CN115556143B - Laser displacement sensor, mechanical arm gesture sensing unit and compound robot - Google Patents
Laser displacement sensor, mechanical arm gesture sensing unit and compound robot Download PDFInfo
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- CN115556143B CN115556143B CN202211390964.2A CN202211390964A CN115556143B CN 115556143 B CN115556143 B CN 115556143B CN 202211390964 A CN202211390964 A CN 202211390964A CN 115556143 B CN115556143 B CN 115556143B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 81
- 150000001875 compounds Chemical class 0.000 title claims abstract description 13
- 230000008447 perception Effects 0.000 claims description 8
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000017525 heat dissipation Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 11
- 238000013461 design Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
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- 230000009471 action Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
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- 230000005294 ferromagnetic effect Effects 0.000 description 2
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- 238000012423 maintenance Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application relates to a laser displacement sensor, a mechanical arm gesture sensing unit and a compound robot, wherein the laser displacement sensor comprises a shell, an opening is formed in one side of the shell, a micro-focus lens is installed at the opening, a voice coil motor is installed in the shell, the voice coil motor is connected with the micro-focus lens and is used for driving the micro-focus lens to move linearly, and a laser, a collimating lens, a first beam splitter prism, a first reflecting mirror, a second beam splitter prism, a second reflecting mirror, a first photoelectric sensor and a second photoelectric sensor are also installed in the shell. The laser displacement sensor has an automatic focusing function, is not easy to cause inaccurate measurement results, has measurement accuracy of +/-0.1 mm and even +/-0.01 mm, and is suitable for a robot to accurately measure positions.
Description
Technical Field
The application relates to the technical field of robots, in particular to a laser displacement sensor, a mechanical arm gesture sensing unit and a compound robot.
Background
The composite robot integrates an arm function and a walking function, is widely applied to industrial production, and a sensing unit is generally arranged around the composite robot mechanical arm so as to be used for acquiring the position condition between an object to be grabbed and the mechanical arm.
The general sensing unit can adopt a 3D visual sensor to simultaneously acquire the position conditions of the object to be grabbed and the mechanical arm, and the technology has very high precision but very high price; in addition, the partial sensing unit can acquire the position condition of the object to be grabbed by adopting a 2D visual sensor, and acquire the position condition of the mechanical arm by adopting a displacement sensor.
The laser displacement sensor is one type of displacement sensor, and is a sensor for measuring by using a laser technology. It consists of laser, laser detector and measuring circuit. Laser sensors are new types of measuring instruments. The position, displacement and other changes of the measured object can be accurately measured in a non-contact mode.
The common laser displacement sensor such as China patent with the application number 201621128998.4 discloses a laser triangle displacement sensor, which belongs to the technical field of photoelectric measurement and comprises a semiconductor laser, a focusing lens group, a receiving lens group, a photoelectric detector and a signal processing circuit, wherein the semiconductor laser and the focusing lens group are coaxial and are sequentially arranged with a measured target to form a transmitting end together, the receiving lens group and the photoelectric detector are sequentially arranged, and the signal processing circuit is connected with the photoelectric detector and is used for processing electric signals received by the photoelectric detector and obtaining the displacement of the measured object.
With respect to the related art in the above, the inventors consider that there are the following drawbacks:
Under the general circumstances, only the measured object surface is located the focus of focusing lens group, just can ensure that laser displacement sensor's measuring result is comparatively accurate, but common laser displacement sensor often does not have automatic focusing function, leads to measuring result inaccurate easily, and its measuring accuracy is difficult to reach + -0.1 mm, more can't reach + -0.01 mm, is not applicable to on the robot and uses for accurate survey position, so needs to improve.
Disclosure of Invention
The application provides a laser displacement sensor, a mechanical arm gesture sensing unit and a compound robot, which are used for improving the following technical problems: the common laser displacement sensor often does not have an automatic focusing function, so that inaccurate measurement results are easily caused, the measurement accuracy is difficult to reach +/-0.1 mm, and the accuracy cannot reach +/-0.01 mm, so that the laser displacement sensor is not suitable for a robot to accurately measure positions.
In a first aspect, the present application provides a laser displacement sensor, which adopts the following technical scheme:
The laser displacement sensor comprises a shell, wherein an opening is formed in one side of the shell, a micro-focusing lens is installed at the opening, a voice coil motor is installed in the shell, the voice coil motor is connected with the micro-focusing lens and used for driving the micro-focusing lens to move linearly, and a laser, a collimating lens, a first beam splitter prism, a first reflecting mirror, a second beam splitter prism, a second reflecting mirror, a first photoelectric sensor and a second photoelectric sensor are also installed in the shell;
the laser beam emitted by the laser sequentially passes through the collimating lens, the first beam splitting prism, the first reflecting mirror and the micro focusing lens and then reaches the surface of the object to be measured;
The laser beam is reflected from the surface of the measured object, sequentially passes through the micro focusing lens, the first reflecting mirror, the first beam splitting prism and the second beam splitting prism to form a first beam and is focused on the first photoelectric sensor;
The laser beam is reflected from the surface of the measured object, sequentially passes through the micro focusing lens, the first reflecting mirror, the first beam splitting prism, the second beam splitting prism and the second reflecting mirror to form a second beam and is focused on the second photoelectric sensor.
By adopting the technical scheme, whether the surface to be measured is on the focus of the micro-focusing lens can be judged by the light intensity value difference between the first light beam on the first photoelectric sensor and the second light beam on the second photoelectric sensor, wherein the difference value is 0, and if the difference value is not 0, the difference value is not on the focus; the coil and the magnet are combined to form a voice coil motor, and the micro-focus lens can linearly move by supplying current to the coil; the micro-focus lens is moved towards a focus direction formed on the surface to be measured through the voice coil motor, at the moment, the difference of the light intensity values of the first light beam on the first photoelectric sensor and the light intensity value of the second light beam on the second photoelectric sensor is judged, when the difference is 0, the driving action of the voice coil motor is stopped, at the moment, the distance between the micro-focus lens and the surface to be measured is the focal length of the micro-focus lens, namely, the surface to be measured is positioned on the focus of the micro-focus lens; the actual distance between the laser displacement sensor and the surface to be measured can be calculated by measuring the moving distance of the voice coil motor; the laser displacement sensor has an automatic focusing function, is not easy to cause inaccurate measurement results, has measurement accuracy of +/-0.1 mm and even +/-0.01 mm, and is suitable for a robot to accurately measure positions.
Optionally, the laser, the collimating lens, the first beam splitter prism and the first reflecting mirror are located on a first straight line, the first straight line is a direction of a laser beam emitted by the laser, the first reflecting mirror, the voice coil motor and the micro-focusing lens are located on a second straight line, the second straight line is perpendicular to the first straight line, the first beam splitter prism, the second beam splitter prism and the second reflecting mirror are located on a third straight line, the third straight line is perpendicular to the first straight line, and the third straight line is parallel to the second straight line.
By adopting the technical scheme, the layout design is more compact and reasonable in structure, so that the laser displacement sensor is smaller in size.
In a second aspect, the application provides a mechanical arm gesture sensing unit, which adopts the following technical scheme:
The utility model provides a robotic arm gesture sensing unit installs on the robotic arm and includes the outer box, be provided with the plane vision camera that is used for the displacement of perception robotic arm XYR direction in the outer box, the plane vision camera is followed a side of outer box exposes, other three sides of outer box are provided with the installation department respectively, every all install one on the installation department be used for the displacement of perception robotic arm Z direction as above-mentioned laser displacement sensor, three laser displacement sensor is triangle-shaped and arranges.
Through adopting above-mentioned technical scheme, plane vision camera can perception arm XYR direction displacement, and laser displacement sensor can perception arm Z direction displacement, and the displacement data at three point positions that three laser displacement sensor gathered for calculate the WPR direction displacement of arm, the gesture data of arm promptly, the precision is higher, simple structure makes conveniently moreover, and the cost is lower, the integrated degree of difficulty is little.
Optionally, the plane vision camera is located in the middle of the outer box, and the two laser displacement sensors are located at two sides of the plane vision camera and symmetrically arranged.
By adopting the technical scheme, the symmetrical design is more beneficial to sensing displacement change.
Optionally, two of the laser displacement sensors and the plane vision camera are located on a fourth straight line, and the remaining one of the laser displacement sensors and the plane vision camera are located on a fifth straight line, and the fourth straight line is perpendicular to the fifth straight line.
By adopting the technical scheme, on the basis of symmetrical design, the gravity center of the whole sensing unit is closer to the center, the structure is more stable, and the sensing displacement is more facilitated.
Optionally, the mounting portion is fixed in the outer box, and the laser displacement sensor and the mounting portion are far away from the end of the outer box and can be detachably assembled.
By adopting the technical scheme, the novel laser displacement sensor is convenient to replace, and the maintenance is simpler.
In a third aspect, the present application provides a composite robot, which adopts the following technical scheme:
The utility model provides a compound robot, includes portable base unit, install the arm on the portable base unit, the arm is kept away from portable base unit's tip is provided with the mounting panel and gets and put the unit, the mounting panel is kept away from the one end of arm is provided with as above-mentioned arm gesture sensing unit.
Through adopting above-mentioned technical scheme, portable base unit can drive high accuracy compound robot and remove the switching position, gets and puts the unit and can be used for getting, blowing, and the mounting panel then provides stable mounted position for arm gesture sensing unit, can accurate perception through arm gesture sensing unit arm XYR direction displacement and WPR direction displacement to have and snatch advantage that the precision is higher, with low costs, the integrated degree of difficulty is little.
Optionally, the mobile base unit includes mobile base, integrated control case and year thing platform, integrated control case install in on the mobile base, the year thing platform install in on the integrated control case, the arm install in on the year thing platform.
Through adopting above-mentioned technical scheme, the portable base unit of above-mentioned design, simple structure and stability, it is very convenient to control.
Optionally, an interactive display screen is arranged on one side face of the integrated control box, and heat dissipation holes are formed in other side faces of the integrated control box.
Through adopting above-mentioned technical scheme, the design of interactive display screen is favorable to the staff to acquire information fast, and the louvre is favorable to the inside electronic components of integrated control box to dispel the heat fast moreover.
Optionally, the mechanical arm is a six-axis mechanical arm.
By adopting the technical scheme, the six-axis mechanical arm has the advantage of strong cooperation capability, and the technology is mature and the operation is stable.
In summary, the present application includes at least one of the following beneficial technical effects:
judging whether the surface to be measured is on the focus of the micro focusing lens or not through the light intensity value difference between the first light beam on the first photoelectric sensor and the second light beam on the second photoelectric sensor, wherein the difference is 0, and if the difference is not 0, the difference is not on the focus; the coil and the magnet are combined to form a voice coil motor, and the micro-focus lens can linearly move by supplying current to the coil; the micro-focus lens is moved towards a focus direction formed on the surface to be measured through the voice coil motor, at the moment, the difference of the light intensity values of the first light beam on the first photoelectric sensor and the light intensity value of the second light beam on the second photoelectric sensor is judged, when the difference is 0, the driving action of the voice coil motor is stopped, at the moment, the distance between the micro-focus lens and the surface to be measured is the focal length of the micro-focus lens, namely, the surface to be measured is positioned on the focus of the micro-focus lens; the actual distance between the laser displacement sensor and the surface to be measured can be calculated by measuring the moving distance of the voice coil motor; the laser displacement sensor has an automatic focusing function, is not easy to cause inaccurate measurement results, has measurement accuracy of +/-0.1 mm and even +/-0.01 mm, and is suitable for a robot to accurately measure positions.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a laser displacement sensor according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a mechanical arm posture sensing unit in an embodiment of the application.
Fig. 3 is a schematic structural view of a compound robot in an embodiment of the present application.
Reference numerals illustrate:
100. A mobile base unit; 11. a movable base; 12. an integrated control box; 13. a carrying platform; 14. an interactive display screen; 200. a mechanical arm; 300. a mounting plate; 400. a picking and placing unit; 500. a mechanical arm posture sensing unit; 51. an outer case; 52. a planar vision camera; 53. a mounting part; 531. sinking grooves; 54. a laser displacement sensor; 5401. a housing; 5402. a micro focus lens; 5403. a voice coil motor; 5404. a laser; 5405. a collimating lens; 5406. a first beam-splitting prism; 5407. a first mirror; 5408. a second light splitting prism; 5409. a second mirror; 5410. a first photosensor; 5411. a second photosensor; 55. and (5) a screw.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. 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.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The application is described in further detail below with reference to fig. 1-3.
The embodiment of the application discloses a laser displacement sensor 54. Referring to fig. 1, the laser displacement sensor 54 includes a housing 5401, an opening is provided at one side of the housing 5401, a micro focus lens 5402 is installed at the opening, a voice coil motor 5403 is installed in the housing 5401, the voice coil motor 5403 is connected with the micro focus lens 5402 and is used for driving the micro focus lens 5402 to move linearly, and a laser 5404, a collimating lens 5405, a first beam splitter prism 5406, a first reflecting mirror 5407, a second beam splitter prism 5408, a second reflecting mirror 5409, a first photoelectric sensor 5410 and a second photoelectric sensor 5411 are also installed in the housing 5401;
The laser beam emitted by the laser 5404 sequentially passes through the collimating lens 5405, the first beam splitter prism 5406, the first reflecting mirror 5407, and the micro focusing lens 5402, and then reaches the surface of the object to be measured;
The laser beam is reflected from the surface of the measured object, sequentially passes through the micro focusing lens 5402, the first reflecting mirror 5407, the first beam splitting prism 5406 and the second beam splitting prism 5408, forms a first beam, and focuses the first beam on the first photoelectric sensor 5410;
The laser beam is reflected from the surface of the measured object, sequentially passes through the micro focusing lens 5402, the first reflecting mirror 5407, the first beam splitter prism 5406, the second beam splitter prism 5408, and the second reflecting mirror 5409, and forms a second beam, and is focused on the second photoelectric sensor 5411.
The laser 5404, the collimating lens 5405, the first beam splitter prism 5406 and the first reflecting mirror 5407 are located on a first straight line, the first straight line is a direction of a laser beam emitted by the laser 5404, the first reflecting mirror 5407, the voice coil motor 5403 and the micro focusing lens 5402 are located on a second straight line, the second straight line is perpendicular to the first straight line, the first beam splitter prism 5406, the second beam splitter prism 5408 and the second reflecting mirror 5409 are located on a third straight line, the third straight line is perpendicular to the first straight line, and the third straight line is parallel to the second straight line.
By adopting the above technical scheme, the above layout design is more compact and reasonable in structure, so that the laser displacement sensor 54 is smaller in size.
The implementation principle of the laser displacement sensor 54 according to the embodiment of the present application is as follows:
By the difference between the light intensity values of the first light beam on the first photosensor 5410 and the second light beam on the second photosensor 5411, it can be determined whether the surface to be measured is at the focus of the micro focus lens 5402, and if the difference is 0, the difference is not 0, and if the difference is not.
The coil and the magnet are combined to form a voice coil motor 5403, and the micro focus lens 5402 can be linearly moved by supplying current to the coil.
The micro-focus lens 5402 is moved to a focal point formed on the surface to be measured by the voice coil motor 5403, at this time, it is determined that the light intensity value of the first light beam on the first photosensor 5410 and the light intensity value of the second light beam on the second photosensor 5411 are different, and when the difference is 0, the driving operation of the voice coil motor 5403 is stopped, at this time, the distance between the micro-focus lens 5402 and the surface to be measured is the focal length of the micro-focus lens 5402, that is, the surface to be measured is at the focal point of the micro-focus lens 5402.
By measuring the distance traveled by the voice coil motor 5403, the actual distance of the laser displacement sensor 54 from the surface being measured can be calculated.
The laser displacement sensor 54 has an automatic focusing function, is not easy to cause inaccurate measurement results, can reach +/-0.1 mm and even +/-0.01 mm in measurement precision, and is suitable for a robot to accurately measure positions.
The embodiment of the application also discloses a mechanical arm gesture sensing unit 500. Referring to fig. 1 and 2, the robot arm posture sensing unit 500 is mounted on the robot arm 200 and includes an outer case 51, a plane vision camera 52 for sensing displacement of the robot arm 200XYR direction is disposed in the outer case 51, the plane vision camera 52 is exposed from one side surface of the outer case 51, mounting portions 53 are respectively disposed on the other three side surfaces of the outer case 51, each of the mounting portions 53 is mounted with one of the above-mentioned laser displacement sensors 54 for sensing displacement of the robot arm 200Z direction, and the three laser displacement sensors 54 are arranged in a triangle.
Through adopting above-mentioned technical scheme, the plane vision camera 52 can perceive arm 200XYR direction displacement, and laser displacement sensor 54 can perceive arm 200Z direction displacement, and the displacement data at three position that three laser displacement sensor 54 gathered is used for calculating the WPR direction displacement of arm 200, and the gesture data of arm 200 promptly, and the precision is higher, simple structure simple manufacture is convenient moreover, and the cost is lower, the integrated degree of difficulty is little.
The plane view camera 52 is located in the middle of the outer case 51, and the two laser displacement sensors 54 are located at two sides of the plane view camera 52 and symmetrically arranged, which is more beneficial to sensing the displacement change.
The two laser displacement sensors 54 and the plane vision camera 52 are located on a fourth straight line, and the remaining one laser displacement sensor 54 and the plane vision camera 52 are located on a fifth straight line, the fourth straight line and the fifth straight line are perpendicular, and on the basis of symmetrical design, the center of gravity of the whole sensing unit is closer to the center, the structure is more stable, and the sensing of displacement is more facilitated.
The mounting part 53 is fixed on the outer box 51, the laser displacement sensor 54 and the end part of the mounting part 53 far away from the outer box 51 can be disassembled and assembled, so that a new laser displacement sensor 54 can be conveniently replaced, and the maintenance and the repair are simpler.
The laser displacement sensor 54 and the mounting part 53 are assembled through the plurality of screws 55, and the assembly mode of the screws 55 is firm, difficult to loosen and convenient to disassemble and reassemble.
The end of the mounting portion 53 far away from the outer case 51 is provided with a sinking groove 531 for accommodating the cap of the screw 55, and the sinking groove 531 has an effect of hiding the cap of the screw 55, thereby effectively avoiding the protrusion of the cap of the screw 55.
The outer box 51 is of a cuboid structure, the mounting part 53 is of a plate-shaped structure, and the mounting part 53 is perpendicularly welded on the side surface of the outer box 51 closest to the outer box, so that the outer box has the advantages of being more stable in structure and more convenient to mount.
The embodiment of the application also discloses a composite robot. Referring to fig. 2 and 3, the hybrid robot includes a mobile base unit 100, a robot arm 200 is mounted on the mobile base unit 100, a mounting plate 300 and a pick-and-place unit 400 are disposed at an end of the robot arm 200 away from the mobile base unit 100, and a robot arm posture sensing unit 500 as described above is disposed at an end of the mounting plate 300 away from the robot arm 200.
The pick-and-place unit 400 is a clamping jaw structure, which may be a pneumatic finger commonly used in the market for clamping components. It can be appreciated that, in other embodiments, the pick-and-place unit 400 may also be an electromagnetic structure or a clamping jaw structure, the electromagnetic structure may be a metal box body, one or more electromagnets are installed inside the box body, when the electromagnets are powered on, ferromagnetic components can be adsorbed and fixed, and when the electromagnets are powered off, the ferromagnetic components can be put down; or the pick-and-place unit 400 may also be of a suction cup type structure.
Through adopting above-mentioned technical scheme, portable base unit 100 can drive high accuracy compound robot and remove the switching position, gets and puts the unit 400 and can be used for getting, blowing, and mounting panel 300 then provides stable mounted position for arm gesture sensing unit 500, through arm gesture sensing unit 500 can accurate perception arm 200XYR direction displacement and WPR direction displacement to have and snatch the advantage that the precision is higher, with low costs, the integrated degree of difficulty is little.
The mobile base unit 100 comprises a mobile base 11, an integrated control box 12 and a carrying platform 13, wherein the integrated control box 12 is installed on the mobile base 11, the carrying platform 13 is installed on the integrated control box 12, and the mechanical arm 200 is installed on the carrying platform 13.
An interactive display screen 14 is arranged on one side face of the integrated control box 12, heat dissipation holes are formed in other side faces of part of the integrated control box 12, the design of the interactive display screen 14 is beneficial to the rapid acquisition of information by workers, and the heat dissipation holes are beneficial to the rapid heat dissipation of electronic components in the integrated control box 12.
The mechanical arm 200 is a six-axis mechanical arm, and the six-axis mechanical arm has the advantage of strong cooperation capability, and is mature in technology and stable in operation.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (9)
1. The laser displacement sensor is characterized by comprising a shell (5401), wherein an opening is formed in one side of the shell (5401), a micro-focus lens (5402) is arranged at the opening, a voice coil motor (5403) is arranged in the shell (5401), the voice coil motor (5403) is connected with the micro-focus lens (5402) and is used for driving the micro-focus lens (5402) to move linearly, and a laser (5404), a collimating lens (5405), a first beam splitter prism (5406), a first reflecting mirror (5407), a second beam splitter prism (5408), a second reflecting mirror (5409), a first photoelectric sensor (5410) and a second photoelectric sensor (5411) are further arranged in the shell (5401);
the laser beam emitted by the laser (5404) sequentially passes through the collimating lens (5405), the first beam splitting prism (5406), the first reflecting mirror (5407) and the micro focusing lens (5402) and then reaches the surface of the object to be measured;
The laser beam is reflected from the surface of the measured object, sequentially passes through the micro focusing lens (5402), the first reflecting mirror (5407), the first beam splitting prism (5406) and the second beam splitting prism (5408) to form a first beam and is focused on the first photoelectric sensor (5410);
The laser beam is reflected from the surface of the measured object, sequentially passes through the micro focusing lens (5402), the first reflecting mirror (5407), the first beam splitting prism (5406), the second beam splitting prism (5408) and the second reflecting mirror (5409) to form a second beam and is focused on the second photoelectric sensor (5411);
The laser device (5404), the collimating lens (5405), the first beam splitting prism (5406) and the first reflecting mirror (5407) are located on a first straight line, the first straight line is the direction of a laser beam emitted by the laser device (5404), the first reflecting mirror (5407), the voice coil motor (5403) and the micro-motion focusing lens (5402) are located on a second straight line, the second straight line is perpendicular to the first straight line, the first beam splitting prism (5406), the second beam splitting prism (5408) and the second reflecting mirror (5409) are located on a third straight line, the third straight line is perpendicular to the first straight line, and the third straight line is parallel to the second straight line.
2. The utility model provides a robotic arm gesture sensing unit, its characterized in that installs on robotic arm (200) and includes outer box (51), be provided with in outer box (51) and be used for the plane vision camera (52) of perception robotic arm (200) XYR direction displacement, plane vision camera (52) follow one side of outer box (51) exposes, other three sides of outer box (51) are provided with installation department (53) respectively, every install on installation department (53) one be used for the perception robotic arm (200) Z direction displacement, laser displacement sensor (54) according to claim 1, three laser displacement sensor (54) are triangle-shaped and arrange.
3. The mechanical arm posture sensing unit according to claim 2, characterized in that the plane vision camera (52) is located in the middle of the outer box (51), wherein two laser displacement sensors (54) are located on both sides of the plane vision camera (52) and symmetrically arranged.
4. A robotic arm gesture sensing unit according to claim 3, wherein two of the laser displacement sensors (54), the planar vision camera (52) are located on a fourth straight line, leaving one of the laser displacement sensors (54), the planar vision camera (52) located on a fifth straight line, the fourth straight line being perpendicular to the fifth straight line.
5. The mechanical arm posture sensing unit according to claim 2, characterized in that the mounting portion (53) is fixed to the outer case (51), and the laser displacement sensor (54) is detachably assembled with an end portion of the mounting portion (53) remote from the outer case (51).
6. A compound robot, characterized by comprising a mobile base unit (100), wherein a mechanical arm (200) is installed on the mobile base unit (100), the end part of the mechanical arm (200) away from the mobile base unit (100) is provided with a mounting plate (300) and a picking and placing unit (400), and one end of the mounting plate (300) away from the mechanical arm (200) is provided with the mechanical arm gesture sensing unit (500) according to any one of claims 2 to 5.
7. The compound robot of claim 6, wherein the mobile base unit (100) comprises a mobile base (11), an integrated control box (12) and a carrying platform (13), the integrated control box (12) is mounted on the mobile base (11), the carrying platform (13) is mounted on the integrated control box (12), and the mechanical arm (200) is mounted on the carrying platform (13).
8. The compound robot according to claim 7, characterized in that one side of the integrated control box (12) is provided with an interactive display screen (14), and part of the other side of the integrated control box (12) is provided with heat dissipation holes.
9. The compound robot of claim 6, wherein the robotic arm (200) is a six-axis robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211390964.2A CN115556143B (en) | 2022-11-07 | 2022-11-07 | Laser displacement sensor, mechanical arm gesture sensing unit and compound robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211390964.2A CN115556143B (en) | 2022-11-07 | 2022-11-07 | Laser displacement sensor, mechanical arm gesture sensing unit and compound robot |
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| CN218504524U (en) * | 2022-11-07 | 2023-02-21 | 咸宁千机智能科技有限公司 | Mechanical arm posture sensing unit |
| CN218947657U (en) * | 2022-11-07 | 2023-05-02 | 咸宁千机智能科技有限公司 | High-precision composite robot |
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| CN102937411B (en) * | 2012-11-09 | 2015-01-21 | 清华大学 | Double-frequency grating interferometer displacement measurement system |
| CN215064355U (en) * | 2021-07-09 | 2021-12-07 | 北方民族大学 | Displacement sensor based on photoelectric detector array |
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| CN218504524U (en) * | 2022-11-07 | 2023-02-21 | 咸宁千机智能科技有限公司 | Mechanical arm posture sensing unit |
| CN218947657U (en) * | 2022-11-07 | 2023-05-02 | 咸宁千机智能科技有限公司 | High-precision composite robot |
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