Intelligent mechanical arm with automatic button pressing function

Abstract

The invention discloses an intelligent mechanical arm with an automatic button pressing function. The intelligent mechanical arm with the automatic button pressing function has four degrees of freedom. Each degree of freedom is controlled by a driving module composed of a servo motor and a harmonic reducer. Four encoders are arranged and can be used for detecting the movement angles of the four degrees of freedom each time. An industrial video camera is arranged and used for automatically searching for and recognizing a target button. The intelligent mechanical arm with the automatic button pressing function is provided with two infrared distance measuring sensors, and the two infrared distance measuring sensors are used for detecting the distance between the video camera and the target button, so that the effect that a clear picture is shot by the video camera is guaranteed, and accordingly the clear picture is recognized. According to the intelligent mechanical arm with the automatic button pressing function, the target button can be automatically found out and recognized from a plurality of buttons after a task instruction is received, the button is accurately pressed for completing a work task, the pose of the intelligent mechanical arm in the space coordinate system is detected automatically every time after the movement, the next instruction can be received for completing a task without manual adjustment, and the intelligent mechanical arm has the continuous working capacity and extremely high commercial value.

Description

technical field [0001] The invention relates to the technical field of service robot mechanical arms, in particular to an intelligent mechanical arm with the function of automatically pressing buttons. Background technique [0002] Service robots will interact with various objects during their work, such as grabbing objects, pressing buttons, and other activities. With the development and progress of science and technology, a large amount of work can be completed by simply pressing a button. However, if a special person is assigned to be responsible for such work, it will cause a waste of labor. In response to this problem, an intelligent robotic arm is developed that can automatically find and identify the target button from multiple buttons after receiving the task instruction, press the button accurately to complete the task, and automatically detect its own space coordinates after each movement. The pose in the system can accept the next task instruction to complete con...

AI Technical Summary

Problems solved by technology

Such an arm cannot automatically identify different targets. Its movement angle is controlled by an algorithm. When the position or individual of the target object changes, it is necessary to manually adjust the position of the arm and reprogram the algorithm. The level of automation and intelligence is low and it cannot work continuously. , so the application value of this type of robotic arm is not very high, and it is difficult to achieve commercialization

[0004] The patent application No. 201510117749.9 is the invention patent "a humanoid robotic arm", which is similar to the structure of the human arm and has multiple degrees of freedom. Its motion joints are driven by DC brushless motors, which can complete the action of grasping objects. But it cannot find and identify targets by itself, nor does it have the ability to work continuously

[0005] The invention patent with the patent application number 201510222821.4 "a portable mechanical arm with precise object positioning function" has multiple degrees of freedom and combines multiple transmission modes to complete the action of grabbing objects, and uses the color camera and The point-shaped laser tube realizes the precise positioning of the object and has the function of accurately grasping the object. However, before each grasping of the target, it must first clarify the precise position of the target, and manually detect the relative distance between the arm and the target. Calculate the movement angle of each joint, and then adjust the algorithm accordingly to complete the task. This process mainly relies on manual operation and is not automatic.

[0006] To sum up, most of the existing technologies have low level of automation and intelligence, single function, difficult to complete complex tasks, and low commercial value

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