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Robot joint deformation sensor based on machine vision, mechanical arm and method

A technology of robot joints and deformation sensors, which is applied in the field of robotic arms and robot joint deformation sensors, and can solve problems such as difficult precise positioning

Pending Publication Date: 2022-04-29
GUANGZHOU HKUST FOK YING TUNG RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem in the prior art that the mechanical arm is difficult to locate accurately after collision, the present invention provides a robot joint deformation sensor, mechanical arm and method based on machine vision

Method used

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  • Robot joint deformation sensor based on machine vision, mechanical arm and method
  • Robot joint deformation sensor based on machine vision, mechanical arm and method
  • Robot joint deformation sensor based on machine vision, mechanical arm and method

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Embodiment Construction

[0034] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The same reference numbers are used throughout the drawings to indicate the same or similar parts.

[0035] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, and right used in the present invention are only relative to the mutual positional relationship of the components of the present invention in t...

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Abstract

The invention discloses a robot joint deformation sensor based on machine vision, a mechanical arm and a method, the sensor is arranged in a robot joint, and the robot joint internally comprises a first mounting part and a second mounting part which are oppositely arranged and a supporting part which is connected with and supports the first mounting part and the second mounting part; the sensor comprises a camera device and a marker; the camera device is fixed to the face, facing the second installation part, of the first installation part. The marker is arranged on the face, facing the first mounting part, of the second mounting part, the camera device is electrically connected with a controller of the robot, and the camera device photographs the marker to record the position change of the marker. According to the robot joint deformation sensor based on machine vision, the camera device and the marker are arranged in the robot joint, the image of the marker can be shot through the camera device, and the position change of the marker before and after collision is compared, so that the deformation data of the robot joint after collision is determined, and then the position after collision is determined.

Description

technical field [0001] The invention belongs to the field of robot sensors, and in particular relates to a machine vision-based robot joint deformation sensor, a mechanical arm and a method. Background technique [0002] Robots are widely used in industrial production. During the use of the robot, due to accidents such as human error, component failure, and control system failure, the movement trajectory deviates and the workpiece shifts, which leads to the collision of the robot during the working process. If the collision is not detected at the first time and the movement of the robot is stopped, it may cause damage to the robot system, valuable tools at the end or valuable workpieces, and even cause more serious safety problems. The reason for the above accidents is that the existing robot has certain deficiencies in the anti-collision system, and no effective active prevention mechanism has been established. It is difficult for the robot to predict or detect the collis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02B25J17/00B25J17/02B25J18/00
CPCB25J19/02B25J19/023B25J17/00B25J17/02B25J18/00
Inventor 于宏宇王若钦吴池力
Owner GUANGZHOU HKUST FOK YING TUNG RES INST
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