WO2019007428A1

WO2019007428A1 - Mechanical hand structure

Info

Publication number: WO2019007428A1
Application number: PCT/CN2018/094891
Authority: WO
Inventors: 蒋剑
Original assignee: 苏州工业园区凯艺精密科技有限公司
Priority date: 2017-07-07
Filing date: 2018-07-06
Publication date: 2019-01-10
Also published as: CN107139216A

Abstract

A mechanical hand structure comprises: a mechanical arm (1); an operating system; and an audio module (2). The audio module (2) is provided at a distal end of the mechanical arm. The audio module (2) is used to collect audio information from an operating environment and to transmit the audio information to the operating system. The operating system controls an operating state of the mechanical arm according to the audio information.

Description

Robot structure

The present application claims the priority of the Chinese Patent Application entitled "A Robotic Structure with a Built-in Audio Recognition Module", the application of which is hereby incorporated by reference. in.

Technical field

The invention relates to the technical field of a manipulator, in particular to a manipulator structure.

Background technique

In the existing manipulator structure, the position of the end of the manipulator and the corresponding environment are usually observed by the human eye to judge whether the operation of the robot structure or other mechanisms or equipment in the working environment of the manipulator is normal. For a closed environment that cannot be observed by the human eye, the robot "blindly" performs work during normal work. For example, when the robot grabs the workpiece, the workpiece is slightly offset, which may result in a collision damage event. However, the operator or management Personnel cannot detect the presence and occurrence of anomalies in time.

Summary of the invention

It is an object of the present invention to provide a robot structure that solves the problem of the inability to monitor an abnormal state in a working environment of a robot structure in the prior art.

In order to achieve the above object, an embodiment of the present invention provides a robot structure, the robot structure includes a robot arm and an operating system, and the robot structure further includes an audio module connected to the operating system, the audio module Provided at an end of the robot arm, the audio module is configured to collect audio information in a working environment and transmit the audio information to the operating system, and the operating system is configured to control the robot arm according to the audio information Job status.

As a further improvement of an embodiment of the present invention, the operating system compares the audio information with the working condition preset audio information in the sound module, and controls the working state of the robot arm according to the comparison result.

As a further improvement of an embodiment of the present invention, when the comparison result is abnormal condition, the operating system controls the mechanical arm to stop the operation; when the comparison result is normal, the operating system Control the robot arm to continue working.

As a further improvement of an embodiment of the present invention, the robot structure further includes an alarm device, and the operating system is further configured to control the alarm device to initiate an alarm when the comparison result is abnormal.

As a further improvement of an embodiment of the present invention, when the comparison result is that the audio information cannot be matched to the working condition preset audio information, the operating system saves the audio information as a new working condition preset. The audio information is stored and the corresponding working condition of the audio information obtained by manual analysis is saved.

As a further improvement of an embodiment of the present invention, the end of the mechanical arm has an end surface facing the operation area, and the audio module is disposed on the end surface.

As a further improvement of an embodiment of the invention, the audio module is configured to be exposed to a microphone outside the end face of the robot arm.

As a further improvement of an embodiment of the present invention, the number of the microphones is set to two.

According to a further improvement of an embodiment of the present invention, the robot structure further includes a camera mounted on the mechanical arm and disposed toward an operation area, the camera is configured to acquire an operation area image, and transmit the operation area image. To the operating system, the operating system is further configured to control a working state of the robot arm according to the operation area image.

As a further improvement of an embodiment of the invention, the cameras are arranged in two.

According to a further improvement of an embodiment of the present invention, the robot structure further includes a moving mechanism, a swinging mechanism and a rotating mechanism sequentially connected to the proximal end of the mechanical arm;

The moving mechanism includes a first transmission seat that moves in a first direction; a proximal end of the swing mechanism is coupled to the first transmission seat and is swingable in a first plane that is perpendicular to the first direction; the rotation The mechanism is mounted at a distal end of the swinging mechanism and drives the mechanical arm to rotate about a rotating axis, the rotating shaft being perpendicular to the first direction.

Compared with the prior art, the beneficial effects of the present invention are as follows: by assembling the combined audio module on the robot arm, real-time collecting various sounds in the working environment through the audio module, thereby assisting the operator to monitor the operating state of the robot structure and monitoring The operating state of other mechanisms or equipment in the operating environment of the robot, in order to timely discover the abnormal working conditions in the operating environment of the robot structure, and avoid the long-term operation of other mechanisms and equipment in the operating environment of the robot or the structure of the robot blindly under abnormal conditions. And caused serious production accidents.

DRAWINGS

1 is a perspective view of a robot arm according to an embodiment of the present invention;

2 is a perspective view showing the structure of a manipulator according to an embodiment of the present invention.

Detailed ways

The invention will be described in detail below with reference to the embodiments shown in the drawings. However, the embodiments do not limit the present invention, and structural or functional changes made by those skilled in the art based on these embodiments are included in the scope of the present invention.

Referring to the robot structure of an embodiment of the present invention shown in FIGS. 1 to 2, the robot structure is coupled to a console or other mechanism (for example, a fixture) or a device (for example, a machining device), and the robot structure needs to be operated. The space near the location constitutes the working environment of the robot structure. The robot structure includes a robot arm 1 and an operating system (not shown), and the robot arm 1 is movable to correspond to an operation area, and the operation area is defined as an object surface corresponding to the robot arm 1 when working, for example, a workpiece is placed. The operation table and the equipment station for processing/assembly under the cooperation of the robot arm 1. The robot arm 1 can work on the workpiece in the operation area under the control of the operating system. For example, when the operation area is the operation table on which the workpiece is placed, the robot arm 1 can be placed under the control of the operating system. The workpieces in the operation area are grasped, sucked, transported, assembled, polished, measured, disassembled, and the like.

In the present application, the robot structure further includes an audio module 2 connected to the operating system, and the audio module 2 is disposed at the end of the robot arm 1 so that the audio module 2 is located in the working environment of the robot arm 1, and the audio module 2 is used. Acquiring audio information in the working environment and transmitting the audio information to the operating system, the operating system may control the working state of the robot arm 1 according to the audio information (including controlling the robot arm 1 to continue or stop the operation) . In this way, by assembling the combined audio module 2 on the robot arm 1, various sounds in the working environment are collected in real time through the audio module 2, thereby assisting the operator in monitoring the operating state of the robot structure and monitoring other mechanisms or devices in the working environment of the robot structure. The operating state is to timely discover the abnormal working conditions in the working environment of the manipulator structure, and avoid serious operation accidents caused by the long-term operation of other mechanisms and equipment in the robot structure or the manipulator structure working environment in an abnormal state.

Specifically, the audio module 2 is connected to the operating system through a transmission line through which the audio module 2 can transmit the audio information it collects to the operating system. Correspondingly, after the operating system receives the audio information transmitted by the audio module 2, the operating system compares the audio information with the preset audio information in the sound module, and compares the result according to the comparison. The working state of the robot arm 1 is controlled.

Wherein, when the comparison result is that the working condition is abnormal, the operating system controls the robot arm 1 to stop the operation; when the comparison result is that the working condition is normal, the operating system controls the robot arm 1 to continue the operation.

Further, the robot structure further includes an alarm device. When the comparison result is abnormal, the operating system is further configured to control the alarm device to start an alarm, thereby facilitating an operator to find an abnormality and stopping the abnormality in time. The operation of the robot structure or other mechanisms and equipment within the operating environment of the manipulator.

In this embodiment, the robot structure also has a voice learning capability. Specifically, after the operating system receives the audio information transmitted by the audio module 2, the operating system compares the audio information with the preset audio information of the working condition, if the comparison result is “the audio information cannot be matched to When the working condition presets the audio information, the operating system saves the audio information as a new working condition preset audio information and saves the corresponding working condition of the manually obtained audio information.

For example, the sound module of the operating system pre-stores a plurality of preset audio information, and each of the working conditions preset audio information has a corresponding working condition; the operating system receives the received The audio information is compared with the preset audio information of the working condition, and the comparison result has three cases: first, if the audio information is consistent with the preset audio information corresponding to a certain working condition in which the working condition is “abnormal wear” (For example, if the audio information is the same sharp noise as the preset audio information of the working condition), the comparison result is that the operating condition is abnormal, and the control module of the operating system controls the robot arm 1 to stop the operation, and the control center The alarm device activates an alarm to remind the operator to find and repair in time; secondly, if the audio information is consistent with the preset audio information corresponding to a certain working condition in which the working condition is "normal cutting" (for example, the audio information and a certain piece of information) If the working condition preset audio information is the same cutting sound), the comparison result is normal working condition, the control module of the operating system controls the robot arm 1 to continue working; and third, if the audio signal The information cannot match the preset audio information of any one of the working conditions, and the comparison result is “the audio information cannot be matched to the preset audio information of the working condition”, and the operating system saves the audio information as a new working condition. Presetting the audio information, and after the operator manually analyzes the working condition corresponding to the audio information, the operating system saves the analysis result, so that the operating system can be self-operating when the audio module 2 obtains the audio information again. Determine if the working condition is abnormal. Further, the mechanical arm 1 is disposed at an end of the robot structure, and the end of the mechanical arm 1 has an end surface facing the operation area, and the audio module 2 is disposed on the end surface to align the audio module 2 with the operation area, thereby facilitating the audio module. 2 Highly sensitively collects tiny sounds on the operating area.

In the present embodiment, the audio module 2 is a microphone 2-1 exposed to the outside of the end face of the robot arm 1, and the number of the microphones 2-1 is set to two.

In addition, the robot structure further includes a camera 6 mounted on the robot arm 1 and disposed toward the operation area (ie, an alignment operation area), and the camera 6 is configured to acquire an operation area image, and the operating system is used according to the The operation area image control robot 1 operates. In this way, by assembling and combining the camera 6 on the robot arm 1, not only the image of the operation area can be acquired by the camera 6, but then the control arm 1 can accurately and accurately match the workpiece, so that the structure of the robot can be accurately operated to avoid abnormal working conditions, and With the movement of the robot arm 1, the operating area of the camera 6 is flexibly changed, thereby obtaining real-time images, further improving work efficiency and accuracy, reducing environmental arrangement cost and operator workload, and also utilizing the camera 6 to observe abnormalities in time. The occurrence of working conditions.

The camera 6 is connected to the operating system through a transmission line, and after the camera 6 acquires the image of the operation area, the image of the operation area can be transmitted to the operating system through the transmission line. Correspondingly, after the operating system receives the image of the operation area transmitted by the camera 6, the operating system processes the image of the operation area (such as analyzing a boundary of a workpiece, determining a geometric center of the workpiece, etc.), and referring to The processing result controls the operation of the robot arm 1.

Further, the camera 6 is also disposed on the end surface of the end of the mechanical arm 1 facing the operation area, which facilitates the alignment of the camera 6 to the operation area, and the camera 6 can be accurately obtained regardless of how the mechanical arm 1 moves during the operation. The image of the operating area at the corresponding position of the robot arm 1.

Preferably, the number of cameras 6 is set to two. In this way, the operator can be conveniently matched with the appropriate camera according to actual needs (such as the size of the workpiece, the area of the operation area, the boundary shape of the workpiece, the precision requirement, etc.). For example, one of the cameras 6 is provided as a telephoto camera for precise imaging of the workpiece in the operating area to facilitate identification of the detailed structure of the workpiece; wherein the other camera 6 is configured as a short-focus camera for obtaining a larger range Operation area image.

Further, the manipulator structure further includes a horizontally arranged base 10, a moving mechanism, a swinging mechanism and a rotating mechanism, and the base 10, the moving mechanism, the swinging mechanism, the rotating mechanism, and the mechanical arm 1 are sequentially connected. For convenience of description, in the present application, the direction defined by the base 10 toward the end of the arm 1 is defined as "far", and conversely, the direction from the end of the arm 1 to the base 10 is defined as "near". Correspondingly, the base 10, the moving mechanism, the swinging mechanism, the rotating mechanism, and the mechanical arm 1 are connected in sequence from near to far, that is, the base 10, the moving mechanism, the swinging mechanism, and the The rotating mechanism is sequentially connected to the proximal end of the robot arm 1.

The moving mechanism includes a first transmission seat 12 and a first motor 11 that drives the first transmission base 12 to move in a first direction. Specifically, the first motor 11 is fixed to one end of the base 10. The base 10 is provided with two shaft guiding rods 20 along the length thereof. The two shaft guiding rods 20 are parallel to the output shaft of the first motor 11, and the first transmission seat 12 It is placed on the shaft guide rod 20. The output end of the first motor 11 is screwed to a spindle nut (not shown) in the first transmission seat 12 via a lead screw 13. That is, the first direction in the present invention is configured as the longitudinal direction of the shaft guide rod 20. When the first motor 11 is in operation, the first transmission seat 12 is horizontally movable along the length direction of the shaft guide rod 20 (ie, the first direction).

The swing mechanism is proximally coupled to the first transmission seat 12 and is swingable in a first plane that is perpendicular to the first direction. Specifically, the first transmission base 12 extends upwardly perpendicular to the first direction, and the first transmission base 12 is provided with a second electric motor 14; the swinging mechanism includes a second transmission seat 17, and the second transmission base 17 is near The end is connected to the distal end of the first transmission seat 12 via the second shaft 15; the output end of the second electric motor 14 is coupled to the second input gear 16 on the second transmission base 17 via a gear transmission mechanism. When the second motor 14 is in operation, the second motor 14 drives the second transmission base 17 to swing about the second shaft 15 in a first plane perpendicular to the first direction (ie, the second transmission seat 17 is opposite to the second shaft 15) A transmission seat 12 is rotated).

In the embodiment, the swinging mechanism further includes a third transmission seat 22, the proximal end of the third transmission seat 22 is connected to the distal end of the second transmission seat 17 through the third shaft 18; the second transmission seat 17 is fixed There is a third motor 19, and the output end of the third motor 19 is coupled to the third input gear of the third transmission seat 22 via a gear transmission mechanism. When the third motor 19 is in operation, the third motor 19 drives the third transmission 22 to oscillate about the third axis 18 in a first plane perpendicular to the first direction (ie, the third transmission 22 is opposite to the third axis 18) The second transmission seat 17 rotates).

The second shaft 15 and the third shaft 18 are parallel and perpendicular to the shaft guide rod 20. The output shaft of the first motor 11, the output shaft of the second motor 14, and the output shaft of the third motor 19 are parallel to each other, which ensures that the entire structure has a small footprint and makes the working range of the entire robot arm large. Moreover, the end faces of the first transmission seat 12, the second transmission base 17, and the third transmission base 22 are parallel to each other, ensuring that the range covered by the robot operation is sufficiently large.

The rotating mechanism is mounted at a distal end of the swinging mechanism and drives the mechanical arm 1 to rotate about a rotating shaft of the fourth bearing 26, and the rotating shaft of the fourth bearing 26 is perpendicular to the first direction. Specifically, the rotating mechanism includes a side convex mount 25 fixedly coupled to the distal end of the third transmission seat 22 and a fourth motor 23 disposed on the side convex mount 25; the output end of the fourth motor 23 is fixed to the mechanical At the proximal end of the arm 1, the output of the fourth motor 23 and the proximal end of the robot arm 1 are connected in the fourth bearing 26. When the fourth motor 23 operates, the fourth motor 23 drives the robot arm 1 to rotate about the rotation axis of the fourth bearing 26. The rotation axis of the fourth bearing 26 is coaxial with the output shaft of the fourth motor 23, and both are perpendicular to the first direction. That is, the fourth motor 23 allows the robot arm 1 to be swung around the central axis of the robot arm 1, thereby facilitating that the end face of the robot arm 1 faces the operation region.

Thus, in the manipulator structure of the present invention, the working range of the entire robot arm 1 can be made large by the cooperation of the moving mechanism, the swinging mechanism, the rotating mechanism, and the robot arm 1.

In addition, the mechanical arm 1 is further provided with a fifth motor 24, and the output end of the fifth motor 24 is arranged perpendicular to the longitudinal direction of the robot arm 1, that is, the output shaft of the fifth motor 24 is perpendicular to the output shaft of the fourth motor 23. And the output shaft of the first motor 11, the output shaft of the second motor 14, and the output shaft of the third motor 19 are parallel to each other, such that the fifth motor 24 can be used to drive the angular positioning of the mechanical finger assembled to the distal end of the robot arm 1. . The present invention controls the robot arm 1 to perform fine work by setting the manipulator structure to a five-axis manipulator.

Further, in the embodiment, the robot structure further includes a first encoder connected to the first motor 11, a second encoder connected to the second motor 14, and a third encoder connected to the third motor 19. a fourth encoder connected to the fourth motor 23 and a fifth encoder connected to the fifth motor 24. That is, each of the above motors is equipped with an encoder, and each encoder is used to detect the rotation direction and the rotation angle of the gear mechanism of the corresponding motor, thereby ensuring accurate control.

Compared with the prior art, the manipulator structure of an embodiment of the present invention has the beneficial effects of: assembling the combined audio module 2 on the robot arm 1 and collecting various sounds in the working environment through the audio module 2 in real time, thereby assisting the operator Monitor the operating state of the manipulator structure, monitor the operating status of other mechanisms or equipment in the manipulator structure operating environment, in order to find out the abnormal working conditions in the manipulator structure working environment in time, and avoid blindness of other mechanisms and equipment in the manipulator structure or manipulator structure working environment. The ground is operated for a long time in an abnormal state.

It should be understood that, although the description is described in terms of embodiments, the embodiments are not intended to be construed as a single. The technical solutions in the embodiments may also be combined as appropriate to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions set forth above are merely illustrative of the possible embodiments of the present invention, and are not intended to limit the scope of the present invention. Changes are intended to be included within the scope of the invention.

Claims

A robot structure comprising a robot arm and an operating system, wherein the robot structure further comprises an audio module connected to the operating system, the audio module being disposed at an end of the robot arm The audio module is configured to collect audio information in a working environment and transmit the audio information to the operating system, the operating system for controlling a working state of the robot arm according to the audio information.
The robot structure according to claim 1, wherein the operating system compares the audio information with operating condition preset audio information in a sound module, and controls the operation of the robot arm according to the comparison result. status.
The manipulator structure according to claim 2, wherein the operating system controls the robot arm to stop the operation when the comparison result is that the working condition is abnormal; when the comparison result is that the working condition is normal, The operating system controls the robotic arm to continue working.
The manipulator structure of claim 3, wherein the robot structure further comprises an alarm device, wherein the operating system is further configured to control the alarm device to initiate an alarm when the comparison result is abnormal.
The robot structure according to claim 3, wherein when the comparison result is that the audio information cannot match the working condition preset audio information, the operating system saves the audio information as a new one. The working condition presets the audio information and saves the corresponding working condition of the audio information obtained by manual analysis.
The robot structure according to claim 1, wherein the end of the mechanical arm has an end surface facing the operation area, and the audio module is disposed on the end surface.
The robot structure according to claim 6, wherein the audio module is disposed to be exposed to two microphones outside the end face of the robot arm.
The robot structure according to claim 1, wherein the robot structure further comprises a camera, the camera is mounted on the mechanical arm and disposed toward an operation area, and the camera is configured to acquire an operation area image to be The operation area image is transmitted to the operating system, and the operating system is further configured to control a working state of the robot arm according to the operation area image.
The robot structure according to claim 8, wherein said cameras are provided in two.
The visual manipulator structure according to claim 1, wherein the robot structure further comprises a moving mechanism, a swinging mechanism and a rotating mechanism sequentially connected to the proximal end of the mechanical arm;

The moving mechanism includes a first transmission seat that moves in a first direction; a proximal end of the swing mechanism is coupled to the first transmission seat and is swingable in a first plane that is perpendicular to the first direction; the rotation The mechanism is mounted at a distal end of the swinging mechanism and drives the mechanical arm to rotate about a rotating axis, the rotating shaft being perpendicular to the first direction.