CN220389442U - Mechanical arm experiment platform and remote control system for mobile mechanical arm device thereof - Google Patents
Mechanical arm experiment platform and remote control system for mobile mechanical arm device thereof Download PDFInfo
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- CN220389442U CN220389442U CN202321655436.5U CN202321655436U CN220389442U CN 220389442 U CN220389442 U CN 220389442U CN 202321655436 U CN202321655436 U CN 202321655436U CN 220389442 U CN220389442 U CN 220389442U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The utility model relates to a mechanical arm experiment platform and a remote control system of a mobile mechanical arm device thereof, wherein the mechanical arm experiment platform comprises a base, a six-axis mechanical arm, a force sensor module, a visual sensor module, a clamp and a control device; the starting end of the six-axis mechanical arm is arranged on the base, and the tail end of the six-axis mechanical arm is connected with the clamp through the force sensor module; the six-axis mechanical arm comprises 6 joints which are connected in sequence, each joint is provided with a driving motor, and the driving motors are used for driving the corresponding joints to rotate; the control device is respectively connected with the vision sensor module and the driving motor of the six-axis mechanical arm and is used for controlling the driving motor to drive the clamp to act according to the detection signal of the vision sensor module. The six rotary shafts can be controlled to move respectively and accurately, the six rotary shafts can work cooperatively, the clamp can execute finer and more specific actions, sensor information fusion processing and high-precision control of interaction between the mechanical arm platform and the outside are realized, and work tasks are completed efficiently.
Description
Technical Field
The utility model relates to the technical field of mechanical arm devices, in particular to a mechanical arm experiment platform and a remote control system of a mobile mechanical arm device.
Background
With the improvement of the scientific and technical level of China and the rapid development of the industrial production and manufacturing capacity in recent years, the mechanical arm is widely applied to production and life. In addition to being used for traditional polishing, grinding, assembling and other industrial production tasks, the mechanical arm is also gradually used in the fields of rehabilitation medical treatment, man-machine cooperation and the like, such as a rehabilitation robot, a surgical robot, a power-assisted exoskeleton and the like.
Under various novel task scenes, the requirements of the mechanical arm platform on the sensors are larger and larger, for example, the real-time monitoring and the real-time feedback of physical interaction information of the mechanical arm work tasks are realized through the sensors. Meanwhile, how to coordinate and process various sensor information and mechanical arm body state information, so as to realize overall high-precision control of the mechanical arm platform system and efficiently complete operation tasks is also increasingly important.
The prior art discloses a light desktop-level six-axis mechanical arm, which comprises a base, a rotating arm structure, a rotating shaft and a rotating shaft transmission system, wherein the bottom of the base is provided with a mounting and fixing hole, the rotating arm structure comprises a waist part, a big arm, a small arm, a wrist part and a claw part, and the rotating shaft comprises a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft and a sixth shaft; the base is connected with the waist through first axle, the waist passes through the second axle with the big arm to be connected, the big arm passes through third axle and fourth hub connection with the forearm, the forearm passes through fifth hub connection with the wrist, the wrist passes through sixth hub connection with the claw, rotation axis transmission system includes driving motor, harmonic reduction gear, driving motor includes motor body, power take off shaft, guy fixing pin, acts as go-between, act as go-between displacement sensor, sensor base rigid mounting is in motor body up end, act as go-between displacement sensor installs in sensor base, guy stretching out the end and passing through guy fixing pin fixed mounting in power take off shaft.
The technical problems are as follows:
only a driving motor is installed under the sensor base and a stay wire displacement sensor is adopted, so that the movements of six rotating shafts are difficult to accurately control respectively, and the integral high-precision control of the mechanical arm platform system and the efficient completion of the operation tasks cannot be realized.
Disclosure of Invention
In view of the problems existing in the prior art, one of the objects of the present utility model is: the mechanical arm experiment platform can accurately control the movement of six rotating shafts respectively, and can realize the overall high-precision control of the mechanical arm platform system and efficiently complete the operation task.
The second object of the utility model is: a mobile robotic arm apparatus remote control system is provided.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a mechanical arm experiment platform comprises a base, a six-axis mechanical arm, a force sensor module, a visual sensor module, a clamp and a control device;
the starting end of the six-axis mechanical arm is arranged on the base, and the tail end of the six-axis mechanical arm is connected with the clamp through the force sensor module;
the six-axis mechanical arm comprises 6 joints which are connected in sequence, each joint is provided with a driving motor, and the driving motors are used for driving the corresponding joints to rotate;
the control device is respectively connected with the vision sensor module and the driving motor of the six-axis mechanical arm and is used for controlling the driving motor to drive the clamp to act according to the detection signal of the vision sensor module.
Further, six mechanical arms include first joint, second joint, third joint, fourth joint, fifth joint, sixth joint and the terminal ring flange that connect gradually, and first joint installs on the base, and the sixth joint passes through the terminal ring flange to be connected in force sensor module.
Further, the six-axis mechanical arm further comprises a first connecting rod and a second connecting rod, the second joint is connected with the third joint through the first connecting rod, and the third joint is connected with the fourth joint through the second connecting rod.
Further, the force sensor module is in threaded connection with the end flange.
Further, the control device is an embedded control board.
Further, the embedded control board adopts an STM32 singlechip and a matched expansion board.
Further, the lower part of the base is provided with a sucker.
The remote control system of the mobile mechanical arm device is provided with a mechanical arm experiment platform and further comprises a computer, wherein a control device of the mechanical arm experiment platform is connected with the computer and used for receiving a computer control instruction.
In general, the utility model has the following advantages:
the visual sensor module is used for acquiring image information, realizing the perception of the system on environment and task information, and has wider application scenes compared with a stay wire displacement sensor. The force sensor module can measure the stress of the tail end of the mechanical arm in real time, and provides interaction information for the system in the interaction process with the outside. The control device controls the action of the driving motor according to the detection signals of the vision sensor module, and as the six-axis mechanical arm comprises 6 joints which are sequentially connected, each joint is provided with the driving motor, the six-axis mechanical arm can respectively and accurately control the movement of six rotating shafts and enable the six rotating shafts to cooperatively operate, can intelligently identify and clamp objects, can execute finer and more specific actions, improves the flexible operation level of the mechanical arm, enhances the sensing capability of the mechanical arm to the environment, and realizes the sensor information fusion processing and high-precision control of the interaction of the mechanical arm platform and the outside and high-efficiency completion of operation tasks.
Drawings
Fig. 1 is a schematic perspective view of a mechanical arm experimental platform of the present utility model.
Fig. 2 is a schematic perspective view of a six-axis mechanical arm according to the present utility model.
Fig. 3 is a schematic perspective view of a force sensor module according to the present utility model.
Fig. 4 is a schematic perspective view of a visual task module according to the present utility model.
Fig. 5 is a schematic perspective view of an embedded control board according to the present utility model.
In the figure:
the device comprises a 1-six-axis mechanical arm, a 2-force sensor module, a 3-visual operation module, a 4-embedded control board, a 5-end flange plate, a 6-sixth joint, a 7-fifth joint, an 8-fourth joint, a 9-second connecting rod, a 10-third joint, a 11-first connecting rod, a 12-second joint, a 13-first joint, a 14-base, a 15-visual sensor module and a 16-clamp.
Detailed Description
The present utility model will be described in further detail below.
As shown in fig. 1, a mechanical arm experiment platform includes: the system comprises a six-axis mechanical arm 1, a force sensor module 2, a visual operation module 3 and a control device.
In this embodiment, the control device adopts an embedded control board 4, is connected with the six-axis mechanical arm 1, the force sensor module 2 and the vision operation module 3, and is used for realizing communication, receiving data of the force sensor module 2 and the vision operation module 3 and an upper computer control command in real time, sending a platform control signal, and implementing a motion control algorithm for the mechanical arm and the clamp 16.
The six-axis mechanical arm 1 is connected with the force sensor module 2 through a threaded connecting piece, the force sensor module 2 is connected with the vision operation module 3 through a threaded connecting piece, and the six-axis mechanical arm 1, the force sensor module 2, the vision operation module 3 and the embedded control board 4 are connected through data lines.
As shown in fig. 2, the six-axis mechanical arm 1 includes six joints, namely, a first joint 13, a second joint 12, a third joint 10, a fourth joint 8, a fifth joint 7, and a sixth joint 6, respectively, a terminal flange 5, a second link 9, a first link 11, and a base 14. The second joint 12 and the third joint 10 are connected by a first link 11, and the third joint 10 and the fourth joint 8 are connected by a second link 9. The end flange 5 is mounted to the sixth joint 6 of the mechanical arm by a threaded connection and is connected to the force sensor module 2. Each joint is provided with a driving motor. The mechanical arm experiment platform can accurately control the movement of the six rotating shafts respectively and enable the six rotating shafts to cooperatively work, so that the overall high-precision control of the mechanical arm platform system can be realized and the work task can be efficiently completed.
As shown in fig. 4, the vision task module 3 includes a vision sensor module 15 and a jig 16, wherein the vision sensor module 15 is above the jig 16,
in the embodiment, the bottom of the six-axis mechanical arm 1 is provided with the base 14, the rest part of the mechanical arm is arranged in the geometric center of the base 14, four corners of the base 14 are respectively provided with threaded holes, and the six-axis mechanical arm can adapt to the installation requirements of different working environments, and can be installed on a fixed plane or a mobile platform; four suckers are arranged at the lower part of the base 14 and can be adsorbed on an operation plane; the base 14 can ensure the safety of the mechanical arm experiment platform with the force sensor module 2 and the visual operation module 3 in the operation process, and avoid accidents such as side tilting, overturning and the like.
As shown in fig. 3, the force sensor module 2 includes a six-dimensional force sensor, a protective housing and a data line, the force sensor module 2 is disposed at the tail end of the sixth joint 6 of the mechanical arm and is connected with the tail end flange 5 through a threaded connector, so that the tail end interaction force can be accurately measured in real time during the operation of the mechanical arm platform, and the data is transmitted back to the embedded control board 4 in real time through the data line, so as to provide accurate real-time interaction information for the system, and improve the accuracy and instantaneity of the interaction control of the mechanical arm platform.
In this embodiment, the visual operation module 3 includes a visual sensor module 15, a fixture 16 and a data line, where the visual sensor module 15 is fixed above the fixture 16, and is used for obtaining image information, so as to realize accurate sensing of the system on environment and task information. The clamp 16 is arranged at the tail end of the mechanical arm platform and is connected with the force sensor module 2 through a threaded connecting piece, along with the movement of the tail end of the mechanical arm, the visual sensor module 15 can obtain image information with a larger visual angle range and transmit the image information back to the embedded control board 4 through a data line, so that the mechanical arm platform can observe the working environment and evaluate the working condition in real time in the working process, and the perceptibility of the mechanical arm platform to the working environment and the working task is improved. The tail end clamp 16 can complete a specific clamping task, and the application task scene of the mechanical arm platform is expanded.
As shown in fig. 5, the embedded control board 4 includes a communication module, an STM32 chip and a matched expansion board, and is respectively connected with the six-axis mechanical arm 1, the force sensor module 2 and the vision operation module 3 through data lines, so that image information returned by the vision sensor module 15 of the vision operation module 3, six-dimensional interaction force information returned by the force sensor module 2 and all joint state information returned by the six-axis mechanical arm 1 can be acquired and processed in real time, information fusion processing is performed in real time, motion control is performed on the six-axis mechanical arm 1 and the clamp 16, coordination cooperation of all modules of the mechanical arm platform is realized, and a control task target is completed.
The mechanical arm experimental platform provided by the utility model can be superior to more application scenes, and can realize the following functions:
path planning autonomous navigation and obstacle avoidance: firstly, establishing an environment map where the mechanical arm is located by using a SLAM algorithm through a vision sensor module 15; determining a target position through man-machine interaction or a preset task; the mechanical arm experiment platform acquires the self-position information by using a SLAM algorithm through the vision sensor module 15; then planning a path according to the current position of the mechanical arm platform, the target position and the environment map by using a path planning algorithm; finally, the embedded control board 4 automatically moves the path control robot according to the path planning algorithm, and the robot updates the position information of the robot according to the vision sensor module 15 in the moving process for accurate position tracking control, and meanwhile judges whether the robot touches an obstacle according to the force sensor to realize automatic obstacle avoidance after collision;
man-machine interaction: firstly, identifying the pose of an interactive person, such as the bending degree, the orientation, the position and the like of a body through the vision sensor module 15; after the obtained human body posture information is controlled by a mechanical arm platform control system, the relative position relation between the mechanical arm and the human body in the current scene is obtained in real time through a visual sensor module 15, and the force sensor module 2 can sense man-machine interaction force information by monitoring the applied force in real time and according to the feedback force; the image information and the force information are fed back to the embedded control board 4 to perform force control and position control, so that accurate human-computer interaction is realized, and tasks such as rehabilitation training, power-assisted mechanical arms and the like are completed;
intelligent grabbing and sorting: article identification and location detection: firstly, the visual sensor module 15 is required to identify and detect the articles to be sorted, and the article identification adopts an object detection technology in a deep learning algorithm, so that the articles to be sorted are identified and sorted; then, calculating the position of the article to be sorted by combining the visual sensor with a kinematic model of the robot; then, force information between the articles to be sorted and the robot is perceived in real time in the operation process through the force sensor module 2, and the gesture and the force of the robot are adjusted according to feedback of the force signals, so that the articles to be sorted are accurately grasped; in order to realize more efficient sorting, the control of the robot is adaptively optimized by using a reinforcement learning algorithm, and learning and adjustment are performed according to the characteristics of different articles, so that the sorting efficiency is improved; in addition, by combining a path planning and an optimization algorithm, the sorting path of the robot is optimized, and the dependence on human resources during sorting is reduced to the greatest extent;
task completion intelligent assessment: firstly, defining a task target, wherein the task target comprises a standard and a key point of task completion; secondly, image information acquisition is carried out in the task operation process through the vision sensor module 15, and interaction force information is acquired through the force sensor module 2; extracting features of the task information image by a machine vision method, and extracting information of different features such as size, quality, color, marks and the like according to the definition of different tasks; performing task detection by using artificial intelligence technology such as deep learning technology, and comparing the extracted features with task standards; and carrying out data processing and analysis, carrying out task completion degree evaluation through a statistical method, feeding back to a control end of the mechanical arm experiment platform for optimization, and improving task completion quality.
The mechanical arm experiment platform adopts the organic combination of the force sensor module 2, the visual operation module 3 and the six-axis mechanical arm 1, improves the flexible operation level of the mechanical arm, enhances the sensing capability of the mechanical arm on the environment, can perform intelligent identification and clamping operation on objects, and realizes the sensor information fusion processing and centralized and accurate control of the mechanical arm platform and the outside interaction.
The utility model also provides a remote control system of the mobile mechanical arm device, which is provided with a mechanical arm experiment platform with a force sensor module 2 and a visual operation module 3, and further comprises a computer, wherein an embedded control board 4 of the mechanical arm experiment platform is connected with the computer and is used for receiving a computer control instruction and realizing a complex control task with higher precision through the computer.
The above examples are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present utility model should be made in the equivalent manner, and the embodiments are included in the protection scope of the present utility model.
Claims (8)
1. The utility model provides a mechanical arm experiment platform which characterized in that: the device comprises a base, a six-axis mechanical arm, a force sensor module, a visual sensor module, a clamp and a control device;
the starting end of the six-axis mechanical arm is arranged on the base, and the tail end of the six-axis mechanical arm is connected with the clamp through the force sensor module;
the six-axis mechanical arm comprises 6 joints which are connected in sequence, each joint is provided with a driving motor, and the driving motors are used for driving the corresponding joints to rotate;
the control device is respectively connected with the vision sensor module and the driving motor of the six-axis mechanical arm and is used for controlling the driving motor to drive the clamp to act according to the detection signal of the vision sensor module.
2. The robotic arm experimental platform according to claim 1, wherein: the six-axis mechanical arm comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint and a tail end flange plate which are sequentially connected, wherein the first joint is arranged on the base, and the sixth joint is connected with the force sensor module through the tail end flange plate.
3. The robotic arm experimental platform according to claim 2, wherein: the six-axis mechanical arm further comprises a first connecting rod and a second connecting rod, the second joint is connected with the third joint through the first connecting rod, and the third joint is connected with the fourth joint through the second connecting rod.
4. The robotic arm experimental platform according to claim 1, wherein: the force sensor module is in threaded connection with the tail end flange plate.
5. The robotic arm experimental platform according to claim 1, wherein: the control device is an embedded control board.
6. The robotic arm experimental platform according to claim 5, wherein: the embedded control board adopts an STM32 singlechip and a matched expansion board.
7. The robotic arm experimental platform according to claim 1, wherein: the lower part of the base is provided with a sucker.
8. A remote control system of a mobile mechanical arm device is characterized in that: a robot arm test platform according to any one of claims 1-7, further comprising a computer, wherein the control device of the robot arm test platform is connected to the computer and is configured to receive the control command from the computer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321655436.5U CN220389442U (en) | 2023-06-28 | 2023-06-28 | Mechanical arm experiment platform and remote control system for mobile mechanical arm device thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202321655436.5U CN220389442U (en) | 2023-06-28 | 2023-06-28 | Mechanical arm experiment platform and remote control system for mobile mechanical arm device thereof |
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| CN220389442U true CN220389442U (en) | 2024-01-26 |
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| CN202321655436.5U Active CN220389442U (en) | 2023-06-28 | 2023-06-28 | Mechanical arm experiment platform and remote control system for mobile mechanical arm device thereof |
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- 2023-06-28 CN CN202321655436.5U patent/CN220389442U/en active Active
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