Paper folding double-arm collaborative robot demonstration device

Abstract

In order to solve the problems of low interestingness and interactivity of science popularization demonstration of the existing double-arm robot, the utility model discloses a paper folding double-arm collaborative robot demonstration device, which comprises a paper storage box, a paper folding platform, a rotating chassis and a double-arm collaborative robot, the double-arm collaborative robot is mounted on the rotating chassis and is provided with a left arm and a right arm; a first clamp is arranged at the tail end of the left arm, a first disc is arranged on the arm body, a second clamp is arranged at the tail end of the right arm, and a second disc is arranged on the arm body; the paper storage box is arranged in the clamping range of the first clamp, and the first clamp clamps paper from the paper storage box. The paper folding platform bears the paper clamped by the first clamp and is located within the clamping range of the second clamp, and the first clamp and the second clamp complete paper folding according to set actions. According to the utility model, the action principle of the two-arm collaborative robot is demonstrated by using the interesting folding paper, and the teaching aid is suitable for various science popularization scenes.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot action principle demonstration, in particular to an origami dual-arm collaborative robot demonstration device. Background Art

[0002] Dual-arm collaborative robots are widely used in the manufacturing industry and serve as a foundational technology for collaborative robotics. Currently, technology museums offer a number of demonstrations and introductions to the principles of dual-arm collaborative robots, primarily including static equipment displays, image and video presentations, and simple demonstrations of their movements.

[0003] Static equipment displays make it difficult for visitors to gain a deep understanding of the operating principles. Image and video displays are merely animated and fail to immerse visitors in the action. While simple action displays can directly illustrate the working process, they are still limited to basic, single actions, such as moving and stacking objects, making more complex movements difficult to demonstrate. Furthermore, existing action displays, on the one hand, require that the objects, such as blocks, belong to the venue and need to be reused. On the other hand, for safety reasons, visitors are limited to viewing and cannot interact. Summary of the Invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present utility model is to provide an origami dual-arm collaborative robot demonstration device, which uses origami, an interesting activity, to demonstrate the movement principle of a dual-arm collaborative robot, and is suitable for various science popularization scenarios.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] An origami dual-arm collaborative robot demonstration device, characterized by comprising a paper storage box, an origami platform, a rotating chassis and a dual-arm collaborative robot;

[0007] The dual-arm collaborative robot is mounted on a rotating chassis and has a left arm and a right arm; a first clamp is provided at the end of the left arm, and a first disc is provided on the arm body; a second clamp is provided at the end of the right arm, and a second disc is provided on the arm body;

[0008] The paper storage box is arranged within the clamping range of the first clamp, and the first clamp clamps paper from the paper storage box;

[0009] The paper folding platform carries the paper clamped by the first clamp and is located within the clamping range of the second clamp. The first clamp and the second clamp complete the paper folding according to the set actions.

[0010] In one embodiment, a paper folding area is marked on the paper folding platform, and the paper clamped by the first clamp is placed in the paper folding area.

[0011] In one embodiment, a paper folding auxiliary jig 1 is provided on the side of the paper folding platform away from the paper storage box, and a paper folding auxiliary jig 2 is provided between the paper folding platform and the paper storage box. The paper folding auxiliary jig 1 is within the clamping range of the first clamp, and the paper folding auxiliary jig 2 is within the clamping range of the second clamp. The structures of the paper folding auxiliary jig 1 and the paper folding auxiliary jig 2 are the same, the main body has a flat bottom structure, and the upper part has a gripping part.

[0012] In one embodiment, an origami auxiliary jig three is provided on the origami platform. The main body of the origami auxiliary jig three is a long strip structure with a flat bottom and a gripping portion on the top.

[0013] In one embodiment, the left arm and the right arm are both robotic arms with six degrees of freedom, consisting of a linear slider with orthogonal axes and a wrist with three rotational degrees of freedom joints.

[0014] In one embodiment, the first disc and the second disc are both connected to the arm body between the last two joints of the corresponding robotic arm via a short shaft.

[0015] In one embodiment, each of the joints is equipped with an optical encoder for measuring the joint angle, and each joint of the right arm is equipped with a strain gauge for measuring the contact force.

[0016] In one embodiment, the first clamp and the second clamp are both 2-finger grippers.

[0017] In one embodiment, the origami platform has a certain height and an arc-shaped flow channel is opened inside it. The inlet of the arc-shaped flow channel is located on the upper surface of the origami platform, and the outlet is located on the lower surface or the lower side of the origami platform. The arc-shaped flow channel has a drop to allow the origami product to be transferred from the inlet to the outlet.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This utility model uses simple and interesting origami movements to demonstrate the movement principle of a dual-arm collaborative robot. Compared with traditional movements such as picking up and placing objects, it is more complex and can better reflect the characteristics of dual-arm collaboration. Compared with traditional movements such as disassembling and installing screws and stacking sleeves, it is more in line with life and suitable for the knowledge of young audiences.

[0020] The material used in the origami action demonstration of the present invention is paper. Compared with various actions in traditional demonstrations, this material has almost no cost. In the present invention, it is used as a consumable material. The origami product can be taken away by users, visitors, etc., which greatly enhances the fun and interactivity of the demonstration.

[0021] Furthermore, through different origami procedures, the utility model can realize the folding of various types of origami products. This method is suitable for popular science scenes such as science and technology museums, exhibition halls, and teaching laboratories. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a schematic structural diagram of the utility model.

[0024] Figure 2 It is a schematic diagram of the layout structure of the origami platform of the present utility model.

[0025] Figure 3 It is a schematic structural diagram of the left arm in an embodiment of the present utility model.

[0026] Figure 4 It is a schematic structural diagram of the right arm in an embodiment of the present utility model.

[0027] Figure 5 It is a schematic diagram of the arc flow channel structure in an embodiment of the present utility model. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following 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 rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0031] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0032] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0033] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention can be combined with each other.

[0034] Traditionally, dual-arm collaborative robot demonstrations in popular science settings primarily involve actions like picking up and placing objects, and installing and removing screws. These actions tend to be industrial in nature, lacking in appeal and appeal to young audiences. Furthermore, these actions utilize industrial parts, which carry a certain level of cost, resulting in low interactivity and reduced audience engagement.

[0035] To this end, the utility model provides an origami dual-arm collaborative robot demonstration device. The origami action is selected for demonstration, which can not only better reflect the dual-arm collaboration process, but also has strong fun. At the same time, the action uses paper as consumables, and the audience's participation can be improved through design.

[0036] The overall structure of the utility model is as follows Figure 1 As shown, the system primarily comprises a paper storage box 8, a paper folding platform 12, a rotating chassis 3, and a dual-arm collaborative robot 1. The dual-arm collaborative robot 1 is mounted on the rotating chassis 3 and can rotate vertically up to 360°. The rotating chassis 3 is a structure mounted on a vertical axis and can rotate along the axis driven by a motor. The dual-arm collaborative robot 1 can be secured to the surface of the rotating chassis 3 by screws, welding, or other means.

[0037] The dual-arm collaborative robot 1 has a left arm and a right arm, and an integrated control unit 2. This integrated control unit 2 serves as the robot's controller, reading motion programs and issuing motion commands to the left and right arms. The integrated control unit 2, the left and right arms are all inherent and conventional components of the dual-arm collaborative robot 1, and their operating principles are common knowledge.

[0038] The utility model is provided with a first clamp 4 at the end of the left arm and a first disc 5 on the left arm body, a second clamp 6 at the end of the right arm and a second disc 7 on the right arm body. Among them, the first clamp 4 and the second clamp 6 are conventional components of the dual-arm collaborative robot 1.

[0039] In the present invention, the integrated control unit 2 has a pre-designed paper folding program, which is configured to send a time series of instructions to the left and right arms and the first clamp 4 and the second clamp 6 by the integrated control unit 2 when the program is executed. The instructions are mapped into a series of corresponding actions of the left and right arms and the first clamp 4 and the second clamp 6. For example, when a program is executed, the corresponding actions are: the left arm is raised, rotated to the left, dropped, the first clamp 4 is clamped, the left arm is raised, rotated to the right, dropped, the first clamp 4 is released, the first disc 5 presses down the paper, the right arm is raised and moved to the paper position, the second clamp 6 clamps the paper and folds it up, .... By executing in this way, a coherent action is decomposed into individual mechanical actions. This is common knowledge of dual-arm collaborative robots. The only difference is that different actions are decomposed through programs.

[0040] In this design, the first clamp 4 grips the raw material, i.e., paper, from a paper storage box 8. To ensure smooth gripping, the paper storage box 8 should be positioned within the gripping range of the first clamp 4. The paper gripped by the first clamp 4 is then placed on the folding platform 12 for folding. Therefore, the folding platform 12 should be positioned within the gripping range of both the first clamp 4 and the second clamp 6. When the folding program is executed, the integrated control unit 2 issues the corresponding action commands, and the left and right arms drive the first and second clamps 4, 6 to complete the folding according to the programmed actions.

[0041] According to the above structure, taking a simple paper folding as an example, the complete folding process is as follows:

[0042] The left arm is raised 20 cm, rotated 30° to the left, and dropped 20 cm. The first clamp 4 opens and clamps a piece of paper. The left arm is raised 20 cm, rotated 30° to the right, and dropped 20 cm. The first clamp 4 opens and the paper is placed on the paper folding platform 12. The left arm drives the first disc 5 to continue to drop 5 cm, and the first disc 5 presses the paper.

[0043] The right arm is raised 20 cm, turned 30° to the left, and dropped 20 cm. The second clamp 6 is opened, clamps the edge of the paper, and is raised and moved to the folding position of the paper. The left arm is raised 5 cm, moved and dropped 5 cm. The first disc 5 is pressed down to produce a crease.

[0044] More complex movements follow a similar principle, which is to break down complex movements into several basic movements: moving, clamping, lifting, and pressing down to create creases.

[0045] For example, the first disc 5 and the second disc 7 of the utility model can adopt suction cups, typically vacuum suction cups, which can achieve close adsorption by pumping and releasing gas. This structure can achieve better results, but it needs to be implemented in conjunction with a gas suction device. The vacuum suction cup that performs adsorption by gas suction is an existing conventional component, and the utility model will not go into details about its specific structure and principle. In the power part, a gas pump and a valve are required, and in the control part, the gas pump and valve need to be electronically controlled components. When a vacuum suction cup is used, the two discs can control the adsorption of origami paper respectively, and can drive the paper to rotate through the movement of the left and right arms after adsorbing the paper.

[0046] Further, refer to Figure 1 and Figure 2 To better mark the area and facilitate stroke control, the present invention marks a folding area 10 on the folding platform 12. The folding area 10 is a rectangular area. The paper gripped by the first clamp 4 is placed in the folding area 10, and subsequent folding operations are performed in the folding area 10. The area of ​​the folding area 10 can be selected to be 120% of the paper area.

[0047] Further, refer to Figure 1 and Figure 2 To further ensure the indentation effect, the present invention is provided with an origami auxiliary jig 13 and an origami auxiliary jig 2 9. The origami auxiliary jig 13 is located on the side of the origami platform 12 away from the paper storage box 8, and the origami auxiliary jig 2 9 is located between the origami platform 12 and the paper storage box 8. In other words, the origami auxiliary jig 13 is within the clamping range of the first clamp 4, and the origami auxiliary jig 2 9 is within the clamping range of the second clamp 6, ensuring that they can be clamped by the first clamp 4 and the second clamp 6 respectively. The origami auxiliary jig 13 and the origami auxiliary jig 2 9 have the same structure, with a block-shaped body, a flat bottom, and a gripping portion on the top.

[0048] Through this design, still taking the above-mentioned simple folding of paper as an example, when the first disc 5 is pressed down to produce a crease, the left arm is lifted and moved, clamping the paper folding auxiliary jig 13, moving it to the crease position, driving the paper folding auxiliary jig 13 to fall, and performing a secondary pre-pressure treatment on the crease to ensure that the crease does not rebound.

[0049] Further, refer to Figure 1 and Figure 2 The present invention is also provided with an origami auxiliary jig 3 11, which is arranged on the origami platform 12 and close to the origami area 10. The main body of the origami auxiliary jig 3 11 is a long strip structure with a flat bottom and a gripping portion on the upper part.

[0050] Origami Auxiliary Jig 3 11 is used to position and pre-press longer creases. Generally speaking, the center crease is longer, so the longer Origami Auxiliary Jig 3 11 can be used instead of Origami Auxiliary Jig 1 13 and Origami Auxiliary Jig 2 9 for pre-pressing. The remaining shorter creases generally correspond to thicker folding areas, so Origami Auxiliary Jig 1 13 and Origami Auxiliary Jig 2 9 can be designed to be heavier and smaller to facilitate pre-pressing these localized shorter creases. In actual applications, a single large jig can also be used for all pre-pressing.

[0051] refer to Figure 3 As shown, the left arm of the utility model is a robotic arm with six degrees of freedom, which consists of a linear slider with orthogonal axes and a wrist with three rotational degrees of freedom joints. It has seven joints, namely the first joint 101 of the left arm, the second joint 102 of the left arm, the third joint 103 of the left arm, the fourth joint 104 of the left arm, the fifth joint 105 of the left arm, the sixth joint 106 of the left arm and the seventh joint 107 of the left arm. The first clamp 4 is installed at the end of the left arm through the seventh joint 107 of the left arm.

[0052] refer to Figure 4 As shown, the right arm of the present invention is a robotic arm with six degrees of freedom, consisting of a linear slider with orthogonal axes and a wrist with three rotational degrees of freedom joints. It has seven joints, namely the first joint 201 of the right arm, the second joint 202 of the right arm, the third joint 203 of the right arm, the fourth joint 204 of the right arm, the fifth joint 205 of the right arm, the sixth joint 206 of the right arm and the seventh joint 207 of the right arm. The second clamp 6 is installed at the end of the right arm through the seventh joint 207 of the right arm.

[0053] For example, the first clamp 4 and the second clamp 6 are both two-finger grippers, which not only meet the needs of origami but also have a simple structure and do not require complicated gripping movements.

[0054] The above structure allows the left and right arms to have the degrees of freedom needed for origami. The first and second discs 5 and 7 are connected to the arms between the last two joints of their respective robotic arms via a short axis. This short axis is perpendicular to the surface of the arm to which it is connected, preventing interference with the corresponding fixture during downward pressure.

[0055] For further interactivity, refer to Figure 5The origami platform 12 of the present invention has a certain height, and an arc-shaped flow channel 121 is opened inside it. The arc-shaped flow channel 121 is an upper and lower flow channel as a whole, with a drop to allow the origami product to be transferred from the entrance 1211 to the exit 1212. Among them, its entrance 1211 is located on the upper surface of the origami platform 12, and the exit 1212 is located on the lower surface or the lower side of the origami platform 12. In actual use, in order to protect the safety of the equipment and the audience, the entire equipment can be protected by a glass cover, and only the exit 1212 is exposed at the bottom. After the folding is completed, the signal is fed back to the upper computer program, and the left and right arms change their postures and then grab the origami product and flow out of the arc-shaped flow channel 121 to the exit 1212 for the audience to take away as a souvenir.

[0056] Furthermore, in order to protect the equipment, the utility model installs an optical encoder and a strain gauge at each joint position. The joint angle is measured by the optical encoder, and the contact force is measured by the strain gauge to ensure the force magnitude during the movement of the robotic arm. When the end execution part is subjected to excessive force, it may mean an accidental collision with the audience or other objects. At this time, the robotic arm suspends work to ensure that the joint is not damaged and to ensure the safety of operation.

[0057] In a specific application, the utility model designs a sheet metal cabinet to protect the equipment inside, and designs several program rotary buttons on the outside. Each button corresponds to an origami target, such as a paper airplane, paper crane, etc. When a button is pressed, the corresponding program is executed by the integrated control unit 2, and the continuous folding is decomposed into multiple time series actions.

[0058] When a program is triggered, the dual-arm robot receives signal feedback and executes the action. It first confirms its own initial position status. When the integrated control unit 2 detects that the initial position of the robotic arm is abnormal, it is confirmed by the encoders of each joint, and the left and right robotic arms are initialized and reset, and then the program is executed to drive the joint movement.

[0059] After the robotic arm (left or right) reaches a designated position, it follows a pre-defined trajectory, either gripping a sheet of paper from a paper storage box or using a vacuum cup to activate the vacuum control unit to pick up a sheet of paper from the paper storage box. The paper is then transferred to the folding platform 12, where the folding trajectory begins. This process also utilizes the first or second gripper 4 or 6 at the end of the robotic arm to coordinate complex trajectory motions, such as folding and flipping the paper.

[0060] To ensure adequate manipulator hand space, the present invention utilizes two robotic arms, each with six degrees of freedom, consisting of linear slides with orthogonal axes and wrists with three rotational degrees of freedom. The left arm's first gripper 4 and first disc 5 enable precise manipulation, while the right arm's second gripper 6 and second disc 7 assist in paper pressing and folding. The control unit, comprised of this complete hardware module, precisely ensures the orderly execution of each step in the origami process, ultimately achieving the desired functionality.

[0061] After the origami product is folded, the integrated control unit 2 feeds back a signal to the host computer or controls the robot arm to change its posture, then grabs the origami product and sends it out through the arc flow channel 121 for the audience to take away.

[0062] In summary, the present invention allows viewers to select programs to watch the folding process of different origami products, and the folded products can be taken away. The origami process reflects most of the actions of the dual-arm collaborative robot and is suitable for use as a science demonstration device.

Claims

1. An origami dual-arm collaborative robot demonstration device, characterized in that: It comprises a paper storage box (8), a paper folding platform (12), a rotating chassis (3) and a dual-arm collaborative robot (1); The dual-arm collaborative robot (1) is mounted on a rotating chassis (3) and has a left arm and a right arm; a first clamp (4) is provided at the end of the left arm, and a first disc (5) is provided on the arm body; a second clamp (6) is provided at the end of the right arm, and a second disc (7) is provided on the arm body; the first disc (5) and the second disc (7) are both connected to the arm body between the last two joints of the corresponding robot arm via a short shaft; The paper storage box (8) is arranged within the clamping range of the first clamp (4), and the first clamp (4) clamps paper from the paper storage box (8); The paper folding platform (12) carries the paper clamped by the first clamp (4) and is located within the clamping range of the second clamp (6), and the first clamp (4) and the second clamp (6) complete the paper folding according to the set action; The paper folding platform (12) has a certain height and has an arc-shaped flow channel (121) opened therein. The inlet (1211) of the arc-shaped flow channel (121) is located on the upper surface of the paper folding platform (12), and the outlet (1212) is located on the lower surface or the lower part of the side of the paper folding platform (12). The arc-shaped flow channel (121) has a drop to allow the origami finished product to be transferred from the inlet (1211) to the outlet (1212). The entire device is protected by a glass cover, with only the outlet (1212) exposed at the bottom.

2. The origami dual-arm collaborative robot demonstration device according to claim 1, characterized in that: A paper folding area (10) is marked on the paper folding platform (12), and the paper clamped by the first clamp (4) is placed in the paper folding area (10).

3. The origami dual-arm collaborative robot demonstration device according to claim 1, characterized in that: A paper folding auxiliary jig (13) is provided on a side of the paper folding platform (12) away from the paper storage box (8), and a paper folding auxiliary jig (9) is provided between the paper folding platform (12) and the paper storage box (8). The paper folding auxiliary jig (13) is within the clamping range of the first clamp (4), and the paper folding auxiliary jig (9) is within the clamping range of the second clamp (6). The structures of the paper folding auxiliary jig (13) and the paper folding auxiliary jig (9) are the same, and the main body has a flat bottom structure and a gripping portion on the upper part.

4. The origami dual-arm collaborative robot demonstration device according to claim 1, characterized in that: The paper folding platform (12) is provided with a paper folding auxiliary jig (11). The main body of the paper folding auxiliary jig (11) is a long strip structure with a flat bottom and a gripping portion on the top.

5. The origami dual-arm collaborative robot demonstration device according to claim 1, characterized in that: The left arm and the right arm are both robotic arms with six degrees of freedom, consisting of a linear slider with orthogonal axes and a wrist with three rotational degrees of freedom joints.

6. The origami dual-arm collaborative robot demonstration device according to claim 1, characterized in that: The first clamp (4) and the second clamp (6) are both two-finger grippers.

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