CN218504524U

CN218504524U - Mechanical arm posture sensing unit

Info

Publication number: CN218504524U
Application number: CN202222954857.XU
Authority: CN
Inventors: 陈锋; 何国英
Original assignee: Xianning Qianji Intelligent Technology Co ltd
Current assignee: Xianning Qianji Intelligent Technology Co ltd
Priority date: 2022-11-07
Filing date: 2022-11-07
Publication date: 2023-02-21
Anticipated expiration: 2032-11-07

Abstract

The utility model relates to a mechanical arm gesture sensing unit installs on the robot mechanical arm and including outer box, be provided with the plane vision camera that is used for perception arm XYR direction displacement 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, each all install a displacement sensor who is used for perception arm Z direction displacement on the installation department, and are three displacement sensor is triangle-shaped and arranges. The application has the following expected technical effects: the precision is higher, and simple structure makes the convenience moreover, and the cost is lower, the integrated degree of difficulty is little.

Description

Mechanical arm posture sensing unit

Technical Field

The application relates to the technical field of robots, in particular to a mechanical arm posture sensing unit.

Background

The composite robot integrates an arm function and a walking function, is more and more widely applied in industrial production, and sensing units are generally arranged around a mechanical arm of the composite robot so as to acquire the position condition between an object to be grabbed and the mechanical arm.

The existing sensing unit can adopt a 3D vision sensor to simultaneously acquire the position conditions of an object to be grabbed and a mechanical arm, and the technology is very high in precision but very expensive; in addition, part of the sensing units can adopt a 2D vision sensor to obtain the position condition of the object to be grabbed, and a displacement sensor is adopted to obtain the position condition of the mechanical arm, the technology can only sense the Z-direction height of the mechanical arm, the WPR-direction posture of the mechanical arm cannot be sensed, the finally realized precision is still +/-1 mm, and the problems of low precision, high cost and high integration difficulty exist, so that the sensing units of the conventional robot have the problems of low precision, high cost and high integration difficulty, and need to be improved.

SUMMERY OF THE UTILITY MODEL

The application provides a mechanical arm posture sensing unit to improve following technical problem: the sensing unit of the conventional robot has low precision, high cost and high integration difficulty.

The application provides a mechanical arm posture sensing unit, adopts following technical scheme:

the utility model provides a mechanical arm gesture sensing unit, installs on the robot mechanical arm and includes outer box, be provided with the plane vision camera that is used for perception arm XYR direction displacement 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, each all install a displacement sensor who is used for perception arm Z direction displacement on the installation department, and are three displacement sensor is the triangle-shaped and arranges.

Through adopting above-mentioned technical scheme, the displacement of arm XYR direction can be perceived to the plane vision camera, and displacement sensor can perceive arm Z direction displacement, and is three the displacement data of the three position location that displacement sensor gathered for calculate the WPR direction displacement of arm, the gesture data of arm promptly, the precision is higher, and 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 displacement sensors are located on two sides of the plane vision camera and are symmetrically arranged.

Through adopting above-mentioned technical scheme, above-mentioned symmetrical formula design more is favorable to the perception displacement.

Optionally, two of the displacement sensors and the plane vision camera are located on a first straight line, and the remaining displacement sensor and the plane vision camera are located on a second straight line, where the first straight line and the second straight line are perpendicular.

Through adopting above-mentioned technical scheme, on the basis of symmetrical formula design, whole sensing unit's focus is closer to the center, and the structure is more firm, more is favorable to the perception displacement.

Optionally, the mounting portion is fixed to the outer box, and the displacement sensor is detachably assembled with an end portion of the mounting portion away from the outer box.

By adopting the technical scheme, the new displacement sensor is convenient to replace, and the maintenance is simpler.

Optionally, the displacement sensor and the mounting portion are assembled by a plurality of screws.

Through adopting above-mentioned technical scheme, the assembly method of screw, not only firm, difficult not hard up, it is also very convenient to dismantle the equipment again moreover.

Optionally, the end of the mounting part away from the outer box is provided with a sunk groove for accommodating the screw cap part.

Through adopting above-mentioned technical scheme, heavy groove has the effect of hiding the screw cap portion, and then effectively avoids the screw cap portion protrusion.

Optionally, outer box is the cuboid structure, the installation department is the platelike structure, the installation department perpendicular to outer box and its side that is closest to.

By adopting the technical scheme, the device has the advantages of more stable structure and more convenient installation.

Optionally, the displacement sensor is a laser displacement sensor and has a micro-focusing lens.

By adopting the technical scheme, the laser displacement sensor has the advantage of higher precision, and the micro-motion focusing lens can be adapted to sense planes with different distances.

In summary, the present application includes at least one of the following beneficial technical effects:

the planar vision camera can perceive mechanical arm XYR direction displacement, and displacement sensor can perceive mechanical arm Z direction displacement, and is three the displacement data of the three position points that displacement sensor gathered for calculate the WPR direction displacement of arm, the gesture data of arm promptly, the precision is higher, and simple structure makes conveniently moreover, and the cost is lower, the integrated degree of difficulty is little.

Drawings

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

Fig. 1 is a schematic structural diagram of a robot arm posture sensing unit according to an embodiment of the present application.

Description of reference numerals:

1. an outer box; 2. a planar vision camera; 3. an installation part; 31. sinking a groove; 4. a displacement sensor; 41. a micro-motion focusing lens; 5. and (4) screws.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present 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 merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or 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 will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The present application is described in further detail below with reference to fig. 1.

The embodiment of the application discloses mechanical arm gesture sensing unit. Referring to fig. 1, the mechanical arm posture sensing unit is installed on a mechanical arm of a robot and comprises an outer box 1, a plane vision camera 2 used for sensing displacement of the mechanical arm XYR direction is arranged in the outer box 1, the plane vision camera 2 is exposed from one side surface of the outer box 1, other three side surfaces of the outer box 1 are respectively provided with an installation part 3, each installation part 3 is provided with a displacement sensor 4 used for sensing displacement of the mechanical arm Z direction, and the three displacement sensors 4 are arranged in a triangular shape.

The plane vision camera 2 is positioned in the middle of the outer box 1, and the two displacement sensors 4 are positioned on two sides of the plane vision camera 2 and are symmetrically arranged, so that the symmetrical design is more favorable for sensing displacement.

Two of the displacement sensors 4 and the plane vision camera 2 are positioned on a first straight line, the rest displacement sensor 4 and the plane vision camera 2 are positioned on a second straight line, and the first straight line is perpendicular to the second straight line. On the basis of the symmetrical design, the center of gravity of the whole sensing unit is closer to the center, the structure is more stable, and the displacement sensing is more facilitated.

Installation department 3 is fixed in outer box 1, and displacement sensor 4 keeps away from the tip demountable assembly of outer box 1 with installation department 3, and the displacement sensor 4 of conveniently changing new, the maintenance is simpler.

Through a plurality of screws 5 mutually assembly between displacement sensor 4 and the installation department 3, the assembly mode of screw 5, it is not only firm, difficult not hard up, it is also very convenient to dismantle the equipment again moreover.

The end of the mounting part 3 far from the outer box 1 is provided with a sinking groove 31 for accommodating the cap of the screw 5, and the sinking groove 31 has the effect of hiding the cap of the screw 5, thereby effectively avoiding the protrusion of the cap of the screw 5.

Outer box 1 is the cuboid structure, and installation department 3 is the platelike structure, and installation department 3 welds in outer box 1 rather than the side that is closest to perpendicularly, has the more stable, the more convenient advantage of installation of structure.

The displacement sensor 4 is a laser displacement sensor and is provided with a micro-motion focusing lens 41, the laser displacement sensor has the advantage of higher precision, and the micro-motion focusing lens 41 can be adapted to sense planes with different distances.

The implementation principle of the mechanical arm posture sensing unit in the embodiment of the application is as follows:

the planar vision camera 2 can perceive the XYR direction displacement of the mechanical arm, the displacement sensor 4 can perceive the Z direction displacement of the mechanical arm, and the displacement data of three point positions collected by the three displacement sensors 4 are used for calculating the WPR direction displacement of the mechanical arm, namely the posture data of the mechanical arm, so that the precision is higher, the structure is simple, the manufacturing is convenient, the cost is lower, and the integration difficulty is small.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The utility model provides a mechanical arm gesture sensing unit, its characterized in that installs on the robot arm and includes outer box (1), be provided with plane vision camera (2) that are used for perception arm XYR direction displacement in outer box (1), plane vision camera (2) are followed a side of outer box (1) exposes, other three sides of outer box (1) are provided with installation department (3) respectively, each all install a displacement sensor (4) that are used for perception arm Z direction displacement on installation department (3), and are three displacement sensor (4) are triangle-shaped and arrange.

2. The robot arm pose sensing unit according to claim 1, wherein the plane vision camera (2) is located at the right middle of the outer box (1), wherein two displacement sensors (4) are located at both sides of the plane vision camera (2) and are symmetrically arranged.

3. The robot arm posture sensing unit according to claim 2, wherein two of the displacement sensors (4) and the plane vision camera (2) are located on a first straight line, and the remaining one of the displacement sensors (4) and the plane vision camera (2) is located on a second straight line, the first straight line and the second straight line being perpendicular.

4. The robot arm posture sensing unit according to claim 1, wherein the mounting portion (3) is fixed to the outer box (1), and the displacement sensor (4) is detachably fitted to an end of the mounting portion (3) remote from the outer box (1).

5. The robot arm attitude sensing unit according to claim 4, characterized in that the displacement sensor (4) is fitted with the mounting portion (3) by a plurality of screws (5).

6. The robot arm posture sensing unit according to claim 5, characterized in that the end of the mounting part (3) remote from the outer box (1) is provided with a sunk groove (31) accommodating the cap of the screw (5).

7. The mechanical arm posture sensing unit according to claim 1, wherein the outer box (1) is a rectangular parallelepiped structure, the mounting part (3) is a plate-shaped structure, and the mounting part (3) is perpendicular to the side surface of the outer box (1) closest to the outer box.

8. The robot arm pose sensing unit according to claim 1, wherein the displacement sensor (4) is a laser displacement sensor and has a micro-focusing lens (41).