CN1864939A - A force feedback provided manipulator - Google Patents

Abstract

A manipulator with force feedback, which can set the magnitude of the force used to grip the object and obtain a moderate gripping effect; it has two degrees of freedom and adopts a rectangular coordinate structure; it includes: a driving part, a gripping part, a sensor part, The driving part includes a motion controller, power drive board, DC servo motor, vertical guide rail and horizontal guide rail; the clamping part is the end effector; the sensor part includes a force sensor, a collision detection switch and a sensor information acquisition module. The manipulator of the present invention has the characteristics of light weight and low cost, and can be conveniently integrated into a mobile robot so that the mobile robot has operating functions.

Description

A manipulator with force feedback

technical field

The patent of the invention relates to a manipulator, belongs to the field of robots, and can be applied to intelligent mobile robot systems in particular.

Background technique

In 1961, the UNIMATION company of the United States launched the first servo-controlled industrial robot UNIMATE. In 1962, UNIMATE was put into use by the GM company of the United States. In 1963, the AMF company of the United States launched the VERSATRAN commercial robot. Since then, the robot has entered the practical stage. Since then, The functions of robots are becoming more and more powerful, and the types are increasing day by day, affecting human production and life more and more extensively and deeply.

Mobile robots are an important branch of robots and have broad application prospects in the 21st century, such as welcome guides and shopping guides in hotels and shopping malls, hospital care, community patrols, military reconnaissance, etc. Integrating the manipulator on the mobile robot so that it has the ability to operate is more suitable for the environment and more competent for more work, and can replace human work in various dangerous situations, such as public explosions and object handling in nuclear radiation environments .

In the process of integrating mobile robots and operators, an existing idea is to combine mature industrial manipulators with mobile platforms. Due to the large mass of industrial manipulators and large energy consumption, a large coupling force will be generated during the movement process. On the mobile platform, the stability of the platform is affected, thereby affecting the accuracy of the operation; in addition, the energy of the battery carried by the mobile robot is limited, and the large energy consumption of mature industrial manipulators has a great impact on the running time of the entire system.

Therefore, it is necessary to research and develop a manipulator with light weight and low energy consumption for the specific platform of mobile robot.

Contents of the invention

The purpose of the present invention is to provide a manipulator capable of handling tasks, light in weight and low in energy consumption.

In order to achieve the above object, the technical solution of the present invention is to provide a manipulator with force feedback, which adopts a Cartesian coordinate structure, two brackets are horizontally arranged in parallel, and the inner sides of the two brackets are each provided with a collision detection switch; the first lead screw and the two The first guide rail is vertically arranged, and the two ends of the two vertical guide rails are fixedly connected to two horizontally parallel supports respectively, and the two vertical guide rails vertically pass through the first slider respectively, and are in dynamic contact with the first slider; A threaded screw passes through the first slider vertically and is dynamically connected with the first slider through the threads on the first slider. The output end of the rotating shaft of the first DC servo motor is connected;

The second lead screw, the other two guide rails and two support columns are arranged horizontally, and the two support columns are respectively horizontally fixed and installed on the upper and lower ends of the first slider. The left ends of the two support columns extend away from the first slider, and the right ends approach The first slider, and the two ends of the two supporting columns are respectively fixed on the rear parts of the other two vertically arranged supports, and the two vertical supports extend to the front of the first slider; the two ends of the other two horizontal guide rails are fixed respectively. It is connected to the front of the other two vertical brackets, and passes through the second slider horizontally, and is in dynamic contact with the second slider. The other two horizontal guide rails and the second slider are located in front of the first slider, and are in contact with the second slider. The first slider has no contact; the second screw also passes through the second slider horizontally, and the second screw is dynamically connected with the second slider through the thread on the second slider, and the two ends of the second screw are connected to the other two respectively. Two vertical brackets are in dynamic contact, one end of which is connected to the output end of the second DC servo motor shaft through the second transmission belt; the other two vertically arranged brackets are also provided with collision detection switches at the front inside the bracket;

Bases are respectively provided on the second slider and the vertical support provided at the right end, and an end effector is fixedly connected to the base, and a force sensor is provided inside the end effector.

In the manipulator with force feedback, the end effector is a sheet-shaped strip-shaped end effector, or a sheet-shaped strip-shaped end effector with a right-angle end, and its inside and outside are respectively composed of flexible materials and rigid materials. On the inner side of the inner flexible material, a bar-shaped force sensor is arranged axially in the center; a plurality of fixing holes are arranged at one end of the end effector, and are fixed on the base by a plurality of bolts.

In the manipulator with force feedback, the collision detection switch at the upper end of the vertical guide rail and the collision detection switch at the left end of the horizontal guide rail also have the function of a reset switch.

In the manipulator with force feedback, the end effectors are arranged in pairs.

In the manipulator with force feedback, the force information of the force sensor is quantified into 1-512 orders of magnitude, and the magnitude of force used when gripping an object is programmed and set according to task requirements.

The manipulator of the invention is light in weight, low in energy consumption, low in cost, flexible in carrying objects, and can be conveniently integrated into a mobile robot platform.

Description of drawings

Fig. 1 is the plane view of manipulator driving structure of the present invention;

Fig. 2 is a plan view of an example of the manipulator end effector of the present invention;

Fig. 3 is a plan view of Example 2 of the manipulator end effector of the present invention;

Fig. 4 is a sectional view of the manipulator end effector of the present invention;

Fig. 5 is a functional block diagram of the manipulator of the present invention.

Detailed ways

The manipulator of the present invention is composed of a driving part, an end effector and a sensor part.

The driving part has two degrees of freedom, adopts a rectangular coordinate structure, and is controlled by two DC servo motors respectively, and is equipped with a power drive board and a motion control DSP board for this purpose, which can precisely control the position of the end effector.

The end effector can be easily installed on or removed from the driving part, and the appropriate end effector can be selected for different tasks.

The sensor part includes two force sensors, an A/D conversion circuit, four collision detection switches, and a sensor information collection board, which can quickly and accurately collect force signals. And the force signal can be used as feedback information to control the movement of the driving part.

As shown in Fig. 1, the manipulator of the present invention adopts a Cartesian coordinate structure, and two supports 15a, 15b are horizontally arranged in parallel, and the inner sides of the two supports 15a, 15b are respectively provided with collision detection switches 14a and 14b. Lead screw 3 and two guide rails 4 are arranged vertically, and two guide rails 4 vertically pass through slide block 11 respectively, and are in dynamic contact with slide block 11, and the two ends of two guide rails 4 are fixedly connected on the supports 15a, 15b. Lead screw 3 passes through slide block 11 vertically and is dynamically connected with slide block 11 through the screw thread on slide block 11. The two ends of lead screw 3 are in dynamic contact with two brackets 15a, 15b, and one end is connected to DC servo motor through transmission belt 2. 1 The output end of the rotating shaft is connected. Lead screw 7, two guide rails 10 and two support columns 17 are arranged horizontally, and two support columns 17 are horizontally fixedly installed on the upper and lower ends of slide block 11 respectively, and the left end of two support columns 17 stretches out far away from slide block 11, and the right end is close to Slide block 11, and the two ends of two supporting columns 17 are fixedly connected to the rear part of vertically arranged supports 16a, 16b, and the two supports 16a, 16b extend to the front of slide block 11. The two guide rails 10 pass through the slider 8 horizontally, are in dynamic contact with the slider 8, and are located in front of the slider 11 without contact with the slider 11. 16b front. Lead screw 7 passes through slide block 8 horizontally, and lead screw 7 is dynamically connected with slide block 8 through the screw thread on slide block 8, and is positioned at the front of slide block 11, has no contact with slide block 11, and the two ends of lead screw 7 and two The brackets 16a, 16b are in dynamic contact, and one end thereof is connected to the output end of the rotating shaft of the DC servo motor 5 through the transmission belt 6 . Collision detection switches 13a and 13b are provided on the inside front portions of the vertically arranged brackets 16a, 16b.

A base 9 and a base 12 are respectively provided on the slider 8 and the vertically arranged bracket 16b. End effectors are installed on the base 9 and the base 12 by fastening screws. There are two kinds of end effectors, one as shown in FIG. 2 , which is a strip-shaped end effector 19 , and the other as shown in FIG. 3 , which is a strip-shaped end effector 22 with a right-angle end. The structure of the end effectors 19, 22, as shown in Figure 4, is composed of a flexible material 23 and a rigid material 24 inside and outside respectively, and on the inner side of the inner layer of flexible material 23, a strip-shaped Force sensor 20.

Fig. 5 is a schematic diagram of connection of functional modules of the manipulator of the present invention. The manipulator function module of the present invention is made up of system main control module 101, motion control module 201, power drive module 202, sensor information acquisition module 301, A/D conversion module 302, and above-mentioned function module is connected with DC servo motor 1,5 respectively according to routine , The force sensor 17 is electrically connected to the collision detection switches 13a, 13b, 14a, 14b. The driving part of the manipulator of the present invention has an independent driving circuit and a control circuit, and can be conveniently integrated into a mobile robot system.

The DC servo motor 1 drives the lead screw 3 through the transmission belt 2, and the lead screw 3 drives the slider 11 to move in the vertical direction along the guide rail 4 to control the upper and lower positions of the manipulator end effector of the present invention; A collision detection switch 14a and 14b ensures that the vertical direction runs within the travel range, and the collision detection switch 14a above also functions as a reset switch for the degree of freedom in the vertical direction. When the manipulator is in a ready state, 14a should be in a closed state. The DC servo motor 5 drives the lead screw 7 through the transmission belt 6, and the lead screw 7 drives the slider 8 to move in the horizontal direction along the guide rail 10 to control the opening and closing position of the manipulator end effector of the present invention; at the left and right ends of the guide rail 10 respectively There is a collision detection switch 13a and 13b to ensure that the horizontal direction runs within the stroke range, and the collision detection switch 13a on the left also has the function of a reset switch for the degree of freedom in the horizontal direction. When the manipulator is in the ready state, 13a should be in the closed state.

In view of the difference in the shape and position of the grasping object, two kinds of end effectors are designed, that is, the example one in Fig. 2 is the end effector 19, and the example two in Fig. 3 is the end effector 22, and they respectively pass through the mounting holes Each is connected to the bases 9 and 12 in pairs.

The pressure sensor inside the end effector 19, 22, that is, the pressure sensor 20 in Fig. 2, Fig. 3 and Fig. 4, when the end effector 19, 22 is clamped to the object, the resistance value of the force sensor 20 is linear with the pressure Variety. After being processed by the A/D conversion module 302 and the sensor information acquisition module 301, the force information is quantized into a certain value between 1-512. When gripping objects, the amount of force applied can be programmed according to the needs of the task.

When the manipulator of the present invention is working, the A/D conversion module 302 collects the analog force signal from the pressure sensor 20 in real time, and converts it into a digital signal and outputs it to the sensor information collection module 301. At the same time, the sensor information collection module 301 also collects the collision detection switches 13a, 13b , 14a, 14b states, the system main control module 101 generates motion control commands according to the force feedback information uploaded by the sensor information acquisition module 301 and the state of the collision detection switches 13a, 13b, 14a, 14b, combined with its own motion planning algorithm Send to the motion control module 201, the motion control module 201 drives the DC servo motor 1, 5 to move through the power drive module 202, and reads the code disc data of the DC servo motor 1, 5 at the same time, so as to accurately execute the motion command it receives .

Claims (5)

1. A manipulator with force feedback, characterized in that: Cartesian coordinate structure is adopted, two brackets are arranged horizontally and parallel, and collision detection switches are respectively provided on the inner sides of the two brackets; the first lead screw and two guide rails are vertically arranged, and two The two ends of the vertical guide rails are respectively fixed on two horizontal parallel supports, and the two vertical guide rails vertically pass through the first slider respectively, and are in dynamic contact with the first slider; the first lead screw vertically passes through the first slider A slider is dynamically connected with the first slider through the screw thread on the first slider, and the two ends of the first lead screw are in dynamic contact with the two horizontal supports, one of which is connected to the shaft of the first DC servo motor through the first transmission belt. connected to the output; The second lead screw, the other two guide rails and two support columns are arranged horizontally, and the two support columns are respectively horizontally fixed and installed on the upper and lower ends of the first slider. The left ends of the two support columns extend away from the first slider, and the right ends approach The first slider, and the two ends of the two supporting columns are respectively fixed on the rear parts of the other two vertically arranged supports, and the two vertical supports extend to the front of the first slider; the two ends of the other two horizontal guide rails are fixed respectively. It is connected to the front of the other two vertical brackets, and passes through the second slider horizontally, and is in dynamic contact with the second slider. The other two horizontal guide rails and the second slider are located in front of the first slider, and are in contact with the second slider. The first slider has no contact; the second screw also passes through the second slider horizontally, and the second screw is dynamically connected with the second slider through the thread on the second slider, and the two ends of the second screw are connected to the other two respectively. Two vertical brackets are in dynamic contact, one end of which is connected to the output end of the second DC servo motor shaft through the second transmission belt; the other two vertically arranged brackets are also provided with collision detection switches at the front inside the bracket; Bases are respectively provided on the second slider and the vertical support provided at the right end, and an end effector is fixedly connected to the base, and a force sensor is provided inside the end effector. 2. The manipulator with force feedback according to claim 1, characterized in that: the end effector is a strip-shaped end effector, or a strip-shaped end effector with a right-angle end, which The inside and the outside are composed of flexible materials and rigid materials respectively. On the inside surface of the inner flexible material, a bar-shaped force sensor is arranged axially in the center; a plurality of fixing holes are arranged at one end of the end effector, and through a plurality of The bolts are fixed on the base. 3. The manipulator with force feedback according to claim 1, characterized in that: said collision detection switch, the collision detection switch at the upper end of the vertical guide rail and the collision detection switch at the left end of the horizontal guide rail also have the function of a reset switch. 4. The manipulator with force feedback according to claim 1 or 2, wherein the end effectors are arranged in pairs. 5. The manipulator with force feedback according to claim 2, characterized in that: the force information of the force sensor is quantified into 1 to 512 orders of magnitude, and the force used when gripping an object is programmed according to the task requirements set up.

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