Mechanical arm with visual module and remote control system

Abstract

The utility model discloses a mechanical arm with a visual module and a remote control system, and relates to the technical field of mechanical arm control. According to the technical scheme, by providing the mechanical arm with the visual module and the remote control system comprising the mechanical arm with the visual module, remote real-time video stream display and remote linkage control of the mechanical arm on an actual site can be achieved through the control system, and the problems that a robot can only be debugged and controlled on site; and remote control cannot be realized. The remote control system can remotely control the visual control system, the situation that a user controls the robot through a control cabinet beside the robot in the using process is avoided, remote control can be conducted, and therefore flexible control and safety of the mechanical arm are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arm control, in particular to a robotic arm with a vision module and a remote control system. Background Technique

[0002] A robotic arm is a mechanical device that can simulate the movement of a human arm and has the ability to stretch, rotate, and grasp objects. It is usually composed of multiple joints and connectors, and each joint is driven by a motor. The robotic arm control system controls the movement of the motor according to the information feedback of the sensor and the motion planning, and at the same time adjusts the grasping action of the end effector. The control system is generally based on a computer or an embedded system to respond to the changing environment and task requirements in real time. The robotic arm can perform a variety of precise operations, such as assembling parts, screwing, object handling, welding, painting, palletizing, inspection, etc. At the same time, the robotic arm has broad application prospects in the fields of scientific research and innovation, space exploration, agriculture, and electric power.

[0003] Traditional robotic arm debugging is mostly carried out through on-site debugging and control. For example, the invention patent application with the publication number CN117340909A discloses a calibration and debugging method for a compound mobile intelligent robot. In this application, the calibration method includes establishing a standard fixture, an automatic calibration program, data collection, image preprocessing, corner detection and calibration plate positioning, camera calibration, data fusion and optimization, calibration result evaluation, distortion correction and image processing, automated iterative optimization, and result output. The debugging method includes on-site debugging, importing calibration parameters, differential comparison, automatic compensation, secondary precise positioning, and iterative optimization. The differential comparison includes data collection, data preprocessing, performance comparison, identifying the reasons for differences, formulating compensation strategies, evaluating compensation effects, and iterative optimization. The differential compensation method includes technical solutions such as parameter adjustment, algorithm optimization, data fusion, and adaptive control.

[0004] However, if the robotic arm can only be debugged on-site, it will inevitably lead to a reduction in the convenience of debugging. Therefore, a system that can remotely control the robot is needed to improve the convenience and ensure the flexible control and safety of the robotic arm. Content of the Utility Model

[0005] In view of this, to solve the problems existing in the prior art, the purpose of the present utility model is to provide a robotic arm with a vision module and a remote control system including the robotic arm with the vision module. Through this control system, it is possible to realize the remote real-time video stream display and remote linkage control system of the actual site of the robotic arm, and solve the problem that the robot can only be debugged and controlled on-site and cannot be remotely controlled.

[0006] To achieve the above effects, the present utility model discloses a robotic arm with a vision module. The robotic arm includes a fixed chassis, a large arm, a small arm, and a wrist that are connected in sequence. The wrist is provided with a vision module. The vision module includes a connecting plate fixedly arranged at the upper end of the wrist. The connecting plate is detachably and movably connected to a support plate. The support plate is provided with a support collar for supporting a vision camera, and at least two sets of tightening bolts are arranged on the support collar.

[0007] Furthermore, a reduction motor is provided inside the fixed chassis, which is connected to the large arm through a first joint, and supports and drives the large arm to rotate relative to the fixed chassis.

[0008] Furthermore, the large arm is connected to the small arm through a second joint.

[0009] Furthermore, the other end of the small arm is connected to the wrist, and a grasping device can be installed at the front end of the wrist.

[0010] The present utility model also discloses a remote control system for a robotic arm with a vision module, including: a robotic arm control system, a vision control system, and a remote control system.

[0011] The robotic arm control system controls the actions of the fixed chassis, large arm, small arm, and wrist of the robotic arm, and controls the steering and rotation amount of the first joint and the second joint.

[0012] The vision control system: includes a vision controller arranged on the vision module. On the one hand, the vision controller is connected to the remote control system, and on the other hand, it is connected to the robotic arm control system. The vision control system is set to be able to send the received robot control instructions from the remote control system to the robotic arm control system, and at the same time control the vision module, including controlling camera reconnection and camera start / stop.

[0013] The remote control system: includes a remote server, a data memory, and an interface display module. The remote server is used to receive video information from the vision module on the robotic arm and send control instructions to the vision controller in the vision control system. The data memory can be an NVR and is used to store the video data of the camera in the vision control system. The interface display module is used to display the video data of the camera in the vision control system and send control instructions through human-computer interaction.

[0014] Furthermore, the vision control system is connected and communicates with the remote control system and between the vision control system and the robotic arm control system by means of wired connection or wireless connection.

[0015] Further, the wired connection is made through a signal line or a network cable. The signal line is selected from RS485 or RS232; the wireless connection is arbitrarily selected from WiFi, antenna, 4G / 5G wireless network or an internal local area network is formed by building a wireless bridge.

[0016] Further, the remote server is connected and interacts with the robotic arm control system, receives the control instructions of the robotic arm control system, and sends control instructions to the robotic arm control system.

[0017] The advantages of the present utility model are as follows:

[0018] The remote control system can remotely control the vision control system, avoiding the user from controlling through the control cabinet beside the robot during use. Remote control can be performed, thus ensuring the flexible control and safety of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0020] Figure 1 It is a schematic diagram of the overall structure of a robotic arm with a vision module designed for the present utility model.

[0021] Figure 2 It is a schematic diagram of the structure of the vision module of the present utility model.

[0022] Figure 3 It is a schematic diagram of the remote control system of the present utility model.

[0023] In the figure: 1. Fixed chassis, 2. Large arm, 3. Small arm, 4. Wrist, 5. Vision module, 6. Reduction motor, 7. First joint, 8. Second joint, 51. Connecting plate, 52. Support frame plate, 53. Vision camera, 54. Support collar, 55. Tightening bolt, 56. Bayonet, 100. Robotic arm control system, 200. Vision control system, 300. Remote control system. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] Refer to Figure 1 and Figure 2, a robotic arm with a vision module, the robotic arm includes a fixed chassis 1, a large arm 2, a small arm 3 and a wrist 4 connected in sequence, the wrist is provided with a vision module 5, the vision module includes a connecting plate 51 fixedly arranged at the upper end of the wrist 4, the connecting plate is detachably and movably connected with a support plate 52, the support plate 52 is provided with a support collar 54 for supporting a vision camera 53, and at least two groups of tightening bolts 55 are arranged on the support collar.

[0026] A reduction motor 6 is arranged inside the fixed chassis 1 and is connected to the large arm 2 through a first joint 7 to support and drive the large arm to rotate relative to the fixed chassis. The large arm 2 is connected to the small arm 3 through a second joint 8. The other end of the small arm is connected to the wrist, and a grasping device can be installed at the front end of the wrist.

[0027] Generally speaking, the fixed chassis: plays a supporting role, controls the components above the fixed chassis to rotate around the axis of the fixed chassis, and is composed of a motor, a reducer, etc., and one end is connected to the large arm through a joint. The large arm: the main extension mechanism, used to extend the control range of the robotic arm, and is composed of a motor, a reducer, etc., one end is connected to the fixed chassis through a joint, and the other end is connected to the small arm through a joint. The small arm: the secondary extension mechanism, used to extend the control range of the robotic arm, and is composed of a motor, a reducer, etc., one end is connected to the large arm through a joint, and the other end is connected to the wrist through a joint. The wrist: the end effector, composed of a motor, a reducer, etc., one end is connected to the small arm through a joint, and the end effector can be a grasping device, etc.

[0028] The connecting plate 1 is fixedly installed on the wrist of the robotic arm, and the support plate 52 is connected and fixed to the vision camera 53. For the connection between the connecting plate and the support plate, bayonet fixing can be selected, and the installation position of the camera can be adjusted by adjusting the bayonet. Or thread tapping is performed on the two plates, and the connecting plate and the support plate are connected by threads. At the same time, optionally, the connecting plate and the support plate use two magnetic materials with opposite polarities and are connected by magnetic attraction. Optionally, two magnets with opposite polarities are respectively fixed on the connecting plate and the support plate and are connected by magnetic attraction.

[0029] In another preferred embodiment, refer to Figure 3 , a remote control system for a robotic arm with a vision module is also disclosed, including: a robotic arm control system, a vision control system and a remote control system,

[0030] The robotic arm control system controls the actions of the fixed chassis, the large arm, the small arm and the wrist of the robotic arm, and controls the steering and rotation amount of the first joint and the second joint;

[0031] The visual control system: includes a visual controller disposed on the visual module. On the one hand, the visual controller is connected to the remote control system, and on the other hand, it is connected to the robotic arm control system. The visual control system is configured to be able to send the received robot control instructions of the remote control system to the robotic arm control system, and at the same time control the visual module, including controlling camera reconnection, camera startup and shutdown;

[0032] The remote control system: includes a remote server, a data storage device, and an interface display module. The remote server is used to receive video information from the visual module on the robotic arm and send control instructions to the visual controller in the visual control system. The data storage device can be an NVR and is used to store the video data of the cameras in the visual control system; the interface display module is used to display the video data of the cameras in the visual control system and issue control instructions through human-computer interaction.

[0033] Preferably, the visual control system is connected and communicates with the remote control system and between the visual control system and the robotic arm control system by means of wired connection or wireless connection. The wired connection is through a signal line or a network cable. The signal line is selected from RS485 or RS232; the wireless connection is arbitrarily selected from WiFi, antenna, 4G / 5G wireless network or an internal local area network is formed by building a wireless bridge. The remote server is connected and interacts with the robotic arm control system, receives the control instructions of the robotic arm control system, and sends control instructions to the robotic arm control system.

[0034] During use, the remote backstage operator can view the environment around the camera module in real time through the backstage display interface. When the remote backstage operator determines that the robotic arm is in danger, an emergency braking control command can be issued to the robotic arm to achieve emergency braking. The emergency braking command directly sends the remote control command to the robotic arm control system through the remote control system, or is sent to the visual controller of the visual control system through the remote control system, and then forwarded by the visual controller to the robotic arm control system.

[0035] Although the present utility model has been disclosed as above in an implementation manner, it is not intended to limit the present utility model. Any person skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the scope defined by the appended claims.

Claims

1. A robotic arm with a vision module, the robotic arm comprising a fixed chassis (1), an upper arm (2), a lower arm (3) and a wrist (4) connected in sequence, characterized in that: The wrist is provided with a visual module (5), the visual module comprising a connecting plate (51) fixedly arranged at the upper end of the wrist (4), the connecting plate being movably connected to a support frame plate (52) in a detachable manner, the support frame plate (52) being provided with a supporting collar (54) for supporting a visual camera (53), the supporting collar being provided with at least two groups of tightening bolts (55).

2. The robotic arm with a vision module according to claim 1, characterized in that: A reduction motor (6) is provided inside the fixed chassis (1) and is connected to the upper arm (2) via a first joint (7) to support and drive the upper arm to rotate relative to the fixed chassis.

3. The robotic arm with a vision module according to claim 1, characterized in that: The upper arm (2) is connected to the lower arm (3) via a second joint (8); the other end of the lower arm is connected to the wrist, and a grasping device can be installed at the front end of the wrist.

4. The robotic arm with a vision module according to claim 1, characterized in that: The connection plate (51) is provided with a bayonet (56) for positioning.

5. A remote control system for a robotic arm with a visual module as claimed in any one of claims 1 to 4, characterized in that: include: Robotic arm control system, visual control system and remote control system, The robot control system controls the movements of the fixed chassis, upper arm, lower arm and wrist of the robot, and controls the steering and rotation amount of the first joint and the second joint; The visual control system includes a visual module and a visual controller, the visual controller is connected to the remote control system on one hand, and is connected to the robotic arm control system on the other hand, the visual control system is configured to send the robot control instructions received from the remote control system to the robotic arm control system, and control the visual module at the same time, including controlling the camera to reconnect and start and stop the camera; The remote control system includes a remote server, a data storage device, and an interface display module. The remote server is used to receive video information from the visual module on the robot arm and send control instructions to the visual controller in the visual control system. The data storage device is an NVR, which is used to store video data of the camera in the visual control system. The interface display module is used to display the video data of the camera in the visual control system and issue control instructions through human-computer interaction.

6. A remote control system for a robotic arm with a visual module according to claim 5, characterized in that: The visual control system and the remote control system as well as the visual control system and the robotic arm control system are connected and communicated via wired or wireless connections.

7. A remote control system for a robotic arm with a visual module according to claim 6, characterized in that: The wired connection is through a signal cable or a network cable, and the signal cable is selected from RS485 or RS232; the wireless connection can be selected from WiFi, antenna, 4G / 5G wireless network or by building a wireless bridge to form an internal LAN.

8. The remote control system of a robot arm with a visual module according to claim 5, characterized in that: The remote server is connected and interacted with the robotic arm control system, receives control instructions from the robotic arm control system, and sends control instructions to the robotic arm control system.

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