CN102825612A - Gripper module having function of automatic pose detecting - Google Patents
Gripper module having function of automatic pose detecting Download PDFInfo
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- CN102825612A CN102825612A CN2012103028495A CN201210302849A CN102825612A CN 102825612 A CN102825612 A CN 102825612A CN 2012103028495 A CN2012103028495 A CN 2012103028495A CN 201210302849 A CN201210302849 A CN 201210302849A CN 102825612 A CN102825612 A CN 102825612A
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Abstract
本发明公开了一种面向杆件的具有位姿自主检测功能的夹持器模块，包括夹持部、控制系统、壳体及设于壳体外表面的位姿自主检测部；夹持部包括两个相对设置的手爪与用于驱动手爪的传动部；其中，手爪设于壳体上方，传动部设于壳体内；控制系统控制系统与位姿自主检测部电连接从而通过位姿自主检测部获取待夹物品信息，控制系统与传动部电连接从而通过获取的待夹物品信息驱动传动部。就夹持功能而言，主要通过盘式谐波减速器和蜗杆蜗轮结构减速，由平行四杆机构实现手爪的平行张开和闭合。
The invention discloses a clamper module facing a bar with the function of autonomous detection of position and posture, which includes a clamping part, a control system, a housing and an independent detection part of position and posture arranged on the outer surface of the housing; the clamping part includes two Two oppositely arranged grippers and a transmission part for driving the gripper; wherein, the gripper is arranged above the casing, and the transmission part is arranged in the casing; the control system is electrically connected with the pose autonomous detection part so that the pose autonomous The detection part obtains the information of the object to be clamped, and the control system is electrically connected with the transmission part so as to drive the transmission part through the obtained information of the object to be clamped. As far as the clamping function is concerned, it is mainly decelerated by the disc harmonic reducer and the worm gear structure, and the parallel opening and closing of the gripper is realized by the parallel four-bar mechanism.
Description
Technical field
The present invention relates to the Automatic Measurement Technique field of robot, particularly a kind of clamper module with pose self measuring ability.
Background technology
Obtaining position and the attitude of clamper with respect to rod member, is the necessary condition of the reliable clamping of guiding clip collisionless.
Because systematic errors such as pedestal error, robot body joint space error and image error; Be used to grab the industrial robot of folder; And paw/sufficient pawl alternately grab the folder object the main flow climbing level robot comprise that WOODY, CPR, Shady3D, ASTERISK, 3DCLIMBER, Treebot and Climbot etc. face the problem of a general character; End is grabbed the folder instrument can not align rod member well, need do suitable correction and could reliably grab clamping bar spare.
Most of industrial robots and climbing level robot are not grabbed the folder error to correction and are done too many work, but rely on the precision of robot itself or the reliability that artificial adjustment guarantees to grab folder.Although 3DCLIMBER grabs on the folder error correction and done a few thing, it is also following not enough: 1) the clamper object pose is accurately given in advance, and is only just meaningful in structurized accurate environment, in autonomous climbing, is difficult to satisfy; 2) in fact 3DCLIMBER has only the plane three degree of freedom in the single step climbing, only detects and adjust a displacement parameter and an angle parameter, and the climbing in the 3D environment is nowhere near; 3) align through the infrared correlation in two ends and the feasibility and the actual effect of finding range open to suspicion; 4) detect and proofread and correct all with robot this as the center, need know the inclination of robot stiff end and the error of robot itself, what cause dealing with problems is complicated.
Therefore, as far as from mainlying grasp folder, should with the rod member reference and benchmark, detect and be controlled to be the center with paw with respect to the pose of rod member, the technology of this respect is still blank.
Summary of the invention
Goal of the invention of the present invention is the technical deficiency that detects automatically to existing robot, and a kind of clamper module with pose self measuring ability is provided.
For realizing the foregoing invention purpose, the technical scheme that the present invention adopts is:
A kind of clamper module with pose self measuring ability is provided, comprises clamping part, control system, housing and be located at the pose self test section of housing outer surface; Said clamping part comprises two paws that are oppositely arranged and the driving section that is used to drive paw; Wherein, paw is located at the housing top, and the driving section is located in the housing; Thereby said control system control sytsem is electrically connected through the pose self test section with the pose self test section and obtains Item Information to be pressed from both sides, and presss from both sides Item Information through waiting of obtaining and drives the driving section thereby the control system is electrically connected with the driving section.
Preferably, said driving section also comprises worm gear, disc type electric machine, motor shaft sleeve, disc type harmonic speed reducer, disc type harmonic speed reducer output transition disc and worm screw; The output shaft of disc type electric machine links to each other with the wave producer of disc type harmonic speed reducer through motor shaft sleeve; Pass through flat key between motor shaft sleeve and the wave producer and transmit moment of torsion, the input steel wheel of disc type harmonic speed reducer is then exported the transition disc axial restraint with housing inside bottom and harmonic speed reducer respectively through screw with the output steel wheel; Harmonic speed reducer output transition disc is connected through spline fitted with worm screw and axially fixes through screw; The worm screw two ends then are installed in the housing through angular contact ball bearing respectively; Two worm wheel symmetrical are installed in the housing in the worm screw center line and through angular contact ball bearing, and the supporting center line between two worm gears is vertical with the worm screw center line; The center line and the worm screw centerline collineation of disc type electric machine, motor shaft sleeve, disc type harmonic speed reducer, harmonic speed reducer output transition disc; Mesh respectively between worm screw and two worm gears, thereby transmit motion and moment.
Preferably, said driving section also comprises follower lever; Each worm gear is provided with an extension bar, and the end of each extension bar is hinged with a paw, and two paws are symmetrical in the setting of worm screw center line; One end of each follower lever is articulated in the housing middle part through straight pin, and the other end is hinged through the paw of straight pin and homonymy respectively, and two follower levers are symmetrical in the setting of worm screw center line; Wherein, two worm gears, two follower levers, two paws constitute parallelogram lindage with housing respectively, and paw is then closed abreast under the driving of worm gear perhaps to be opened.
Preferably; Said paw is the V-type paw that is oppositely arranged; Form first groove and second groove between two V-type paws; The opening of said first groove upwards dwindles gradually, and Open Side Down dwindles gradually for said second groove, thereby makes the clamper module to grasp and clamping article to be pressed from both sides from two different directions.
Preferably, said housing comprises motor cabinet, main basic shell and secondary basic shell; Said disc type electric machine is installed in the motor cabinet, and both coaxial lines are also combining end face to fix through screw; Said motor shaft sleeve, disc type harmonic speed reducer and harmonic speed reducer output transition disc are installed in the main basic shell; Said worm screw and worm gear are installed in the secondary basic shell; And the center line of said motor cabinet also with the worm screw centerline collineation.
Preferably, said worm screw two ends then are installed in the main basic shell through angular contact ball bearing respectively, and are fixed by the square bearing end cap that is arranged in the main basic shell; Said worm gear all is installed in the secondary basic shell through angular contact ball bearing, and is fixed by the circular journal bearing end cap that is arranged on secondary basic shell outer surface.
Preferably, said control system comprises Electric Machine Control driver mounting box, Electric Machine Control driver and master control system; Said Electric Machine Control driver mounting box is through being bolted to housing outer surface; Said Electric Machine Control driver then is fixed in the Electric Machine Control driver mounting box through bolts and nuts; This Electric Machine Control driver is electrically connected with disc type electric machine and master control system respectively, and master control system also is electrically connected with the pose self test section.
Preferably, said pose self test section comprises ultrasonic sensor, camera, sensor data acquisition module mounting box, laser region scanner, sensor stand and sensor data acquisition module; Two sensor stands are symmetricly set in main basic shell outer surface through bolt, and each sensor stand is provided with a ultrasonic sensor; The direction of each ultrasonic sensor emission sound wave is along worm axis and towards the V-type paw; The laser region scanner then is installed on main basic shell outer surface one side through bolt, and its plane of scanning motion is perpendicular to the rotation of worm gear; Relative with the laser region scanner, main basic shell outer surface opposite side is provided with camera ball pivot support, and camera is articulated in the camera ball pivot and props up, and the shooting direction of camera is controlled by camera ball pivot support; The sensor data acquisition module is installed in the sensor data acquisition module mounting box through bolt, and sensor data acquisition module mounting box is installed on the sensor stand through screw bolt and nut; Camera, laser scanner and ultrasonic sensor are measured the pose of clamper module with respect to rod member jointly.
Preferably, said pose self test section comprises ultrasonic sensor, camera, sensor data acquisition module mounting box, laser region scanner, sensor stand and sensor data acquisition module; Two sensor stands are symmetrically set in main basic shell outer surface through bolt, and each sensor stand is provided with a ultrasonic sensor; The direction of each ultrasonic sensor emission sound wave is along worm axis and towards paw; The laser region scanner then is installed on secondary basic shell outer surface one side through bolt, and its plane of scanning motion is perpendicular to the rotation of worm gear; Relative with the laser region scanner, secondary basic shell outer surface opposite side is provided with camera ball pivot support, and camera is articulated in camera ball pivot support, and the shooting direction of camera is controlled by camera ball pivot support; The sensor data acquisition module is installed in the sensor data acquisition module mounting box through bolt, and sensor data acquisition module mounting box is installed on the sensor stand through screw bolt and nut; Camera, laser scanner and ultrasonic sensor are measured the pose of clamper module with respect to rod member jointly.
When this clamper module when waiting to grab clamping bar shape object, obtain the position of bar Y axle and Z axle (see figure 3) in the clamper coordinate system through the laser scanner scans measurements and calculations; Through camera bar attitude around the Z axle in the clamper coordinate system is extracted and calculated to the bar characteristic; Two ultrasonic sensor range findings can obtain bar attitude around the Y axle in the clamper coordinate system; Thereby realize that bar is with respect to the position of clamper module Y axle and Z axle and the autonomous detection of four amounts of attitude.
Preferably; Said master control system comprises host computer and SCM Based master controller, and said ultrasonic sensor inserts SCM Based master controller through
bus; Said sensor data acquisition module inserts host computer through the CAN bus, and said laser region scanner and camera insert host computer through USB Hub.
The present invention is with respect to prior art; Have following beneficial effect: the present invention is towards the integrated holding function of clamper module and the pose self measuring ability with pose self measuring ability of rod member; Compact conformation, implement simple and reliablely, the complete and independent modularized design is convenient to use and expansion.Wherein, the V-type paw of particular design can be realized the extracting and the clamping of both direction, but and the size of self adaptation rod member and shape, through parallelogram lindage opening and closing abreast; In addition, through three kinds of sensor organic assembling, realization independently detects the position and the attitude of rod member, can be autonomous extracting and clamping the guidance information near rod member is provided.This clamper module application is in climbing level robot or industrial machine philtrum, and during near rod member, the start sensor detection system progressively obtains the pose of rod member with respect to clamper the robot end; Use inverse kinematics to solve the regulated quantity that clamper moves to each joint of reliable bite again; Be implemented in and independently detect and proofread and correct the pose of clamper in the motion process with respect to rod member; Make the reliable clamping rod member of clamper; Can effectively solve climbing level robot difficult problem such as transition between same straight-bar or two staggered rod members, be the basis of realizing climbing level robot autonomous climbing in the rod member environment.
Description of drawings
Fig. 1 is that the master of clamper module of the present invention looks half sectional view;
Fig. 2 is the left view of clamper module of the present invention;
Fig. 3 is a clamper module clamping round bar sketch map of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment goal of the invention of the present invention is done to describe in further detail, embodiment can not give unnecessary details at this one by one, but therefore embodiment of the present invention is not defined in following examples.Unless stated otherwise, the material and the processing method of the present invention's employing are present technique field conventional material and processing method.
Like Fig. 1, Fig. 2 and shown in Figure 3; A kind of clamper module with pose self measuring ability towards rod member, its main parts size comprise V-type paw 01, straight pin 02, fan-shaped worm gear 03, follower lever 04, right circular journal bearing end cap 05, hexagon socket cap head screw 06, secondary basic shell 07, main basic shell 08, motor cabinet 09, disc type electric machine 10, motor shaft sleeve 11, flat key 12, disc type harmonic speed reducer 13, disc type harmonic speed reducer output transition disc 14, gear shaft baffle ring 15, plus screw 16, square bearing end cap 17, angular contact ball bearing 18, worm screw 19, sensor stand 20, left circular journal bearing end cap 21, ultrasonic sensor 22, camera 23, camera ball pivot support 24, sensor data acquisition module mounting box 25, laser region scanner 26, Electric Machine Control driver mounting box 27, sensor data acquisition module and Electric Machine Control driver.
Disc type electric machine 10 is installed in the motor cabinet 09, and both coaxial lines are also combining end face to fix through screw.The output shaft of disc type electric machine 10 links to each other with the wave producer of disc type harmonic speed reducer 13 through motor shaft sleeve 11, transmits moment of torsion through flat key 12 between motor shaft sleeve 11 and the wave producer.The input steel wheel of disc type harmonic speed reducer 13 is then exported transition disc 14 axial restraints with motor cabinet 09 inside bottom harmonic decelerator respectively through screw with the output steel wheel.Harmonic speed reducer output transition disc 14 adopts spline fitted to be connected with worm screw 19, is axially fixed by screw.Worm screw 19 two ends then are supported in the main basic shell 08 through angular contact ball bearing 18 respectively, and are fixed by the square bearing end cap 17 that is arranged in the main basic shell 08.Motor cabinet 09 is fixedly connected through screw with the circular input of main basic shell 08.Therefore structurally, the center line and the worm screw centerline collineation of motor cabinet 09, disc type electric machine 10, motor shaft sleeve 11, disc type harmonic speed reducer 13, harmonic speed reducer output transition disc 14; In addition, motor shaft sleeve 11, disc type harmonic speed reducer 13, harmonic speed reducer output transition disc 14 are installed in the main basic shell 08.
Pairing each other on main basic shell 08 and secondary basic shell 07 profile, fixing through screw 06.In the basic shell 07 of pair and be symmetrical in worm screw 09 center line two fan-shaped worm gears 03 are installed; These two fan-shaped worm gears 03 are supported on the dead eye of secondary basic shell 07 correspondence by angular contact ball bearing 18; Supporting center line between these two fan-shaped worm gears 03 is vertical with the worm screw center line, and is compressed by the circular journal bearing end cap that is arranged on secondary basic shell 07 outer surface 05,21.Mesh respectively between worm screw 09 and two fan-shaped worm gears 03, thereby transmit motion and moment.
Lead basic shell 08 outer surface both sides and be symmetrical in the worm screw center line follower lever 04 respectively is installed.Each fan-shaped worm gear 03 is provided with an extension bar, and the end of each extension bar is hinged with a V-type paw 01, and two V-type paws are symmetrical in the setting of worm screw center line.Each follower lever 04 1 end is articulated on main basic shell 08 through straight pin 02, and promptly follower lever 04 can rotate with respect to main basic shell 08 around this straight pin 02; Follower lever 04 other end is hinged through straight pin 02 and V-type paw 01.Therefore, two fan-shaped worm gears 03, two follower levers 04, two V-type paws 01 constitute parallelogram lindage with main basic shell 08 respectively, and 01 of V-type paw is closed abreast or open under the driving of fan-shaped worm gear 03.
Form first groove 28 and second groove 29 between two V-type paws; The opening of said first groove 28 upwards dwindles gradually; Open Side Down dwindles gradually for said second groove 29, thereby make the clamper module to grasp and clamping article to be pressed from both sides from two different directions.
Electric Machine Control driver mounting box 27 is through being bolted to main basic shell 08 outer surface, and 29 of Electric Machine Control drivers are fixed in the Electric Machine Control driver mounting box 27 through bolts and nuts; Disc type electric machine 10 is connected with the Electric Machine Control actuator electrical.
The side that 26 of laser region scanners pass through bolt in main basic shell outer surface, its plane of scanning motion is perpendicular to the rotation of worm gear, that is YOZ shown in Figure 3 plane.
23 of cameras are by 24 supportings of camera ball pivot support, and camera ball pivot support 24 is through the opposite side of bolt in main basic shell outer surface, i.e. the opposite side of laser region scanner 26 relatively.The shooting direction of camera 23 is by 24 controls of camera ball pivot support.
Therefore, in the present embodiment, Electric Machine Control driver mounting box 27, Electric Machine Control driver, laser region scanner 26, camera 23, sensor data acquisition module, sensor data acquisition module mounting box 25 are distributed in main basic shell 08 both sides respectively; Camera 23, laser scanner 26 and ultrasonic sensor 22 are common through the pose of certain step measurement clamper module with respect to rod member.
Master control system is connected with the Electric Machine Control actuator electrical.Master control system adopts C8051F040 single-chip microcomputer (being not limited thereto), and the C8051F040 single-chip microcomputer is used to control the sensor data acquisition module; Ultrasonic sensor 22 inserts the C8051F040 single-chip microcomputer through
bus; And the sensor data acquisition module inserts host computer (for example industrial computer etc., do not draw among the figure) through the CAN bus and transmits the ranging information of ultrasonic sensor 22.
Laser region scanner 26 inserts host computer with camera 23 through USB Hub, direct and upper machine communication.
Therefore, above-mentioned three kinds of sensors finally can be with detected data information transfer in host computer.
When this clamper module when waiting to grab clamping bar shape object, through laser scanner 26 scanning surveys with calculate bar Y axle and Z axle in the clamper coordinate system, like the position of Fig. 3.Extract and calculate bar attitude around the Z axle in the clamper coordinate system through 23 pairs of bar characteristics of camera; Two ultrasonic sensor 22 range findings can obtain bar attitude around the Y axle in the clamper coordinate system, thereby realize that bar is with respect to the position of clamper module Y axle and Z axle and the autonomous detection of four amounts of attitude.
This clamper module can realize two major functions: clamping rod member and pose self detect, and are expected in the operation of robot field and rod member, pipeline environment, to be able to application.
With regard to holding function, mainly slow down through disc type harmonic speed reducer and worm and wormwheel structure, realize the parallel opening and closing of paw by parallelogram lindage.With regard to the autonomous measuring ability of pose, mainly obtain the coordinate of the YOZ plane (see figure 3) of bar in clamper module coordinate system through laser scanner; Camera to the rod member characteristic extract and calculate rod member in clamper module coordinate system in the XOY plane with the angle of X axle; The range finding of two ultrasonic sensors can obtain rod member in clamper module coordinate system in the XOZ plane with the angle and the Z axial coordinate of X axle; Comprehensively can obtain the pose of rod member with respect to clamper; Thereby realize to Y axle, Z axle, around the Y axle, around the detection of four frees degree of Z axle, for reliable collisionless grasps or the clamping rod member provides necessary environmental information.
This clamper module application is in climbing level robot or industrial machine philtrum, and during near rod member, the start sensor detection system progressively obtains the pose of rod member with respect to clamper the robot end; Use inverse kinematics to solve the regulated quantity that clamper moves to each joint of reliable bite again; Be implemented in and independently detect and proofread and correct the pose of clamper in the motion process with respect to rod member; Make the reliable clamping rod member of clamper; Can effectively solve climbing level robot difficult problem such as transition between same straight-bar or two staggered rod members, be the basis of realizing climbing level robot autonomous climbing in the rod member environment.
The foregoing description is merely preferred embodiment of the present invention, is not to be used for limiting practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
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| CN103395067A (en) * | 2013-07-31 | 2013-11-20 | 北京航空航天大学 | Self-adaption claw mechanism of spatial on-orbit service robot |
| CN103817703A (en) * | 2014-02-28 | 2014-05-28 | 华南理工大学 | Multifunctional robot end effector for working at heights |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
| CN104400288A (en) * | 2014-10-30 | 2015-03-11 | 陈昊书 | Push-pull type clamping device |
| CN104669289A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Space manipulator end executor with visual sensor |
| CN105128025A (en) * | 2015-09-25 | 2015-12-09 | 杭州科益生物科技有限公司 | Manipulator of tire repair machine and mechanical gripper provided with driving device and applied to manipulator |
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| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
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| CN107900784A (en) * | 2017-12-29 | 2018-04-13 | 重庆朗奥机械有限公司 | One kind is used for shaft element center alignment mechanism |
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| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN110355704A (en) * | 2019-08-13 | 2019-10-22 | 襄阳精鑫电子设备制造有限公司 | A kind of automatic self-locking fixture by detection current of electric variation perception object |
| CN110815278A (en) * | 2019-11-18 | 2020-02-21 | 广东博智林机器人有限公司 | Clamping jaw structure, conveying clamping mechanism and bar connecting equipment |
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| CN103395067B (en) * | 2013-07-31 | 2016-01-13 | 北京航空航天大学 | A kind of self adaptation paw mechanism of On-orbit servicing robot |
| CN103395067A (en) * | 2013-07-31 | 2013-11-20 | 北京航空航天大学 | Self-adaption claw mechanism of spatial on-orbit service robot |
| CN103817703A (en) * | 2014-02-28 | 2014-05-28 | 华南理工大学 | Multifunctional robot end effector for working at heights |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
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| CN106019086B (en) * | 2016-07-18 | 2018-12-14 | 国家电网公司 | A kind of high-voltage overhead conductor detection system |
| CN107054713A (en) * | 2016-11-28 | 2017-08-18 | 浙江理工大学 | A kind of 3 points of hooks pressure type medical infusion lines automatic fetching device |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN107499922A (en) * | 2017-08-30 | 2017-12-22 | 浙江工贸职业技术学院 | A kind of auto parts machinery cutting agency |
| CN107499922B (en) * | 2017-08-30 | 2019-08-30 | 浙江工贸职业技术学院 | A kind of automobile parts cutting agency |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | A variable diameter clamping device |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN107914157A (en) * | 2017-12-29 | 2018-04-17 | 重庆朗奥机械有限公司 | A kind of work piece positioning holding equipment |
| CN107900784A (en) * | 2017-12-29 | 2018-04-13 | 重庆朗奥机械有限公司 | One kind is used for shaft element center alignment mechanism |
| CN110355704A (en) * | 2019-08-13 | 2019-10-22 | 襄阳精鑫电子设备制造有限公司 | A kind of automatic self-locking fixture by detection current of electric variation perception object |
| CN110355704B (en) * | 2019-08-13 | 2024-02-20 | 襄阳精鑫电子设备制造有限公司 | Automatic self-locking clamp for sensing object by detecting current change of motor |
| CN110815278A (en) * | 2019-11-18 | 2020-02-21 | 广东博智林机器人有限公司 | Clamping jaw structure, conveying clamping mechanism and bar connecting equipment |
| CN113021341A (en) * | 2021-03-18 | 2021-06-25 | 深圳市科服信息技术有限公司 | Robot based on 5G article identification and automatic transfer transportation |
| CN113353814A (en) * | 2021-05-24 | 2021-09-07 | 青岛海诚能源科技有限公司 | Petroleum transportation pipeline installation equipment |
| CN113714794A (en) * | 2021-08-03 | 2021-11-30 | 哈尔滨工程大学 | Ultrasonic wave-based automatic measurement and adjustment device and method for pose of precision part |
| CN114352945A (en) * | 2021-12-31 | 2022-04-15 | 核动力运行研究所 | Butt-joint clamping structure of CANDU (cast iron steel tube) stack fuel channel pressure pipe inspection end part |
| CN114352945B (en) * | 2021-12-31 | 2023-11-21 | 核动力运行研究所 | CANDU stacks fuel passage pressure pipe inspection end part butt joint embraces card structure |
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Application publication date: 20121219 |