine controller and the SMA drive module according to the recognition result received by the Arduino expansion plate, and the steering engine controller and the SMA drive module drive the first joint, the third joint and the SMA spring assembly to work respectively according to the received control signal to complete the picking of the object to be picked.
2. The flexible robot of claim 1, further comprising a bluetooth module and a moving end, wherein the bluetooth module is connected to the Arduino expansion board, and the moving end is in communication connection with the bluetooth module for realizing remote control of the flexible robot.
3. The flexible robot of claim 1, wherein the flexible manipulator further comprises a first connection and a second connection;
the manipulator clamping jaws are connected to the output end of the first joint through the first connecting part, the manipulator clamping jaws are distributed on the circumference of the same horizontal plane of the output end in an array manner, and any two adjacent manipulator clamping jaws at least have a first included angle and a second included angle under the driving of the first joint; the first included angle and the second included angle form two clamping postures of the manipulator;
the manipulator clamping jaw further comprises a connecting arm, one end of the connecting arm is fixedly connected to the first connecting part, the other end of the connecting arm is movably connected to the paw through an SMA spring assembly, the paw is connected to the output end of the third joint through the second connecting part, and the paw is driven by the third joint to have the freedom degree of movement in the vertical direction;
when the SMA driving module drives the SMA spring assembly to extend and work, the claws of the manipulator clamping jaws close to the to-be-picked object are close to each other and are folded, so that the to-be-picked object is picked.
4. The flexible robot of claim 3, wherein the first joint and the third joint are sequentially arranged in the flexible manipulator from top to bottom to form the manipulator main body;
the first joint comprises a first shell and an electric rotating unit arranged in the first shell, and the third joint comprises a second shell and an electric telescopic unit arranged in the second shell; the first shell is fixedly arranged above the second shell, the electric rotating unit is provided with a first output shaft which vertically penetrates through the bottom surface of the first shell, and the bottom end of the first output shaft extends to the position above the second shell;
the manipulator clamping jaws comprise three manipulator clamping jaws, and the first connecting part comprises a first connecting unit, a second connecting unit and a third connecting unit which are fixedly connected with one manipulator clamping jaw respectively; the first connecting unit is arranged as a fixing part, the fixing part is connected to the top end of the manipulator clamping jaw and is used for fixedly connecting the manipulator clamping jaw with the fixing part on the upper surface of the second shell; the second connecting unit comprises a driving gear which is connected and arranged at the top end of the clamping jaw of the manipulator, the driving gear is attached to the upper surface of the second shell, a first through hole is formed in the axis position of the tooth surface of the driving gear, and the first through hole is tightly matched with the bottom end of the first output shaft; the third connecting unit comprises a driven gear which is connected to the top end of the clamping jaw of the manipulator, the driven gear is attached to the upper surface of the second shell, and the driven gear is meshed with the driving gear; a second through hole is formed in the position of the axial center of the tooth surface of the driven gear, a positioning part is arranged on the upper surface of the second shell, and the positioning part is matched with the second through hole through a bearing;
when the electric rotating unit is started, the driving gear is driven to drive the driven gear to rotate, and then the manipulator clamping jaw connected with the driving gear is driven to rotate, change and clamp the gesture.
5. The flexible robot of claim 4, wherein the manipulator gripping jaw further comprises a linkage unit;
the bottom end of the connecting arm is provided with a first installation position and a second installation position, the paw is provided with a third installation position and a fourth installation position, the first installation position is rotatably connected to the third installation position by adopting an SMA spring assembly, the second installation position is rotatably connected to the fourth installation position by adopting a connecting rod unit, and the SMA spring assembly is parallel to the connecting rod unit;
defining the folding direction of the flexible manipulator as the inner side, and arranging a working surface facing to the inner side on the paw; when the SMA driving module drives the SMA spring assembly to extend and work, the bottom of the working face is driven to turn inwards, and the working face is made to contact an article to be picked.
6. The flexible robot according to claim 5, wherein the second connecting portion includes a rotating portion and three fourth connecting units having the same structure;
the electric telescopic unit is provided with a second output shaft which vertically penetrates through the bottom surface of the second shell, and the rotating part is arranged at the bottom end of the second output shaft extending out of the second shell; the rotating part comprises a rotating disc, a third through hole is formed in the middle of the rotating disc, and the third through hole is connected to the second output shaft in an adaptive mode through a bearing;
the fourth connecting unit arrays are arranged on the rotating disc, and the positions of the fourth connecting unit arrays correspond to the positions of the clamping jaws of the manipulator one by one; the fourth connecting unit is provided with a movable connecting part which is rotatably connected with the connecting rod unit of the manipulator clamping jaw;
when electronic flexible unit starts, drives the rotating part at vertical direction reciprocating motion, and then drives connecting rod unit and reciprocates at vertical direction rather than the hand claw of being connected.
7. The flexible robot as claimed in claim 4, wherein the first through hole is provided as an oblong hole, and the shape of the bottom end of the first output shaft is adapted to the first through hole.
8. A control method of a flexible robot, applied to the flexible robot of any one of claims 1-7, characterized in that the method comprises:
acquiring a plurality of pieces of picture information of various articles picked up by the flexible robot, and respectively constructing a picture training set for each article;
preprocessing the training set of each picture to obtain an optimized picture training set so as to remove pictures which cannot be identified;
training a visual recognition classification model of the article according to the optimized picture training set;
receiving a first instruction, and acquiring visual information of an article to be picked up;
classifying the visual information according to a target identification classification model to obtain class information and article types corresponding to articles to be picked up;
and calling a manipulator working program corresponding to the article type to be picked according to the article type of the article to be picked, and controlling the flexible manipulator to work.
9. The control method of the flexible robot according to claim 8, wherein the manipulator operating program is used to determine a gripping gesture and a gripping force of the flexible manipulator, wherein the gripping gesture of the flexible manipulator is determined by controlling the first joint by the steering engine controller, and the gripping force of the flexible manipulator is controlled by setting a duty ratio of an output voltage of the SMA drive module to realize control of the working temperature of the SMA spring assembly.
10. The method of controlling a flexible robot according to claim 8, further comprising:
receiving a Bluetooth communication request sent by mobile, and establishing Bluetooth communication;
and receiving a second instruction sent by the mobile terminal, and controlling the flexible robot to enter a working state.
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| CN116259210A (en) * | 2023-05-15 | 2023-06-13 | 江苏长江智能制造研究院有限责任公司 | Intelligent manufacturing carrying practical training robot |
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