CN220145958U

CN220145958U - Teaching manipulator system

Info

Publication number: CN220145958U
Application number: CN202321698166.6U
Authority: CN
Inventors: 陈敬翔; 黄浩晖; 杨辰光; 戴诗陆
Original assignee: Foshan Newhinken Intelligent Technology Co ltd
Current assignee: Foshan Newhinken Intelligent Technology Co ltd
Priority date: 2023-03-27
Filing date: 2023-06-30
Publication date: 2023-12-08
Anticipated expiration: 2033-06-30

Abstract

The utility model provides a teaching manipulator system, which comprises a mechanical arm, an actuator arranged at the tail end of the mechanical arm and a plurality of force sensors arranged on the actuator, wherein the force sensors are arranged on the actuator; the device also comprises an electromyographic signal sensor which is worn on the forearm of the staff and used for collecting electromyographic signals of the arm, and a control end which is in communication connection with the plurality of force sensors and the electromyographic signal sensor. According to the utility model, the force sensor is arranged on the tail end joint of the grabbing claw, so that the force of the manipulator when grabbing an object can be accurately obtained in real time; in the teaching process, a human hand and a grabbing claw simultaneously grab the same object, an electromyographic signal on the arm of the person in the grabbing process is obtained through an electromyographic signal sensor, and a grabbing stiffness value is obtained according to the electromyographic signal; then sending the signal of grabbing rigidity to a manipulator for corresponding grabbing; thereby improving the teaching effect of the manipulator.

Description

Teaching manipulator system

Technical Field

The utility model relates to the technical field of manipulators, in particular to a teaching manipulator system.

Background

The core of the work of the current robots for gripping tasks is the control process of the mechanical arm and the end effector (such as the mechanical arm, the gripper and the like). The grasping task of the robot is generally divided into a task target positioning following link and a grasping interaction link, the prior art is more focused on whether the tail end of the arm of the robot can accurately reach and follow a given expected target (such as position and speed), and the flexible control is mainly applied to occasions for preventing the mechanical arm from being in excessively hard collision with the environment, so that a scheme for controlling the rigidity of the whole grasped object is temporarily lacking.

The existing robot grabbing control system mainly aims at grabbing and placing objects in specific scenes, and an end effector of a robot arm usually only considers the grabbing mode of a clamp holder set according to the shape of the current object or preset characteristics. However, the overall rigidity control of the robot and the gripped object by the manual given desired rigidity cannot achieve the effect expected by the current task quickly.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a teaching manipulator system.

The technical scheme of the utility model is as follows: a teaching manipulator system comprises a manipulator, an actuator arranged at the tail end of the manipulator and a plurality of force sensors arranged on the actuator; the device also comprises an electromyographic signal sensor which is worn on the forearm of the staff and used for collecting electromyographic signals of the arm, and a control end which is in communication connection with the plurality of force sensors and the electromyographic signal sensor.

Preferably, the mechanical arm is a multi-axis mechanical arm.

Preferably, the actuator is a three-finger gripper jaw, and each gripper jaw is provided with a corresponding force sensor.

Preferably, the three-finger gripper comprises a base and three gripper jaws arranged at the lower end of the base.

Preferably, each of the gripper jaws has two joints, and the force sensor is disposed on the other joint remote from the base.

Preferably, a connecting flange for connecting the tail ends of the mechanical arms is arranged at the upper end of the base.

The beneficial effects of the utility model are as follows:

1. according to the utility model, the force sensor is arranged on the tail end joint of the grabbing claw, so that the force of the manipulator when grabbing an object can be accurately obtained in real time; in the teaching process, a human hand and a grabbing claw simultaneously grab the same object, an electromyographic signal on the arm of the person in the grabbing process is obtained through an electromyographic signal sensor, and a grabbing stiffness value is obtained according to the electromyographic signal; then sending the signal of grabbing rigidity to a manipulator for corresponding grabbing; thereby improving the teaching effect of the manipulator.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of a manipulator according to the present utility model;

FIG. 3 is a schematic view of the three-finger gripper of the present utility model;

in the figure, a 1-mechanical arm; 2-an actuator; 3-force sensor; a 4-myoelectric signal sensor;

21-a base; 22-grabbing claws; 23-connecting flange.

Detailed Description

The following is a further description of embodiments of the utility model, taken in conjunction with the accompanying drawings:

as shown in fig. 1-2, the present embodiment provides a teaching manipulator system, which includes a manipulator 1, an actuator 2 disposed at the end of the manipulator 1, and a plurality of force sensors 3 mounted on the actuator 2; the device also comprises a myoelectric signal sensor 4 which is worn on the forearm of the staff and used for collecting the myoelectric signals of the arm, and a control end which is in communication connection with the plurality of force sensors 3 and the myoelectric signal sensor 4.

As a preferred embodiment, the mechanical arm 1 is a multi-axis mechanical arm 1.

As shown in fig. 3, the actuator 2 is preferably a three-finger gripper jaw, and each gripper jaw is provided with a corresponding force sensor 3.

As preferable in this embodiment, as shown in fig. 3, the three-finger gripper jaw includes a base 21, and three gripper jaws 22 provided at the lower end of the base 21.

As a preferred embodiment, as shown in fig. 3, each of the gripping claws 22 has two joints, and the force sensor 3 is provided on the other joint away from the base 21.

As shown in fig. 3, the upper end of the base 21 is preferably provided with a connecting flange 23 for connecting the end of the mechanical arm 1. This embodiment can be taught during the course of the teaching by simultaneously grasping the same object 5 with a human hand and a grasping claw, as shown in fig. 2.

The foregoing embodiments and description have been provided merely to illustrate the principles and best modes of carrying out the utility model, and various changes and modifications can be made therein without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. A teaching manipulator system, characterized in that: comprises a mechanical arm (1), an actuator (2) arranged at the tail end of the mechanical arm (1) and a plurality of force sensors (3) arranged on the actuator (2); the device also comprises an electromyographic signal sensor (4) which is worn on the forearm of the staff and used for collecting electromyographic signals of the arm, and a control end which is in communication connection with the plurality of force sensors (3) and the electromyographic signal sensor (4).

2. A teaching manipulator system according to claim 1, characterized in that: the mechanical arm (1) is a multi-axis mechanical arm (1).

3. A teaching manipulator system according to claim 1, characterized in that: the actuator (2) is a three-finger grabbing claw, and each grabbing claw is provided with a corresponding force sensor (3).

4. A teaching manipulator system according to claim 3 and characterized in that: the three-finger grabbing claw comprises a base (21) and three grabbing claws (22) arranged at the lower end of the base (21).

5. The teaching manipulator system according to claim 4, wherein: each gripping jaw (22) has two joints, and the force sensor (3) is arranged on the other joint far from the base (21).

6. The teaching manipulator system according to claim 4, wherein: the upper end of the base (21) is provided with a connecting flange (23) for connecting the tail ends of the mechanical arms (1).