Data acquisition equipment and method based on teleoperation

Abstract

The invention provides data acquisition equipment based on teleoperation, and relates to the technical field of mechanical clamping jaws, and the data acquisition equipment comprises a demonstrator and a clamping jaw body; the demonstrator comprises a first motor, a gear, a first rack, a second rack and two grips; the gear is coaxially fixed on an output shaft of the first motor; the first rack and the second rack are respectively meshed with the gear; the movement directions of the first rack and the second rack are parallel and opposite; a grip is fixed on each of the first rack and the second rack; the clamping jaw body comprises a driving device, a linear sliding rail, a left clamping jaw and a right clamping jaw; the left clamping jaw and the right clamping jaw are fixed on the linear sliding rail in a sliding manner; the driving device can drive the left clamping jaw and the right clamping jaw to move along the linear sliding rail. And the demonstrator is in communication connection with the clamping jaw body. According to the data acquisition equipment based on teleoperation, the problem that in the prior art, clamping errors are likely to happen when a mechanical arm is remotely controlled to clamp an object is solved, and an operator can rapidly judge whether the clamped object is accurate or not.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, specifically to data acquisition equipment and methods based on teleoperation. Background Technology

[0002] Humans face numerous limitations when performing high-risk or complex tasks, such as in the radiation zones of nuclear power plants, explosion-prone areas, or deep-sea environments, where operator safety cannot be effectively guaranteed. Teleoperation technology enables robots to replace humans in these hazardous environments, thereby significantly improving safety.

[0003] In the prior art, such as the wearable remote operation intelligent equipment for human-machine safe interaction disclosed in Chinese patent application number 202410867385.5, a controller for remote operation is provided to more intuitively input control signals to realize the remote operation control of the robotic arm.

[0004] However, the handle section in the aforementioned comparative documents still uses buttons to control the opening and closing of the gripper during remote operation. This may lead to misjudgment and incorrect grasping when the operator uses the controller to grasp objects. For example, in a simulated scenario, there are many spheres of different diameters. The operator observes these spheres remotely through video feedback and controls the robotic arm and gripper to grasp them. However, the video feedback is a plane, and the size of the object on the video will vary depending on the distance of the object from the camera. This makes it difficult for the operator to judge its size, which can easily lead to grasping errors. Furthermore, after grasping, it is necessary to analyze the grasped object through the equipment to determine whether a grasping error has occurred. Summary of the Invention

[0005] To address the aforementioned technical problems, the data acquisition device based on remote operation provided by this invention allows operators to quickly determine whether the object being gripped is accurate, thereby improving data acquisition efficiency.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] The present invention provides a remotely operated data acquisition device, comprising a teach pendant, a gripper body, and a terminal; the teach pendant includes a first motor, a gear, a first rack, a second rack, and two grips; the gear is coaxially fixed on the output shaft of the first motor; the first rack meshes with the gear; the second rack meshes with the gear; the movement directions of the first rack and the second rack are parallel to each other; when the gear rotates, the movement directions of the first rack and the second rack are opposite; one grip is fixed on the first rack; one grip is fixed on the second rack; the gripper body includes a drive device and a linear slide. The system comprises a rail, a left gripper, and a right gripper; the left gripper and the right gripper are slidably fixed on the linear slide rail; the left gripper is fixed on the drive device; the drive device can drive the left gripper to move along the linear slide rail; the right gripper is fixed on the drive device; the drive device can drive the right gripper to move along the linear slide rail; the left gripper includes a first contact surface; the right gripper includes a second contact surface; the first contact surface and the second contact surface are parallel to each other; the first contact surface and the second contact surface are arranged opposite to each other; the first motor is communicatively connected to the terminal; the drive device is communicatively connected to the terminal.

[0008] The data acquisition device based on remote operation provided by the present invention preferably includes a driving device comprising a second motor, a crank, a first connecting rod, and a second connecting rod; the linear slide rail is fixed to the second motor via a fixing frame; the crank is fixed to the output shaft of the second motor; the first connecting rod is rotatably fixed to the crank; the first connecting rod is rotatably fixed to the left gripper; the second connecting rod is rotatably fixed to the crank; the second connecting rod is rotatably fixed to the right gripper; and the second motor is communicatively connected to the terminal.

[0009] The data acquisition device based on remote operation provided by the present invention preferably includes a teaching pendant further comprising a housing and a grip column; the grip column is fixed on the housing; and the first motor is fixed on the housing.

[0010] The teleoperation-based data acquisition method provided by this invention includes the following steps: S101: Deploying a robotic arm near the object to be acquired, so that the object is within the gripping range of the robotic arm; a network-connected mobile camera is fixed on the robotic arm, the mobile camera is fixed in position relative to the gripper body, and the mobile camera faces the gripper body, so that the gripper body is entirely within the field of view of the mobile camera; deploying a network-connected fixed camera facing the robotic arm, so that the robotic arm is entirely within the field of view of the fixed camera; S102: Receiving the image from the fixed camera via the network at the terminal, and controlling the machine via a teach pendant according to the position of the robotic arm in the image. The robotic arm moves its two grippers, causing the left and right grippers to move relative to the linear guide rail, making the distance between the first and second contact surfaces greater than the size of the part of the object to be data collected being gripped; by moving the gripper body, the object to be data collected is positioned between the first and second contact surfaces; S103: by moving the two grippers, the left and right grippers move relative to the linear guide rail, causing the object to simultaneously come into contact with both the first and second contact surfaces; S104: the terminal acquires image frames transmitted from the moving camera, analyzes the image frames, and obtains the size data of the object.

[0011] The above technical solution has the following advantages or beneficial effects:

[0012] This invention provides a remotely operated data acquisition device, relating to the field of mechanical gripper technology, including a teach pendant, a gripper body, and a terminal; the teach pendant includes a first motor, a gear, a first rack, a second rack, and two grips; the gear is coaxially fixed on the output shaft of the first motor; the first rack meshes with the gear; the second rack meshes with the gear; the movement directions of the first rack and the second rack are parallel to each other; when the gear rotates, the movement directions of the first rack and the second rack are opposite; one grip is fixed on the first rack; one grip is fixed on the second rack; the gripper body includes a drive... The device comprises a linear slide rail, a left gripper, and a right gripper; the left gripper and the right gripper are slidably fixed on the linear slide rail; the left gripper is fixed to a driving device; the driving device can drive the left gripper to move along the linear slide rail; the right gripper is fixed to the driving device; the driving device can drive the right gripper to move along the linear slide rail; the left gripper includes a first contact surface; the right gripper includes a second contact surface; the first contact surface and the second contact surface are parallel to each other; the first contact surface and the second contact surface are arranged opposite to each other; a first motor is communicatively connected to a terminal; the driving device is communicatively connected to the terminal. The data acquisition device based on remote operation provided by this invention solves the problem in the prior art where remotely controlled robotic arms easily make mistakes when gripping objects, thus reducing data acquisition efficiency. This invention allows operators to quickly determine whether the object being gripped is accurate, thereby improving data acquisition efficiency. Attached Figure Description

[0013] The invention, its features, shape, and advantages will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference numerals denote like parts throughout the drawings. The drawings are not intentionally drawn to scale; the focus is on illustrating the spirit of the invention.

[0014] Figure 1 This is a schematic diagram of the teach pendant structure of the teleoperation-based data acquisition device provided in Embodiment 1 of the present invention.

[0015] Figure 2 This is a schematic diagram showing the positional relationship between the first rack, the second rack, and the gear of the teach pendant of the teleoperated data acquisition device provided in Embodiment 1 of the present invention.

[0016] Figure 3 This is a schematic diagram of the gripper body structure of the data acquisition device based on remote operation provided in Embodiment 1 of the present invention.

[0017] Figure 4 This is a schematic diagram of the drive device structure of the data acquisition device based on remote operation provided in Embodiment 1 of the present invention.

[0018] Figure 5 This is a schematic diagram of the communication connection wireframe of the terminal of the data acquisition device based on remote operation provided in Embodiment 1 of the present invention.

[0019] Figure 6 This is a flowchart of the data acquisition method based on teleoperation provided in Embodiment 1 of the present invention. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. It should also be noted that the terminology used in this invention is for describing specific implementations only and is not intended to limit the exemplary implementations according to this application.

[0021] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the protection scope of the present invention.

[0022] Example 1:

[0023] The data acquisition device based on teleoperation provided in Embodiment 1 of the present invention, such as Figures 1 to 6 As shown, the device includes a teach pendant 1, a gripper body 2, and a terminal 3. The teach pendant 1 includes a first motor 11, a gear 12, a first rack 13, a second rack 14, and two grips 15. The gear 12 is coaxially fixed on the output shaft of the first motor 11. The first rack 13 meshes with the gear 12. The second rack 14 meshes with the gear 12. The movement directions of the first rack 13 and the second rack 14 are parallel to each other (the movement directions of the first rack 13 and the second rack 14 are parallel to the rack extension directions of the first rack 13 and the second rack 14). When the gear 12 rotates, the movement directions of the first rack 13 and the second rack 14 are opposite. A grip 15 is fixed on the first rack 13. A grip 15 is fixed on the second rack 14. The gripper body 2... The system includes a drive unit 21, a linear slide rail 22, a left gripper 23, and a right gripper 24. The left gripper 23 and the right gripper 24 are slidably fixed on the linear slide rail 22. The left gripper 23 is fixed on the drive unit 21. The drive unit 21 can drive the left gripper 23 to move along the linear slide rail 22. The right gripper 24 is fixed on the drive unit 21. The drive unit 21 can drive the right gripper 24 to move along the linear slide rail 22. The left gripper 23 includes a first contact surface 231. The right gripper 24 includes a second contact surface 241. The first contact surface 231 and the second contact surface 241 are parallel to each other. The first contact surface 231 and the second contact surface 241 are arranged opposite to each other. The first motor 11 is communicatively connected to the terminal 3. The drive unit 21 is communicatively connected to the terminal 3.

[0024] The remote-operated data acquisition device provided in Embodiment 1 of this invention requires a networked camera to operate. The camera sends signals to a terminal 3 (terminal 3 is existing technology, such as a computer). The operator sees the robotic arm and the object to be acquired through the terminal 3. The operator controls the movement of the robotic arm (how to control the movement of the robotic arm is existing technology) until the gripper body 2 can grasp the object. The operator controls the handles 15 on the first rack 13 and the second rack 14, causing the first rack 13 and the second rack 14 to move towards each other. The movement of the first rack 13 and the second rack 14 drives the rotation of the first motor 11. The rotation of the first motor 11 transmits the rotation signal of the first motor 11 to the terminal 3. The terminal 3 analyzes the signal returned by the first motor 11 and sends a signal to the gripper body 2, causing the drive device 21 to work. When the drive device 21 is working, the left gripper 23 and the right gripper 24 move relative to the linear slide rail 22 (when the first rack 13 and the second rack 14 move towards each other, the left gripper 23 and the right gripper 24 move towards each other). The distance between the first contact surface 231 and the second contact surface 241 changes (approaching each other). After the first contact surface 231 and the second contact surface 241 simultaneously press against the opposite sides of the object, the left gripper 23 and the right gripper 24 send a signal back to the drive device 21. The drive device 21 sends the signal back to the terminal 3. The terminal 3 transmits the signal to the first motor 11, causing the output shaft of the first motor 11 to stop rotating. The operator will no longer be able to control the first rack 13 and the second rack 14 to move towards each other. The operator can therefore perceive the size of the object by the distance between the two handles 15 fixed on the first rack 13 and the second rack 14. Compared to existing technologies that require data collection from objects using a signal acquisition device (such as a camera, which takes pictures of the object and then analyzes the object's size using a computer), the device provided in this embodiment allows operators to quickly perceive the object's size and make a preliminary judgment on the object. This helps to eliminate some potentially erroneous objects that do not require data collection, thereby improving the efficiency of object data collection.

[0025] The data acquisition device based on remote operation provided by this invention solves the problem in the prior art that the remotely controlled robotic arm is prone to picking up objects by mistake, which reduces the data acquisition efficiency. This invention allows operators to quickly judge whether the object is picked up accurately, thereby improving the data acquisition efficiency.

[0026] To specifically realize the driving device 21 to drive the left gripper 23 and the right gripper 24, as a preferred embodiment, in this embodiment, the driving device 21 includes a second motor 211, a crank 212, a first connecting rod 213, and a second connecting rod 214; the linear slide rail 22 is fixed to the second motor 211 by a fixing frame; the crank 212 is fixed on the output shaft of the second motor 211; the first connecting rod 213 is rotatably fixed to the crank 212; the first connecting rod 213 is rotatably fixed to the left gripper 23; the second connecting rod 214 is rotatably fixed to the crank 212; the second connecting rod 214 is rotatably fixed to the right gripper 24; the second motor 211 is communicatively connected to the terminal 3. When the signal sent by terminal 3 is received by the second motor 211, the output shaft of the second motor 211 rotates, the crank 212 rotates, and the positions of the first connecting rod 213 and the second connecting rod 214, which are rotatably fixed on the crank 212, change. This causes the left gripper 23 and the right gripper 24 to change their positions. The left gripper 23 and the right gripper 24 are slidably fixed on the linear slide rail 22. Therefore, when the left gripper 23 and the right gripper 24 are driven by the first connecting rod 213 and the second connecting rod 214, the left gripper 23 and the right gripper 24 are restricted to linear movement on the linear slide rail 22.

[0027] In this embodiment, the teach pendant 1 further includes a housing 16 and a grip post 17; the grip post 17 is fixed to the housing 16; the first motor 11 is fixed to the housing 16. The function of the grip post 17 is the same as that of the handle in the wearable remote-operated intelligent equipment for human-machine safe interaction disclosed in Chinese patent application number 202410867385.5 mentioned in the background art. The grip post 17 allows the operator to easily grasp the teach pendant 1. After grasping the teach pendant 1, the operator applies pressure to the two cranks 212 with two fingers to move the first rack 13 and the second rack 14, thereby controlling the rotation of the output shaft of the first motor.

[0028] The control method for gripping objects using a teleoperated data acquisition device provided in this embodiment includes the following steps:

[0029] S101: Deploy the robotic arm near the object to be collected, ensuring the object is within the arm's gripping range. A network-connected mobile camera is fixed to the robotic arm, its position relative to the gripper body. The mobile camera faces the gripper body, ensuring the entire gripper body is within the mobile camera's field of view. A network-connected fixed camera is also deployed, facing the robotic arm, ensuring the entire robotic arm is within the fixed camera's field of view. The mobile camera records the object gripped by the gripper body, capturing keyframes and uploading them to the terminal for analysis. The fixed camera records the articulated arm's position information, saving it as a JSON file for subsequent analysis. The fixed camera also uploads recorded footage to the terminal for remote control by the operator.

[0030] S102: The terminal receives the image from the fixed camera via the network. Based on the position of the robotic arm in the image, the terminal controls the robotic arm via the teach pendant. By moving the two grippers, the left and right grippers move relative to the linear guide rail, making the distance between the first and second contact surfaces greater than the size of the part of the object to be collected being gripped. By moving the gripper body, the object to be collected is positioned between the first and second contact surfaces. The operator controls the left gripper 23 and the right gripper 24 by moving the two grippers. After the first contact surface 231 and the second contact surface 241 of the left and right grippers 23 and 24 contact the object, they hinder the movement of the left and right grippers 23 and 24 relative to the linear guide rail 22. The second motor 211 sends a signal that it cannot rotate back to the terminal. The terminal 3 sends a signal back to the first motor 11. The first motor 11 prevents the operator from continuing to control the first rack 13 and the second rack 14 to move towards each other, thus creating resistance for the operator.

[0031] S103: By moving the two grips, the left and right jaws move relative to the linear slide rail, so that the item simultaneously comes into contact with the first contact surface and the second contact surface;

[0032] S104: The terminal acquires image frames transmitted from the mobile camera, analyzes the image frames, and obtains the size data of the item.

[0033] In summary, this invention provides a data acquisition device based on remote operation, relating to the field of mechanical gripper technology, including a teach pendant, a gripper body, and a terminal; the teach pendant includes a first motor, a gear, a first rack, a second rack, and two grips; the gear is coaxially fixed on the output shaft of the first motor; the first rack meshes with the gear; the second rack meshes with the gear; the movement directions of the first rack and the second rack are parallel to each other; when the gear rotates, the movement directions of the first rack and the second rack are opposite; one grip is fixed on the first rack; one grip is fixed on the second rack; the gripper body includes... The device includes a drive unit, a linear slide rail, a left gripper, and a right gripper. The left and right grippers are slidably fixed to the linear slide rail. The left gripper is fixed to the drive unit, which drives the left gripper to move along the linear slide rail. The right gripper is fixed to the drive unit, which also drives the right gripper to move along the linear slide rail. The left gripper includes a first contact surface, and the right gripper includes a second contact surface. The first and second contact surfaces are parallel to each other and are positioned opposite to each other. A first motor is communicatively connected to a terminal, and the drive unit is communicatively connected to the terminal. This invention provides a teleoperated data acquisition device that solves the problem in the prior art where remotely controlled robotic arms easily make mistakes when gripping objects, thus reducing data acquisition efficiency. This invention allows operators to quickly determine whether the object being gripped is accurate, thereby improving data acquisition efficiency.

[0034] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A data acquisition device based on teleoperation, characterized in that, Includes a teach pendant, gripper body, and terminal; The teach pendant includes a first motor, a gear, a first rack, a second rack, and two handles; The gear is coaxially fixed on the output shaft of the first motor; The first rack meshes with the gear; the second rack meshes with the gear; The first rack and the second rack move in parallel directions; when the gear rotates, the first rack and the second rack move in opposite directions. A handle is fixed to the first rack; a handle is fixed to the second rack; The gripper body includes a drive device, a linear slide rail, a left gripper, and a right gripper; The left and right grippers are slidably fixed on the linear slide rail; The left gripper is fixed to the driving device; the driving device can drive the left gripper to move along the linear slide rail; The right gripper is fixed to the drive device; the drive device can drive the right gripper to move along the linear slide rail; The left gripper includes a first contact surface; the right gripper includes a second contact surface; the first contact surface and the second contact surface are parallel to each other; the first contact surface and the second contact surface are disposed opposite to each other. The first motor is communicatively connected to the terminal; the drive device is communicatively connected to the terminal.

2. The data acquisition device based on teleoperation as described in claim 1, characterized in that, The drive device includes a second motor, a crank, a first connecting rod, and a second connecting rod; The linear slide rail is fixed to the second motor by a mounting bracket; The crank is fixed to the output shaft of the second motor; The first connecting rod is rotatably fixed to the crank; the first connecting rod is rotatably fixed to the left gripper. The second connecting rod is rotatably fixed to the crank; the second connecting rod is rotatably fixed to the right gripper. The second motor is communicatively connected to the terminal.

3. The data acquisition device based on teleoperation as described in claim 1, characterized in that, The teach pendant also includes a housing and grip posts; The gripping post is fixed to the housing; the first motor is fixed to the housing.

4. An application as claimed in claim 1- 3. The method for data acquisition based on the teleoperated data acquisition device as described in any one of the claims, characterized in that... Including the following steps: S101: Deploy the robotic arm near the object to be collected, so that the object is within the gripping range of the robotic arm; a network-connected mobile camera is fixed on the robotic arm, the mobile camera is fixed in position relative to the gripper body, the mobile camera faces the gripper body, so that the gripper body is entirely within the field of view of the mobile camera; deploy a network-connected fixed camera facing the robotic arm, so that the robotic arm is entirely within the field of view of the fixed camera. S102: The terminal receives the image from the fixed camera via the network. Based on the position of the robotic arm in the image, the robotic arm is controlled by the teach pendant. By moving the two grippers, the left and right grippers move relative to the linear guide rail, so that the distance between the first contact surface and the second contact surface is greater than the size of the part of the object to be collected being gripped. By moving the position of the gripper body, the object to be collected is positioned between the first and second contact surfaces. S103: By moving the two grips, the left and right jaws move relative to the linear slide rail, so that the item simultaneously comes into contact with the first contact surface and the second contact surface; S104: The terminal acquires image frames transmitted from the mobile camera, analyzes the image frames, and obtains the size data of the item.

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