CN118418105A - A mechanical arm for intelligent industrial robots based on visual servoing - Google Patents

Abstract

The invention discloses a visual servo-based mechanical arm for an intelligent industrial robot, which belongs to the technical field of industrial robots and comprises a base and a multi-shaft mechanical arm arranged on the base, wherein a lifting assembly is fixed on a screw on the side surface of the base, a track is fixed on the lifting assembly far away from the end of the base, sliding blocks are connected inside the track in a sliding manner, two sliding blocks are arranged inside the track and are symmetrically arranged, a mounting seat is rotatably connected on the sliding block far away from the end of the track, a clamping seat is connected inside the mounting seat in a threaded manner, and a camera is fixed inside the clamping seat; the camera synchronous control that this arm and vision system used removes, and the camera is connected with lift and lateral shifting's drive structure, can avoid moving with the arm and interfere, cooperative control improves work efficiency and work accuracy.

Description

A mechanical arm for intelligent industrial robots based on visual servoing

Technical Field

The invention belongs to the technical field of industrial robots, and in particular relates to a mechanical arm for an intelligent industrial robot based on visual servoing.

Background technique

Machine vision is a rapidly developing branch of artificial intelligence. Machine vision is to use machines to replace human eyes to do measurement and judgment work. The machine vision system converts the captured target into an image signal through machine vision products, transmits it to a dedicated image processing system, and obtains the morphological information of the captured target. According to the pixel distribution, brightness, color and other information, it is converted into a digital signal, and the image system extracts the characteristics of the target, and then controls the action of the equipment on site according to the judgment results.

There is a technology, such as the Chinese patent number: CN 113246115 A "An industrial robot based on machine vision technology and its control method", which includes: a movable component, a suction plate and a plurality of grabbing components. The movable component includes a rotating mechanism, a support frame is arranged on the top of the rotating mechanism, a slide frame is fixedly connected to one side of the support frame, a first sliding mechanism is movably connected to one side of the slide frame, a second sliding mechanism is movably connected to one side of the first sliding mechanism, a suction plate is cooperatively connected to the bottom of one end of the second sliding mechanism, a first probe is arranged at the middle position of the bottom of the suction plate, a plurality of suction cups are arranged in an array at the bottom of the suction plate, and a grabbing component is arranged on at least one suction cup. The wide-angle movement of the grabbing component is realized by the cooperation of the rotating mechanism with the first sliding mechanism and the second sliding mechanism. At the same time, the first sliding mechanism and the second sliding mechanism slide in the vertical direction to control the grabbing height of the robot, thereby realizing the robot grabbing movement, stacking and other multi-functions, and the flexibility of use is high.

However, in actual use of the prior art, the materials that require image acquisition are all on the transport device of the assembly line and are in the process of displacement in real time. Due to the size differences of different materials, when the image acquisition device is installed at a fixed point, when continuously photographing materials with larger sizes, the image information will be stretched due to the relative displacement of the two, resulting in a large error. In addition, the machine vision system that follows the movement of the robot is very likely to be damaged by collision due to the handling activities of the robot.

Therefore, we proposed an intelligent industrial robot arm based on visual servoing to solve the above problems.

Summary of the invention

The object of the present invention is to provide a mechanical arm for an intelligent industrial robot based on visual servoing, which controls movement synchronously with a camera used in a visual system, and the camera is connected to a driving structure for lifting and lateral movement, which can avoid interference with the movement of the mechanical arm, coordinate control, and improve work efficiency and work accuracy.

To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mechanical arm for an intelligent industrial robot based on visual servo, the mechanical arm for an intelligent industrial robot based on visual servo comprising a base and a multi-axis mechanical arm installed on the base, a lifting assembly is fixed with screws on the side of the base, a track is fixed to the lifting assembly away from the base end, a sliding block is slidably connected to the track, two sliding blocks are provided inside the track, the two sliding blocks are symmetrically arranged, the sliding block is rotatably connected to a mounting seat away from the track end, a clamping seat is threadedly connected to the mounting seat, and a camera is fixed inside the clamping seat.

As a preferred embodiment of the present invention, the multi-axis robotic arm includes a vertical rotating member rotatably connected to a base, a first horizontal axis rotating member rotatably connected inside the vertical rotating member, a second horizontal axis rotating member rotatably connected at an end of the first horizontal axis rotating member away from the vertical rotating member, a third horizontal axis rotating member rotatably connected at an end of the second horizontal axis rotating member away from the end of the first horizontal axis rotating member, a rotationally driven motor is disposed inside the vertical rotating member, the first horizontal axis rotating member, the second horizontal axis rotating member and the third horizontal axis rotating member, a connecting shaft is rotatably connected at an end of the third horizontal axis rotating member away from the end of the second horizontal axis rotating member, and the connecting shaft is used to connect a robotic claw.

As a preferred solution of the present invention, a threaded connection column is integrally provided on the side surface of the base, and the threaded connection column is symmetrically arranged about the middle part of the base.

As a preferred solution of the present invention, the lifting assembly includes a base plate, which is inserted into the outside of the threaded connecting column, and the upper end of the base plate is rotatably connected to a first support rod, the first support rod is hingedly connected to a second support rod away from the end of the base plate, and the other end of the second support rod is rotatably connected to the track.

As a preferred solution of the present invention, the lifting assembly also includes a connecting block fixed on the side of the track, a lead screw is threadedly connected to the inside of the connecting block, the lead screw is rotated away from the connecting block end and connected to the inside of the base plate, the lead screw passes through the base plate toward the base plate end to the bottom of the base plate, a servo motor is fixed to the end of the lead screw located below the base plate, and the servo motor is fixed to the base plate.

As a preferred solution of the present invention, a slide groove is provided inside the track, the slide groove is slidably connected to the slide block, the slide block is rotatably connected to a connecting rod, and the connecting rod is rotatably connected to the top of the mounting seat away from the end of the slide block.

As a preferred solution of the present invention, a piston rod is fixed to the sliding block away from the connecting rod end, the other end of the piston rod is connected to a cylinder, the cylinder screw is fixed inside the slide groove, and the cylinder is connected to a telescopic control valve.

As a preferred solution of the present invention, a through groove is provided on the side of the mounting seat for the camera wire to pass through, a drag chain is fixed on the end face of the mounting seat, a support plate is fixed on the end of the drag chain away from the mounting seat, and the support plate is fixed on the bottom of the slide rail.

As a preferred solution of the present invention, it also includes a control board, which integrates a control motor, a servo motor and a cylinder opening and closing, wherein the servo motor is connected in series with the motor inside the first horizontal axis rotating part, and the telescopic control valve of the cylinder is connected in series with the motor inside the second horizontal axis rotating part.

The beneficial effects of the present invention are:

The robot arm moves synchronously with the camera used in the visual system, a threaded connection column is set on the base, and the connecting rod and the slide rail used to fix the camera are installed on the side of the base through the bottom plate, thereby realizing synchronous movement, avoiding the relative displacement between the robot arm and the camera, which causes the image information to be stretched, thereby having a large error. 2. In the present invention, the camera used for taking pictures by the visual system is installed on the side of the base through the slide rail and the bottom plate, and a mounting seat is connected to the camera, wherein the mounting seat can move in the horizontal and vertical directions, respectively driven by the cylinder and the servo motor, and the cylinder and the servo motor are synchronously controlled with the second horizontal axis rotating member and the first horizontal axis rotating member, respectively, and then when the robot arm rotates downward, the camera moves toward the side of the base and moves downward at the same time. After the robot arm is reset, the camera is reset synchronously to take pictures of the next material, thereby avoiding interference with the robot arm when the robot arm moves and avoiding the robot arm touching the camera when picking up materials.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of a mechanical arm for an intelligent industrial robot based on visual servoing provided by the present invention;

FIG2 is a schematic diagram of another viewing angle of FIG1 of a mechanical arm for an intelligent industrial robot based on visual servoing provided by the present invention;

FIG3 is an enlarged schematic diagram of point A in FIG1 of a mechanical arm for an intelligent industrial robot based on visual servoing provided by the present invention;

FIG4 is a schematic diagram of a working installation state of a mechanical arm for an intelligent industrial robot based on visual servoing provided by the present invention.

In the figure: 1. base; 2. multi-axis robot arm; 3. track; 4. sliding block; 5. mounting base; 6. card holder; 7. camera; 8. vertical rotating member; 9. first horizontal axis rotating member; 10. second horizontal axis rotating member; 11. third horizontal axis rotating member; 12. connecting shaft; 13. threaded connecting column; 14. bottom plate; 15. first support rod; 16. second support rod; 17. connecting block; 18. lead screw; 19. servo motor; 20. slide groove; 21. connecting rod; 22. piston rod; 23. cylinder; 24. through groove; 25. drag chain; 26. support plate.

Detailed ways

In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

Please refer to FIG. 1 to FIG. 4 at the same time. The mechanical arm for an intelligent industrial robot based on visual servoing according to an embodiment of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the mechanical arm for the intelligent industrial robot based on visual servo includes a base 1 and a multi-axis mechanical arm 2 installed on the base 1, a lifting component is fixed with screws on the side of the base 1, a track 3 is fixed to the end of the lifting component away from the base 1, a sliding block 4 is slidably connected inside the track 3, two sliding blocks 4 are provided inside the track 3, and the two sliding blocks 4 are symmetrically arranged, the end of the sliding block 4 away from the track 3 is rotatably connected to a mounting seat 5, a clamping seat 6 is threadedly connected inside the mounting seat 5, and a camera 7 is fixed inside the clamping seat 6.

Among them, the multi-axis robotic arm 2 includes a vertical rotating member 8 rotatably connected to the base 1, the vertical rotating member 8 is internally rotatably connected to a first horizontal axis rotating member 9, the first horizontal axis rotating member 9 is rotatably connected to a second horizontal axis rotating member 10 at the end away from the vertical rotating member 8, the second horizontal axis rotating member 10 is rotated to be connected to a third horizontal axis rotating member 11 at the end away from the first horizontal axis rotating member 9, the vertical rotating member 8, the first horizontal axis rotating member 9, the second horizontal axis rotating member 10 and the third horizontal axis rotating member 11 are all internally provided with rotationally driven motors, the third horizontal axis rotating member 11 is rotatably connected to a connecting shaft 12 at the end away from the second horizontal axis rotating member 10, and the connecting shaft 12 is used to connect a robotic claw.

In this embodiment, the motor driving methods inside the vertical rotating member 8, the first horizontal axis rotating member 9, the second horizontal axis rotating member 10 and the third horizontal axis rotating member 11 are all based on the existing mechanical arm rotation driving principle. When the vertical rotating member 8 rotates, the mechanical arm structure at the upper end of the base 1 can rotate 360° along the vertical axis of the base 1. At the same time, when the first horizontal axis rotating member 9, the second horizontal axis rotating member 10 and the third horizontal axis rotating member 11 are working, the gripping position and gripping height of the mechanical arm claw can be controlled. The above-mentioned connecting shaft 12 is also driven by a motor. The rotation of the connecting shaft 12 can control the rotation of the mechanical claw, thereby adjusting the orientation of the grasped object.

The robot arm provided by the present invention is used to grab materials on the conveyor belt and install them in the processing area on the side of the conveyor belt. As shown in the figure, the base 1 is installed on the workbench through the ear screws thereon, and the camera 7 and the connecting shaft 12 are located above the conveyor belt. The image is taken by the camera 7, and based on the visual recognition of the existing technology, the materials with qualified quality are grabbed for processing.

At the same time, in this embodiment, in order to combine the robotic arm with the camera 7, and the camera 7 taking pictures and the robotic arm working do not interfere with each other, a threaded connecting column 13 is integrated on the side of the base 1. The threaded connecting column 13 is symmetrically arranged about the middle part of the base 1, and the lifting assembly and track 3 for controlling and adjusting the movement of the camera 7 are installed on the threaded connecting column 13.

Among them, the lifting assembly includes a base plate 14, which is inserted into the outside of the threaded connecting column 13, and the upper end of the base plate 14 is rotatably connected to a first support rod 15, and the first support rod 15 is hingedly connected to a second support rod 16 at the end away from the base plate 14, and the other end of the second support rod 16 is rotatably connected to the track 3.

At the same time, the lifting assembly also includes a connecting block 17 fixed to the side of the track 3, and a lead screw 18 is connected to the internal thread of the connecting block 17. The lead screw 18 is rotatably connected to the inside of the base plate 14 at the end away from the connecting block 17. The lead screw 18 passes through the base plate 14 to the bottom of the base plate 14 toward the end of the base plate 14. A servo motor 19 is fixed to the end of the lead screw 18 located below the base plate 14, and the servo motor 19 is fixed to the base plate 14.

When the servo motor 19 is driven, the servo motor 19 can drive the lead screw 18 to rotate. When the lead screw 18 rotates, since the lead screw 18 and the connecting block 17 are threadedly connected, when the lead screw 18 rotates, the connecting block 17 can move up and down, driving the track 3 to move up and down. At the same time, the two ends of the track 3 are the second support rods 16. In the process of the track 3 moving up and down, the connection between the second support rod 16 and the first support rod 15 rotates, and the first support rod 15 rotates with the base plate 14, and the second support rod 16 rotates with the slide rail. Therefore, the first support rod 15 and the second support rod 16 can play a guiding role to ensure the lifting stability of the slide rail.

Meanwhile, a slide groove 20 is provided inside the track 3 , and the slide groove 20 is slidably connected to the slide block 4 , and a connecting rod 21 is rotatably connected to the slide block 4 , and the connecting rod 21 is rotatably connected to the top of the mounting seat 5 at the end away from the slide block 4 .

Among them, a piston rod 22 is fixed to the end of the sliding block 4 away from the connecting rod 21, and the other end of the piston rod 22 is connected to a cylinder 23. The cylinder 23 is screwed inside the slide groove 20, and the cylinder 23 is connected to a telescopic control valve.

After the cylinder 23 is opened and closed by the telescopic control valve, the air intake of the cylinder 23 is opened, and the cylinder 23 can drive the piston rod 22 to extend. As the piston rod 22 extends, the piston rod 22 pushes the sliding block 4 to slide along the slide groove 20, and the distance between the two sliding blocks 4 continues to expand with the movement of the piston rod 22. At this time, since the length of the connecting rod 21 between the sliding block 4 and the mounting seat 5 remains unchanged, the mounting seat 5 moves toward the slide rail under the traction of the connecting rod 21, so that the mounting seat 5 moves with the camera 7, so as to avoid the position of the camera 7 interfering with the movement of the second horizontal axis rotating member 10 and the third horizontal axis rotating member 11.

At the same time, a through groove 24 for the camera 7 wire to pass through is provided on the side of the mounting seat 5, and a drag chain 25 is fixed on the end face of the mounting seat 5. A support plate 26 is fixed to the end of the drag chain 25 away from the mounting seat 5. The support plate 26 is fixed to the bottom of the slide rail, and then the wire connected to the camera 7 is placed inside the drag chain 25. When the mounting seat 5 moves, it moves with the mounting seat 5 to ensure the power supply of the camera 7.

At the same time, in this embodiment, a control panel is provided, which integrates the control motor, servo motor 19 and cylinder 23 opening and closing. The control panel is an existing robot arm controller, such as a general robot arm controller based on the ROS system. In this embodiment, the servo motor 19 is connected in series with the motor inside the first horizontal axis rotating member 9, and the telescopic control valve of the cylinder 23 is connected in series with the motor inside the second horizontal axis rotating member 10, so that when the first horizontal axis rotating member 9 rotates, the servo motor 19 is opened synchronously, and when the second horizontal axis rotating member 10 rotates, the cylinder 23 is opened synchronously with air intake.

In the present invention, a camera 7 for taking pictures of a visual system is installed on the side of the base 1 through a slide rail and a bottom plate 14. The bottom plate 14 is plugged into the outside of the threaded connection column 13 on the side of the base 1, and then the screws are screwed in to fix the bottom plate 14, so that the camera 7 rotates with the robot arm, thereby improving the image acquisition quality, while avoiding interference with the robot arm when the robot arm moves and avoiding the robot arm from touching the camera 7 when taking materials. A mounting seat 5 is connected to the camera 7, and the camera 7 is installed inside the mounting seat 5 through a card holder 6 using a threaded connection method, wherein the mounting seat 5 can move in the horizontal and vertical directions, which are respectively driven by the cylinder 23 and the servo motor 19. At the same time, the cylinder 23 and the servo motor 19 are synchronously controlled with the second horizontal axis rotating member 10 and the first horizontal axis rotating member 9, respectively, so that when the robot arm rotates downward, the camera 7 moves toward the side of the base 1 and moves downward at the same time. After the robot arm is reset, the camera 7 is reset synchronously to take pictures of the next material, so the above-mentioned problem can be well solved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. A mechanical arm for an intelligent industrial robot based on visual servoing, characterized in that the mechanical arm for an intelligent industrial robot based on visual servoing comprises a base (1) and a multi-axis mechanical arm (2) mounted on the base (1), a lifting assembly is fixed with screws on the side of the base (1), a track (3) is fixed on the end of the lifting assembly away from the base (1), a sliding block (4) is slidably connected inside the track (3), two sliding blocks (4) are provided inside the track (3), the two sliding blocks (4) are symmetrically arranged, a mounting seat (5) is rotatably connected to the end of the sliding block (4) away from the track (3), a clamping seat (6) is threadedly connected inside the mounting seat (5), and a camera (7) is fixed inside the clamping seat (6). 2. A mechanical arm for an intelligent industrial robot based on visual servoing according to claim 1, characterized in that the multi-axis mechanical arm (2) includes a vertical rotating member (8) rotatably connected to a base (1), the vertical rotating member (8) is internally rotatably connected to a first transverse axis rotating member (9), the first transverse axis rotating member (9) is rotatably connected to an end away from the vertical rotating member (8) with a second transverse axis rotating member (10), the second transverse axis rotating member (10) is connected to an end away from the first transverse axis rotating member (9) with a third transverse axis rotating member (11), the vertical rotating member (8), the first transverse axis rotating member (9), the second transverse axis rotating member (10) and the third transverse axis rotating member (11) are all internally provided with a rotationally driven motor, the third transverse axis rotating member (11) is rotatably connected to an end away from the second transverse axis rotating member (10) with a connecting shaft (12), and the connecting shaft (12) is used to connect a mechanical claw. 3. According to the visual servo-based intelligent industrial robot arm according to claim 1, it is characterized in that a threaded connection column (13) is integrated on the side of the base (1), and the threaded connection column (13) is symmetrically arranged about the middle part of the base (1). 4. According to a mechanical arm for an intelligent industrial robot based on visual servoing as described in claim 2, it is characterized in that the lifting assembly includes a base plate (14), the base plate (14) is inserted into the outside of the threaded connecting column (13), the upper end of the base plate (14) is rotatably connected to a first support rod (15), the first support rod (15) is hingedly connected to a second support rod (16) at the end away from the base plate (14), and the other end of the second support rod (16) is rotatably connected to the track (3). 5. A mechanical arm for an intelligent industrial robot based on visual servoing according to claim 4, characterized in that the lifting assembly also includes a connecting block (17) fixed to the side of the track (3), and the connecting block (17) is internally threaded with a lead screw (18), the lead screw (18) is rotatably connected to the inside of the base plate (14) at the end away from the connecting block (17), and the lead screw (18) passes through the base plate (14) to the bottom of the base plate (14) toward the end of the base plate (14), and a servo motor (19) is fixed to the end of the lead screw (18) located below the base plate (14), and the servo motor (19) is fixed on the base plate (14). 6. According to the mechanical arm of a visual servo-based intelligent industrial robot according to claim 5, it is characterized in that a slide groove (20) is provided inside the track (3), the slide groove (20) is slidably connected to the sliding block (4), and a connecting rod (21) is rotatably connected to the sliding block (4), and the connecting rod (21) is rotatably connected to the top of the mounting seat (5) away from the sliding block (4). 7. According to claim 6, a mechanical arm for an intelligent industrial robot based on visual servoing is characterized in that a piston rod (22) is fixed to the end of the sliding block (4) away from the connecting rod (21), and the other end of the piston rod (22) is connected to a cylinder (23), the cylinder (23) is screwed inside the slide groove (20), and the cylinder (23) is connected to a telescopic control valve. 8. According to the mechanical arm of a visual servo-based intelligent industrial robot according to claim 1, it is characterized in that a through groove (24) for the wire of the camera (7) to pass through is provided on the side of the mounting seat (5), a drag chain (25) is fixed on the end face of the mounting seat (5), and a support plate (26) is fixed on the end of the drag chain (25) away from the mounting seat (5), and the support plate (26) is fixed on the bottom of the slide rail. 9. According to claim 7, a mechanical arm for an intelligent industrial robot based on visual servoing is characterized in that it also includes a control panel, which integrates the control motor, the servo motor (19) and the opening and closing of the cylinder (23), wherein the servo motor (19) is connected in series with the internal motor of the first horizontal axis rotating part (9), and the telescopic control valve of the cylinder (23) is connected in series with the internal motor of the second horizontal axis rotating part (10).