A manipulator control device and method based on visual positioning

Abstract

The present invention discloses a manipulator control device and method based on visual positioning, which includes: a first rotating arm with a mounting seat fixed at its top; a second rotating arm, with a first joint driving mechanism connected between the first rotating arm and the second rotating arm, and the first joint driving mechanism can adjust the angle between the first rotating arm and the second rotating arm; a rotating base rotatably mounted on the second rotating arm and driven by a first servo motor fixed on the second rotating arm; a third rotating arm, with a second joint driving mechanism connected between the rotating base and the third rotating arm. In the device of the present invention, the controller receives signals from the sensors and cooperates with the visual positioning system to adjust the angle between the first rotating arm and the second rotating arm, the rotation angle of the rotating base, and the angle between the rotating base and the third rotating arm, so as to control the overall motion state of the manipulator and automatically complete the loading and unloading actions.

Description

Technical Field

[0001] The present invention specifically relates to the technical field of robotic arms, and more specifically, to a robotic arm control device and method based on visual positioning. Background Art

[0002] Visual positioning technology can determine the position of an object through image processing. Currently, it is widely used in the field of intelligent robotic arms. In the control of robotic arms, real-time image transmission can be achieved through monocular vision, binocular vision, or stereoscopic vision. The position and posture of the target object in three-dimensional space can be calculated through image processing algorithms for the images captured by the camera, so as to provide accurate positioning information, enabling the robotic arm to accurately perform grasping and placing tasks in complex environments. However, through long-term operation, it is found that the joints between individual robotic arms are damaged due to heavy loads, resulting in damage to the drive gear set or drive motor, thereby reducing the adjustment accuracy between individual robotic arms, shortening the maintenance cycle of the robotic arm, and increasing costs. Summary of the Invention

[0003] Therefore, the present invention proposes a robotic arm control device and method based on visual positioning to solve the problems raised in the above background art.

[0004] To achieve the above object, the present invention provides the following technical solutions: A robotic arm control device based on visual positioning, comprising:

[0005] A first rotating arm, with a mounting seat fixed at its top;

[0006] A second rotating arm, connected to the first rotating arm by a first joint driving mechanism, and the first joint driving mechanism can adjust the angle between the first rotating arm and the second rotating arm;

[0007] A rotating base, rotatably mounted on the second rotating arm and driven by a first servo motor fixed on the second rotating arm;

[0008] A third rotating arm, connected to the rotating base by a second joint driving mechanism, and the second joint driving mechanism can adjust the angle between the rotating base and the third rotating arm;

[0009] And an end effector, fixedly mounted at the bottom end of the third rotating arm.

[0010] Further, preferably, the first joint driving mechanism and the second joint driving mechanism have the same structure but different sizes.

[0011] Further, preferably, the first joint driving mechanism includes

[0012] A driving box, fixed on the first rotating arm;

[0013] A rotating shaft, which is installed between two bearing seats at the bottom of the driving box, and both ends of the rotating shaft extend outwards and are fixedly connected to the U-shaped ends of the second rotating arms;

[0014] A driven gear, which is arranged in the driving box and fixed on the side wall of the rotating shaft;

[0015] A driving bevel gear, which meshes and drives with the driven gear, and the driving bevel gear is driven by a second servo motor fixed in the driving box;

[0016] And a joint locking mechanism, which is connected between the driving box and the U-shaped ends of the second rotating arms, and the joint locking mechanism can drive the driving box and the second rotating arms to be fixedly locked.

[0017] Further, preferably, the joint locking mechanism is composed of an inner sliding member, an outer sliding member and two pressing components. Among them, the inner sliding member and the outer sliding member are slidably connected. The bottom end of the inner sliding member is rotatably connected to the U-shaped end of the second rotating arm, and the top end of the outer sliding member is rotatably connected to the driving box;

[0018] Both of the two pressing components are fixed on the U-shaped ends of the second rotating arms and are symmetrically arranged on the left and right sides of the outer sliding member, and the two pressing components can simultaneously squeeze the outer sliding member, so as to limit the distance between the outer sliding member and the U-shaped ends of the second rotating arms, so that the driving box and the second rotating arms are kept in a locked state.

[0019] Further, preferably, the pressing component includes

[0020] A cylinder seat, which is fixed on the U-shaped end of the second rotating arm;

[0021] A damping block, on the inner circumference of which a plurality of sliding holes are arrayed, and an embedded ring is fixed in each of the sliding holes and close to the cylinder seat;

[0022] Sliding columns, the number of which is the same as that of the embedded rings. One end of each sliding column is fixed on the cylinder seat, and a limiting block is fixed at the other end of each sliding column;

[0023] And a push cylinder, which is fixed on the cylinder seat, and the driving end of the push cylinder can push the damping block to move towards the outer sliding member and perform extrusion locking.

[0024] Further, preferably, the outer diameter of the limiting block is slightly smaller than the inner diameter of the sliding hole.

[0025] Further, preferably, a compression spring is wound on the side wall of the sliding column, and the compression spring is located between the limiting block and the embedded ring.

[0026] Further, preferably, it further includes

[0027] A vision positioning system, which consists of a 3D vision camera and a lidar installed on the end effector;

[0028] A robotic arm control system, which consists of a controller fixed on the first rotating arm and four sensors. Among them, the four sensors are respectively installed on the first rotating arm, the second rotating arm, the third rotating arm and the rotating base;

[0029] And a computer system, which is signal-connected to the vision positioning system and issues control commands to the first joint drive mechanism, the second joint drive mechanism and the first servo motor through the controller.

[0030] The present invention also provides a robotic arm control method based on vision positioning, which includes the following steps:

[0031] Step 1: Obtain the position information of the object through the 3D vision camera and the lidar;

[0032] Step 2: Establish a digital model through the computer system, calculate and determine the point cloud data and spatial coordinates of the digital model;

[0033] Step 3: Perform action recognition operations according to the coordinates of the end effector, generate a robotic arm movement instruction, and at the same time use the 3D vision camera for action guidance and perform obstacle avoidance actions;

[0034] Step 4: The controller receives signals from the sensors and cooperates with the vision positioning system to adjust the angle between the first rotating arm and the second rotating arm, as well as the rotation angle of the rotating base, and the angle between the rotating base and the third rotating arm, so as to control the overall motion state of the robotic arm;

[0035] Step 5: Real-time obtain the joint state of the robotic arm, adjust the pose of the end effector until the grasping and unloading actions are completed.

[0036] The present invention adopts the above technologies and has the following beneficial effects compared with the existing technologies:

[0037] In the device of the present invention, the first joint drive mechanism and the second joint drive mechanism with the same structure are provided. Among them, the first joint drive mechanism can drive the angle adjustment between the first rotating arm and the second rotating arm. After the adjustment is completed, each push cylinder is started to drive the damping block to continuously move towards the outer sliding part. The damping block overcomes the elastic force of each compression spring and squeezes and fixes the outer sliding part, so as to limit the positional relationship between the outer sliding part and the U-shaped end of the second rotating arm, so that a locking state is formed between the second rotating arm and the first rotating arm, so as to form an auxiliary bearing force, which can avoid tooth damage of the bevel gear set due to large external force, and further affect the accuracy of the rotation angle between the second rotating arm and the first rotating arm, and also play a protective role for the second servo motor;

[0038] The second joint driving mechanism is the same as above, to drive the angle adjustment and locking action between the rotating base and the third rotating arm, so as to ensure the overall strength of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 FIG. is a schematic three-dimensional structure diagram of a robotic arm control device based on visual positioning;

[0040] Figure 2 FIG. is a schematic side view structure diagram of a robotic arm control device based on visual positioning;

[0041] Figure 3 FIG. is a schematic structure diagram of the first joint driving mechanism in a robotic arm control device based on visual positioning;

[0042] Figure 4 is Figure 3 an enlarged schematic diagram of part A in

[0043] Figure 5 FIG. is a schematic connection diagram of a damping block and a sliding column in a robotic arm control device based on visual positioning;

[0044] Figure 6 FIG. is a system layout diagram of a robotic arm control device based on visual positioning;

[0045] Figure 7 FIG. is a schematic flow diagram of a robotic arm control method based on visual positioning.

[0046] In the figure: 1, mounting base; 2, controller; 3, first joint driving mechanism; 4, first rotating arm; 5, second rotating arm; 6, first servo motor; 7, rotating base; 8, third rotating arm; 9, end effector; 10, second joint driving mechanism; 31, second servo motor; 32, driving bevel gear; 33, driving box; 34, rotating shaft; 35, driven gear; 36, inner sliding member; 37, outer sliding member; 38, pushing cylinder; 39, cylinder base; 40, damping block; 41, sliding column; 42, embedded ring; 43, compression spring; 44, limiting block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0048] Embodiment: Please refer to the attached Figure 1-7, the present invention provides a technical solution: a robotic arm control device based on visual positioning, which includes:

[0049] The first rotating arm 4, with a mounting base 1 fixed at its top;

[0050] The second rotating arm 5, with a first joint driving mechanism 3 connected between it and the first rotating arm 4, and the first joint driving mechanism 3 can adjust the angle between the first rotating arm 4 and the second rotating arm 5;

[0051] The rotating base 7, which is rotatably installed on the second rotating arm 5 and is driven by a first servo motor 6 fixed on the second rotating arm 5;

[0052] The third rotating arm 8, with a second joint driving mechanism 10 connected between it and the rotating base 7, and the second joint driving mechanism 10 can adjust the angle between the rotating base 7 and the third rotating arm 8;

[0053] And the end effector 9, which is fixedly installed at the bottom end of the third rotating arm 8.

[0054] In this embodiment, the first joint driving mechanism 3 and the second joint driving mechanism 10 have the same structure but different sizes, that is to say, the first joint driving mechanism 3 and the second joint driving mechanism 10 adopt the same structure but different sizes.

[0055] In this embodiment, the first joint driving mechanism 3 includes

[0056] The driving box 33, which is fixed on the first rotating arm 4;

[0057] The rotating shaft 34, which is installed between two bearing seats at the bottom of the driving box 33, and both ends of the rotating shaft 34 extend outwards and are fixedly connected to the U-shaped end of the second rotating arm 5;

[0058] The driven gear 35, which is arranged in the driving box 33 and fixed on the side wall of the rotating shaft 34;

[0059] The driving bevel gear 32, which meshes with the driven gear 35 for transmission, and the driving bevel gear 32 is driven by a second servo motor 31 fixed in the driving box 33;

[0060] Specifically, the second servo motor 31 drives the driving bevel gear 32 to rotate clockwise or counterclockwise. Since the driving bevel gear 32 meshes with the driven gear 35, the second rotating arm 5 is driven to turn forward and backward through the rotating shaft 34;

[0061] And the joint locking mechanism, which is connected between the driving box 33 and the U-shaped end of the second rotating arm 5, and the joint locking mechanism can drive the driving box 33 and the second rotating arm 5 to be fixedly locked.

[0062] In this embodiment, the joint locking mechanism is composed of an inner sliding member 36, an outer sliding member 37, and two pressing components. Among them, the inner sliding member 36 is slidably connected with the outer sliding member 37. The bottom end of the inner sliding member 36 is rotatably connected to the U-shaped end of the second rotating arm 5, and the top end of the outer sliding member 37 is rotatably connected to the driving box 33.

[0063] Specifically, a slider is slidably arranged inside the outer sliding member 37 to limit the sliding distance between the inner sliding member 36 and the outer sliding member 37, and the slider is fixedly connected to the inner sliding member 36.

[0064] Both of the two pressing components are fixed on the U-shaped end of the second rotating arm 5 and are symmetrically arranged on the left and right sides of the outer sliding member 37. And the two pressing components can simultaneously extrude the outer sliding member 37 to limit the distance between the outer sliding member 37 and the U-shaped end of the second rotating arm 5, so that the driving box 33 and the second rotating arm 5 are kept in a locked state.

[0065] It should be added that a rubber layer is fixed on the side wall of the outer sliding member 37 to increase the frictional resistance.

[0066] In this embodiment, the pressing component includes

[0067] A cylinder base 39, which is fixed on the U-shaped end of the second rotating arm 5;

[0068] A damping block 40, which has a plurality of sliding holes arrayed in its inner circumference, and an inner embedded ring 42 is fixed in each sliding hole and close to the cylinder base 39;

[0069] A sliding column 41, which has the same number as the inner embedded ring 42. One end of each sliding column 41 is fixed on the cylinder base 39, and a limiting block 44 is fixed at the other end of each sliding column 41;

[0070] And a push cylinder 38, which is fixed on the cylinder base 39. The driving end of the push cylinder 38 can push the damping block 40 to move towards the outer sliding member 37 and perform extrusion locking;

[0071] Specifically, when the adjustment action is completed between the first rotating arm and the second rotating arm, each push cylinder 38 is started to drive the damping block to continuously move towards the outer sliding member. The damping block overcomes the elastic force of each compression spring and extrudes and fixes the outer sliding member 37, so as to limit the positional relationship between the outer sliding member 37 and the U-shaped end of the second rotating arm 5, so that a locked state is formed between the second rotating arm 5 and the first rotating arm, thereby forming an auxiliary load-bearing force, which can avoid tooth damage of the bevel gear set due to a large external force, and further affect the accuracy of the rotation angle between the second rotating arm 5 and the first rotating arm, and also play a protective role for the second servo motor.

[0072] It should be noted that the structures of the first joint driving mechanism and the second joint driving mechanism are the same, that is, the adjustment method between the rotating base and the third rotating arm is the same as that between the first rotating arm and the second rotating arm, so it will not be elaborated here.

[0073] In this embodiment, the outer diameter of the limit block 44 is slightly smaller than the inner diameter of the sliding hole, so that the limit block 44 can slide into the sliding hole, but the outer diameter of the limit block 44 is larger than the inner diameter of the embedded ring 42.

[0074] In this embodiment, a compression spring 43 is wound around the side wall of the sliding column 41, and the compression spring 43 is located between the limit block 44 and the embedded ring 42.

[0075] In this embodiment, it further includes

[0076] a vision positioning system, which consists of a 3D vision camera and a lidar installed on the end effector 9;

[0077] a robotic arm control system, which consists of a controller 2 fixed on the first rotating arm 4 and four sensors. Among them, the four sensors are respectively installed on the first rotating arm 4, the second rotating arm 5, the third rotating arm 8 and the rotating base 7;

[0078] Specifically, the motion states of the first rotating arm, the second rotating arm, the third rotating arm and the rotating base 7 are monitored in real time through the sensors, such as position, speed, acceleration, angle, etc.;

[0079] and a computer system, which is signal-connected to the vision positioning system and issues control commands to the first joint driving mechanism 3, the second joint driving mechanism 10, and the first servo motor 6 through the controller 2.

[0080] The present invention also provides a robotic arm control method based on vision positioning, which includes the following steps:

[0081] Step 1: Obtain the position information of the object through the 3D vision camera and the lidar;

[0082] Step 2: Establish a digital model through the computer system, calculate and determine the point cloud data and spatial coordinates of the digital model;

[0083] Step 3: Perform action recognition operations according to the coordinates of the end effector, generate a robotic arm movement instruction, and at the same time use the 3D vision camera for action guidance and perform obstacle avoidance actions;

[0084] Step 4: The controller 2 receives signals from the sensors and cooperates with the vision positioning system to adjust the angle between the first rotating arm 4 and the second rotating arm 5, as well as the rotation angle of the rotating base 7, and the angle between the rotating base 7 and the third rotating arm 8, so as to control the overall motion state of the robotic arm;

[0085] Step 5: Obtain the joint state of the robotic arm in real time, and adjust the pose of the end effector until the grasping and unloading actions are completed.

[0086] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm control device based on visual positioning, characterized in that It includes: A first rotating arm (4) with a mounting base (1) fixed to its top end; A second rotating arm (5) connected to the first rotating arm (4) by a first joint driving mechanism (3), and the first joint driving mechanism (3) can adjust the angle between the first rotating arm (4) and the second rotating arm (5); A rotating base (7) rotatably mounted on the second rotating arm (5) and driven by a first servo motor (6) fixed on the second rotating arm (5); A third rotating arm (8) connected to the rotating base (7) by a second joint driving mechanism (10), and the second joint driving mechanism (10) can adjust the angle between the rotating base (7) and the third rotating arm (8); And an end effector (9) fixedly installed at the bottom end of the third rotating arm (8); The first joint driving mechanism (3) includes a joint locking mechanism and a driving box (33). The driving box (33) is fixed on the first rotating arm (4), and the joint locking mechanism is connected between the driving box (33) and the U-shaped end of the second rotating arm (5). The joint locking mechanism can drive the driving box (33) and the second rotating arm (5) to be fixedly locked; The joint locking mechanism consists of an inner sliding member (36), an outer sliding member (37) and two pressing components. Among them, the inner sliding member (36) and the outer sliding member (37) are slidably connected. The bottom end of the inner sliding member (36) is rotatably connected to the U-shaped end of the second rotating arm (5), and the top end of the outer sliding member (37) is rotatably connected to the driving box (33); Both of the two pressing components are fixed on the U-shaped end of the second rotating arm (5) and symmetrically arranged on the left and right sides of the outer sliding member (37). And the two pressing components can simultaneously extrude the outer sliding member (37) to limit the distance between the outer sliding member (37) and the U-shaped end of the second rotating arm (5), so that the driving box (33) and the second rotating arm (5) are kept in a locked state; The pressing component includes: A cylinder seat (39) fixed on the U-shaped end of the second rotating arm (5); A damping block (40) with a plurality of sliding holes arranged in an inner circumferential array, and an inner embedded ring (42) is fixed in each sliding hole and close to the cylinder seat (39); Sliding columns (41) having the same number as the inner embedded rings (42). One end of each sliding column (41) is fixed on the cylinder seat (39), and a limiting block (44) is fixed to the other end of each sliding column (41); And a push cylinder (38) fixed on the cylinder seat (39). The driving end of the push cylinder (38) can push the damping block (40) to move towards the outer sliding member (37) and perform extrusion locking.

2. The manipulator control device based on visual positioning according to claim 1, wherein: The first joint driving mechanism (3) and the second joint driving mechanism (10) have the same structure but different sizes.

3. The manipulator control device based on visual positioning according to claim 1, wherein: The first joint driving mechanism (3) further includes: A rotating shaft (34) is installed between two bearing seats at the bottom of the drive box (33), and both ends of the rotating shaft (34) extend outwards and are fixedly connected to the U-shaped ends of the second rotating arm (5); A driven gear (35) is arranged inside the drive box (33) and is fixed on the side wall of the rotating shaft (34); A driving bevel gear (32) is meshed with the driven gear (35) for transmission, and the driving bevel gear (32) is driven by a second servo motor (31) fixed inside the drive box (33).

4. A robotic arm control device based on visual positioning according to claim 1, characterized in that: The outer diameter of the limit block (44) is slightly smaller than the inner diameter of the sliding hole.

5. A robotic arm control device based on visual positioning according to claim 1, characterized in that: A compression spring (43) is wound around the side wall of the sliding column (41), and the compression spring (43) is located between the limit block (44) and the embedded ring (42).

6. The manipulator control device based on visual positioning according to claim 1, wherein: It further includes: A visual positioning system, which consists of a 3D vision camera and a lidar installed on the end effector (9); A robotic arm control system, which consists of a controller (2) fixed on the first rotating arm (4) and four sensors. Among them, the four sensors are respectively installed on the first rotating arm (4), the second rotating arm (5), the third rotating arm (8), and the rotating base (7); And a computer system, which is signal-connected to the visual positioning system and sends control instructions to the first joint driving mechanism (3), the second joint driving mechanism (10), and the first servo motor (6) through the controller (2).

7. A manipulator control method based on visual positioning, which uses a manipulator control device based on visual positioning according to any one of claims 1-6, characterized in that, It includes the following steps: Step 1: Obtain the position information of the object through the 3D vision camera and the lidar; Step 2: Establish a digital model through the computer system, calculate and determine the point cloud data and spatial coordinates of the digital model; Step 3: Perform action recognition operations according to the coordinates of the end effector (9), generate robotic arm movement instructions, and at the same time use the 3D vision camera for action guidance and obstacle avoidance actions; Step 4: The controller (2) receives signals from the sensors and cooperates with the visual positioning system to adjust the angle between the first rotating arm (4) and the second rotating arm (5), as well as the rotation angle of the rotating base (7), and the angle between the rotating base (7) and the third rotating arm (8), so as to control the overall motion state of the robotic arm; Step 5: Real-time obtain the joint state of the robotic arm, adjust the pose of the end effector (9) until the grasping and unloading actions are completed.

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