Mechanical arm assembly for exhibit display

Abstract

The utility model discloses a kind of mechanical arm assemblies for exhibit display, which comprises: the mechanical arm with L-shaped bent pipe structure and at least two joints;Each joint is equipped with motor and encoder;The motor is used to drive corresponding joint to drive the mechanical arm to move to the target pose of corresponding joint in control instruction after receiving the control instruction sent by external control module or the current pose feedback by encoder;Encoder is used to output the current pose of joint, and feedback to motor;Control instruction is sent after determining by external control module based on audience image collected by camera module;Control instruction includes moving path collection, and moving path collection includes multiple moving paths that need to be sequentially completed by motor, and each moving path includes the target pose of all joints and the holding time length to reach target pose. The utility model can move the exhibit to a suitable position according to the height of the audience.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm structure technology, and in particular to a robotic arm component for displaying exhibits. Background Technology

[0002] This section is intended to provide background or context for the embodiments of the present invention set forth in the claims. The description herein does not constitute an admission that it is prior art simply because it is included in this section.

[0003] With the increasing demand for exhibits in museums, science and technology museums, commercial exhibition areas and other settings, display devices need to be widely deployed. Traditional display devices generally suffer from fixed structures and lack of adaptive adjustment capabilities.

[0004] Current display technologies typically employ fixed omnidirectional screens, with a fixed height that cannot be adjusted. These are often paired with simple rotating platforms to allow the screen to rotate and display content at different angles. Viewers stand at the center or perimeter of the screen, viewing it from all sides. However, because the screen height is fixed, this method only meets the viewing needs of most adults, offering a poor experience for children or viewers of varying heights. Furthermore, while the rotating platform structure allows for some angle adjustments, it cannot automatically adjust the screen height according to the viewer's height, resulting in limited viewing angles for some viewers. Therefore, overall, it is difficult to cater to the needs of viewers with different heights, postures, and viewing angles.

[0005] Another existing display technology employs a ring-shaped support and a telescopic mechanism, using sensors to detect the average height of the audience and then centrally adjust the overall screen position. The main idea is to measure the average height of the audience at a single point and then activate a motor to raise or lower the screen uniformly. However, this telescopic mechanism can only raise and lower the entire screen as a whole, lacking multi-point sensing and segmented adjustment capabilities. Furthermore, based on the average height of the audience, it cannot make real-time adjustments to accommodate rapid changes in different groups of people to achieve precise adaptation for individual viewers. This is especially problematic in scenarios with multiple viewers simultaneously or frequent foot traffic, resulting in slow response times, high energy consumption, and severe mechanical wear. Additionally, the display device has a complex structure, high cost, and is difficult to maintain in case of malfunction. Moreover, while sensor-based image recognition can acquire richer audience feature information, it still faces significant challenges in areas such as multi-target recognition accuracy, occlusion handling, system cost, and privacy protection.

[0006] In summary, there is a need for a robotic arm component that can adaptively adjust the height of exhibits based on the audience's height. Utility Model Content

[0007] This utility model embodiment provides a robotic arm assembly for displaying exhibits, used to move exhibits to a suitable position according to the height of the audience. The robotic arm assembly for displaying exhibits includes:

[0008] A robotic arm with an L-shaped bend and at least two joints, wherein a display stand for placing exhibits is installed at the end of the robotic arm and a camera module is installed at the bend of the robotic arm.

[0009] Each joint is equipped with a motor and an encoder;

[0010] The motor is used to drive the corresponding joint to move the robotic arm to the target pose of the corresponding joint in the control command after receiving the control command sent by the external control module or the current pose fed back by the encoder.

[0011] The encoder is used to output the current position and pose of the joint and feed it back to the motor;

[0012] The control command is sent by the external control module after determining the audience image captured by the camera module; the control command includes a set of movement paths, which includes multiple movement paths that need to be completed sequentially by the motors. Each movement path includes the target pose of all joints and the holding time to reach the target pose. Each holding time corresponds to the display time of one audience member.

[0013] The beneficial effects of the above-mentioned robotic arm components are as follows:

[0014] Exhibit Display Functionality: A unique L-shaped curved tube robotic arm structure, combined with an end-effector display platform and a camera module at the bend, creates an integrated, multi-directional exhibit display system. This ensures stable support and presentation of exhibits while leveraging cameras to flexibly collect audience information. The robotic arm can then adjust its display posture based on audience dynamics, enriching the display format and enhancing the exhibit's effectiveness and appeal.

[0015] Audience experience dimension: Customized display time and angles for different audiences, allowing them to view exhibits more clearly and comprehensively, enhancing interactivity and participation, optimizing the viewing experience, and meeting diverse viewing needs.

[0016] Control precision dimension: Each joint is equipped with a motor and encoder. The motor precisely drives the joint to move the robotic arm based on control commands and encoder feedback. The encoder provides real-time feedback on joint posture, forming a closed-loop control. This ensures that the robotic arm quickly and accurately reaches the target posture, guarantees smooth and continuous display movements, improves the reliability of robotic arm operation and the smoothness of the display process, and avoids the display effect being affected by posture deviation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structure of the robotic arm assembly used for exhibit display in an embodiment of this utility model;

[0019] Figure 2 This is a physical illustration of the mechanical components in an embodiment of this utility model;

[0020] Figure 3 , Figure 4 , Figure 5 This is a schematic diagram for demonstration purposes after the robotic arm assembly is installed in an embodiment of this utility model;

[0021] Figure 6 These are display effect diagrams of the display stand from multiple directions in embodiments of this utility model;

[0022] Figure 7 This is a physical schematic diagram of the display stand in an embodiment of this utility model. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of this utility model and their descriptions are used to explain this utility model, but are not intended to limit this utility model.

[0024] Figure 1 This is a schematic diagram of the structure of the robotic arm assembly used for exhibit display in an embodiment of this utility model. Figure 2 This is a physical illustration of the mechanical component in an embodiment of the present invention. The robotic arm component includes:

[0025] A robotic arm 1 with an L-shaped curved tube structure and at least two joints 2, wherein a display stand for placing exhibits is installed at the end of the robotic arm 3, and a camera module is installed at the curved tube of the robotic arm 1 4.

[0026] Each joint 2 is equipped with a motor and an encoder;

[0027] The motor is used to drive the corresponding joint 2 to move the robotic arm 1 to the target position of the corresponding joint 2 in the control command after receiving the control command sent by the external control module or the current position feedback from the encoder.

[0028] The encoder is used to output the current pose of joint 2 and feed it back to the motor;

[0029] The control command is sent by the external control module after determining the audience image captured by the camera module; the control command includes a set of movement paths, which includes multiple movement paths that need to be completed sequentially by the motors. Each movement path includes the target pose of all joints 2 and the holding time to reach the target pose. Each holding time corresponds to the display time of one audience member.

[0030] The robotic arm assembly can be installed on Figure 1 There are 5 locations. Figures 3-5 This is a schematic diagram illustrating the robotic arm assembly after installation in an embodiment of this utility model. Figure 3 This is the overall installation diagram. Figure 4 This is an installation diagram along the Z-axis. Figure 5 For installation along the X or Y axis, the robotic arm assembly can be housed in a glass enclosure to prevent human contact. The motor driver typically integrates a position closed loop (such as PID control), directly adjusting the motor current or pulse frequency using encoder feedback to ensure joint 2 moves according to commands. For example, the driver dynamically adjusts the PWM signal duty cycle by comparing the target pose with the current pose fed back by the encoder, achieving high-precision positioning at joint 2 level.

[0031] The encoder is used to output the current pose of joint 2. The encoder outputs the current pose of joint 2 using a known program, such as incremental encoding, absolute value encoding, and magnetic encoding.

[0032] In one embodiment, the motor performs uniformly decelerated motion when driving the corresponding joint 2 to stop, and uniformly accelerated motion when driving the corresponding joint 2 to start moving.

[0033] This uniform deceleration and uniform acceleration motion maintains the stability of the display stand. The purpose of limiting the duration of this stability is to ensure that every visitor has the opportunity to view the exhibits.

[0034] In one embodiment, the motor is further used for:

[0035] Upon receiving a pause command from an external safety impact module, the corresponding joint 2 is driven to pause its movement.

[0036] In one embodiment, the motor is a servo motor or a stepper motor.

[0037] In one embodiment, there are 7 joints 2.

[0038] In one embodiment, the distance from the end of the robotic arm to the ground is [60cm, 200cm].

[0039] The aforementioned range is determined based on the audience's height and can be slightly modified; all such variations should fall within the protection scope of this utility model. The camera is installed below the center of the L-shaped bend, centered and aligned with the main passageway of the display area. This arrangement allows the camera to cover the eye level range of both adults and children, maintaining the optimal imaging angle for faces directly in front, maximizing recognition efficiency while controlling the number of cameras.

[0040] In one embodiment, a U-shaped hinge and a return spring are provided at the joint 2, and the hinge axis of the U-shaped hinge is coaxial with the motor of the joint 2.

[0041] Specifically, a U-shaped hinge and a return spring combination are set at the joint 2 of the corner of the two arm segments of the robotic arm 1. When transportation or storage is required, the hinge is folded by the motor, so that the robotic arm 1 shrinks from an L-shape to a straight shape, reducing the volume by more than 50%.

[0042] In one embodiment, the U-shaped hinge incorporates an angle sensor for measuring the folding angle.

[0043] The folding angle can be fed back to an external control module to be sent to staff, avoiding motion interference and solving the problem of the large space occupied by the robotic arm 1 when moving museum exhibits, thus improving the flexibility of equipment deployment.

[0044] In one embodiment, the robotic arm has a gripper at its end for securing the display stand.

[0045] In one embodiment, the gripper integrates a flexible tactile sensor and driving claws, and the surface of the gripper is covered with a silicone rubber tactile array, each contact point of the silicone rubber tactile array having a built-in piezoresistive sensor;

[0046] The piezoresistive sensor is used to detect pressure data on the surface of the exhibit in real time and send it to an external control module;

[0047] The drive claw is used to receive deformation commands from an external control module generated based on pressure data.

[0048] In this embodiment of the invention, the deformation command includes automatically adjusting the encircling force for cylindrical exhibits and using a constant force gripping mode for fragile items.

[0049] In one embodiment, the claw fingers are provided with a vacuum adsorption unit at their tips, which is used to assist in grasping exhibits.

[0050] In this embodiment of the invention, the vacuum adsorption unit and the claws form a double fixation to prevent the exhibits from falling off, and the driving claws can be made of shape memory alloy (SMA).

[0051] The above design is compatible with exhibits of different shapes and weights (such as sculptures, utensils, and documents), and the success rate of grasping them is increased to over 99%.

[0052] In this embodiment of the invention, pose includes position and attitude.

[0053] In practice, joint 2 can achieve pitch and extension movements. The motor is used to drive joint 2 to achieve pitch or extension movements after receiving control commands, so as to drive the robotic arm 1 to move.

[0054] The robotic arm's end effector can adjust its position and angle according to the control commands to align with the target audience's line of sight at the correct height and angle.

[0055] In one embodiment, the camera module includes at least one camera for covering viewers of different heights in front of it, the camera having a resolution of not less than 2K and a viewing angle of not less than 180 degrees.

[0056] To cover viewers of different heights in front, the camera is installed at the curved tube 4 below the robotic arm 1, centered.

[0057] The camera can be a structured light or TOF depth camera. A TOF depth camera acquires the 3D coordinates of the audience and exhibits in real time with an accuracy of ±2mm. The camera module can integrate an infrared thermal imaging sensor to identify the audience's position in low light conditions, expanding the system's operating scenarios (such as nighttime exhibitions). A motorized zoom lens and gimbal mechanism can be added to the camera module to achieve intelligent field-of-view switching.

[0058] When the number of audience members is ≤3, the camera switches to telephoto mode to focus on the facial details of the target audience (such as the position of the pupils) to improve the accuracy of height calculation.

[0059] When the number of audience members is greater than 7, switch to wide-angle mode (expand the field of view to 270°) to achieve panoramic coverage.

[0060] The gimbal supports ±90° horizontal rotation, which, together with the tilting motion of the robotic arm, eliminates blind spots in the display area.

[0061] Through the use of an electric zoom lens and gimbal mechanism, the error in measuring the audience's height has been reduced from ±5cm to ±2cm, and the coverage area has been expanded to 360° without blind spots.

[0062] In one embodiment, the camera module also includes a built-in microelectromechanical system (MEMS) that enables the camera to automatically rotate or tilt within a certain angle range, ensuring that images of all audience members can be fully captured even in complex display areas, such as irregularly shaped venues or places with multi-level seating, reducing blind spots.

[0063] In this embodiment of the utility model, the control command is sent by the external control module after determining the audience image collected by the camera module. Specifically, the external control module identifies facial data based on the audience image. The facial image recognition is a known procedure, such as a facial recognition algorithm based on a deep learning model.

[0064] Then, the external control module calculates the height and spatial position of each audience member based on the facial data and camera parameters. This calculation process is a known procedure. For example, a monocular geometry method can be used to calculate the height of each audience member based on the pixel height and head-to-body ratio in the facial data. Then, the intrinsic and extrinsic parameters are calibrated based on the camera parameters to obtain the spatial position.

[0065] Then, the external control module uses known programs to determine the control strategy based on the height and spatial location of each audience member. For example, the control strategy can be to prioritize showing the children when there are fewer than 7 audience members and the children are present, and each audience member is shown for a preset time; when there are 7 audience members, a fixed rotation strategy is executed; when there are more than 7 audience members, the children are shown in sequence.

[0066] Finally, the external control module uses a known program to generate control instructions based on the control strategy. The control instructions include a set of movement paths, which includes multiple movement paths that need to be completed sequentially by the motors. Each movement path includes the target pose of all joints 2 and the holding time for reaching the target pose. Each holding time corresponds to the display time for one audience member.

[0067] The known programs that generate control commands include sampling-based path planning algorithms, dedicated control software (which automatically generates control programs by setting the target pose, path sequence, and hold duration in a graphical programming interface), and embedded control programs (lightweight control schemes).

[0068] In this embodiment of the invention, in addition to the pause command, a rollback or reset command can also be set according to the actual situation.

[0069] Figure 6 These are display effect diagrams of the display stand from multiple directions in embodiments of this utility model. Figure 6 Some size suggestions are provided, which can be adjusted according to actual needs. Figure 6 (1) is a schematic diagram without a light source installed. Figure 6 (2) also provides a schematic diagram of the light source installation. Figure 6 (3) is a top view of the display stand. Figure 7 This is a physical schematic diagram of the display stand in the embodiments of this utility model. Figure 7 The handles of the fixed display stand are clearly visible. Figure 7 (The middle part consists of three S-shaped grippers).

[0070] In one embodiment, the display stand includes a platform connected to the end of a robotic arm, a connecting rod connected to the platform, and a light source mounted on the upper end of the connecting rod.

[0071] The light source is an LED light source.

[0072] In one embodiment, an anti-reflective glass is also installed on the upper end of the connecting rod.

[0073] Light sources and anti-reflective glass can enhance the display effect of exhibits, and they can also support automatic adjustment of the tilt angle.

[0074] In summary, the robotic arm assembly proposed in this embodiment of the invention can achieve the following technical effects:

[0075] Exhibit Display Functionality: A unique L-shaped curved tube robotic arm structure, combined with an end-effector display platform and a camera module at the bend, creates an integrated, multi-directional exhibit display system. This ensures stable support and presentation of exhibits while leveraging cameras to flexibly collect audience information. The robotic arm can then adjust its display posture based on audience dynamics, enriching the display format and enhancing the exhibit's effectiveness and appeal.

[0076] Audience experience dimension: Customized display time and angles for different audiences, allowing them to view exhibits more clearly and comprehensively, enhancing interactivity and participation, optimizing the viewing experience, and meeting diverse viewing needs.

[0077] Control precision dimension: Each joint is equipped with a motor and encoder. The motor precisely drives the joint to move the robotic arm based on control commands and encoder feedback. The encoder provides real-time feedback on joint posture, forming a closed-loop control. This ensures that the robotic arm quickly and accurately reaches the target posture, guarantees smooth and continuous display movements, improves the reliability of robotic arm operation and the smoothness of the display process, and avoids the display effect being affected by posture deviation.

[0078] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A robotic arm assembly for displaying exhibits, characterized in that, include: A robotic arm (1) with an L-shaped bend and at least two joints (2), wherein a display stand for placing exhibits is installed at the end of the robotic arm (3), and a camera module is installed at the bend of the robotic arm (1) (4). Each joint (2) is equipped with a motor and an encoder; The motor is used to drive the corresponding joint (2) after receiving the control command sent by the external control module or the current pose fed back by the encoder, so as to move the robotic arm (1) to the target pose of the corresponding joint (2) in the control command. The encoder is used to output the current pose of the joint (2) and feed it back to the motor; The control command is sent by the external control module after determining the audience image collected by the camera module; the control command includes a set of movement paths, which includes multiple movement paths that need to be completed by the motors in sequence. Each movement path includes the target pose of all joints (2) and the holding time to reach the target pose. Each holding time corresponds to the display time of one audience member.

2. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, The motor decelerates uniformly when driving the corresponding joint (2) to stop, and accelerates uniformly when driving the corresponding joint (2) to start moving.

3. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, The motor is also used for: Upon receiving a pause command from an external safety impact module, the corresponding joint (2) is driven to pause its movement.

4. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, There are 7 joints (2).

5. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, The distance from the end of the robotic arm to the ground is [60cm, 200cm].

6. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, A U-shaped hinge and a return spring are provided at the joint (2), and the hinge axis of the U-shaped hinge is coaxial with the motor of the joint (2).

7. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, The U-shaped hinge has a built-in angle sensor that measures the folding angle.

8. The robotic arm assembly for exhibit display as described in claim 1, characterized in that, The robotic arm is equipped with a gripper at its end for securing the display stand.

9. The robotic arm assembly for exhibit display as described in claim 8, characterized in that, The gripper integrates a flexible tactile sensor and driving claws. The surface of the gripper is covered with a silicone rubber tactile array, and each contact point of the silicone rubber tactile array has a built-in piezoresistive sensor. The piezoresistive sensor is used to detect pressure data on the surface of the exhibit in real time and send it to an external control module; The drive claw is used to receive deformation commands from an external control module generated based on pressure data.

10. The robotic arm assembly for exhibit display as described in claim 9, characterized in that, The claws are equipped with vacuum adsorption units at their tips, which are used to assist in grasping exhibits.

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