CN206493338U - A kind of self-balancing of recordable displacement and the mechanical arm of avoidance - Google Patents

Abstract

The embodiment of the utility model discloses a self-balancing and obstacle-avoiding mechanical arm capable of recording displacement, which includes a base and a mechanical arm rotatably mounted on the base, and at least one microwave radar is arranged on the side of the mechanical arm sensor, the mechanical arm is built with a six-axis gyroscope sensor. With the utility model, through the six-axis gyro sensor, when the mechanical arm moves, it will record the displacement of the movement, and when it returns to the initial state, it will record the displacement deviation, adjust through the deviation, and control its swing speed. The advanced microwave radar sensor can detect obstacles in a wide range and can be used in a variety of environments.

Description

A self-balancing and obstacle-avoiding robotic arm capable of recording displacement

technical field

The utility model relates to the technical field of mechanical arms, in particular to an industrial self-balancing and obstacle-avoiding mechanical arm capable of recording displacement.

Background technique

The existing mechanical arm cannot monitor the displacement in real time during operation, and the working shaft and other parts will cause a certain displacement of the working shaft, resulting in cumulative errors, unable to intelligently accelerate through the distance, and unable to automatically accelerate according to the distance during the movement. The center of gravity adjusts the balance, so this method makes the robot arm run more unstable.

In existing applications of the robotic arm, the robotic arm may encounter obstacles during movement. At present, obstacle avoidance for manipulator movement mainly relies on vision algorithms and other obstacle avoidance sensors (such as photoelectric and ultrasonic obstacle avoidance sensors).

Among them, vision algorithms are applied in complex work scenes to accurately avoid obstacles and re-plan paths, but the development difficulty and development cost are relatively high; under normal circumstances, photoelectric or ultrasonic obstacle avoidance sensors are used.

However, photoelectric and ultrasonic obstacle avoidance sensors have obvious fatal shortcomings, and the detection range is quite limited. Multiple obstacle avoidance modules need to be used at the same time to meet a certain range of obstacle avoidance detection. There are obvious blind spots in obstacle detection, which increases the risk of the robot arm colliding with obstacles. .

Contents of the invention

The technical problem to be solved by the embodiment of the utility model is to provide a self-balancing and obstacle-avoiding mechanical arm capable of recording displacement. It can realize mechanical self-balancing and adaptive obstacle avoidance.

In order to solve the above-mentioned technical problems, the embodiment of the utility model provides a self-balancing and obstacle-avoiding mechanical arm capable of recording displacement, including a base, a mechanical arm rotatably mounted on the base, and a side surface of the mechanical arm At least one microwave radar sensor is provided, and a six-axis gyro sensor is built in the mechanical arm.

A controller is also included, and the microwave radar sensor and the six-axis gyro sensor are electrically connected to the controller.

Implementing the embodiment of the utility model has the following beneficial effects: the utility model uses a six-axis gyro sensor to record the displacement of the movement when the mechanical arm moves, and records the displacement deviation when it returns to the initial state, and adjusts it through the deviation, and Its swing speed is controlled, and obstacles can be detected in a wide range through the microwave radar sensor set on its side, and it can be used in a variety of environments.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is another overall structural diagram of the utility model.

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings.

Refer to the structural diagram shown in Figure 1 and Figure 2.

A self-balancing and obstacle-avoiding mechanical arm capable of recording displacement in an embodiment of the utility model includes a base 1 and a mechanical arm 2 rotatably mounted on the base 1 .

The opposite sides of the manipulator 2 are provided with microwave radar sensors 3, and the detection radius of the microwave radar sensors arranged on the opposite sides of the manipulator is adjusted so that the manipulator is just sandwiched within the hemispherical microwave detection range on the opposite sides.

Since the sensor is installed on the manipulator body, with the contraction and movement of the manipulator, the microwave detection range as a whole moves in the work space of the manipulator. Therefore, it is necessary to properly adjust the microwave detection range and increase the microwave radar sensor so that it is in the working process of the manipulator. There will be no misjudgment.

When working, the microwave radar sensor emits microwaves around the working manipulator to form a microwave range for detecting obstacles. When an obstacle appears within the microwave detection range during work, the microwave radar sensor transmits the information to the PLC controller, and the PLC controller controls Robotic arm avoids obstacles.

Appropriately increasing the microwave radar sensor installed on the arm body can judge the orientation of obstacles more accurately.

The mechanical arm 2 is also provided with a six-axis gyroscope sensor 4, which can record the displacement of the movement through the six-axis gyroscope, can record the displacement deviation, and can also arbitrarily set the movement displacement between points, so as to control the movement speed through the displacement.

Both the microwave radar sensor 3 and the microwave radar sensor 4 are electrically connected to the controller.

The acceleration on the three axes of the six-axis gyroscope can be integrated with time to obtain the displacement and record the displacement value. The displacement calibration is compensated by the difference between the front and rear displacements. The recorded displacement is integrated through the starting point and the displacement S is obtained at the end point.

Of course, the above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present utility model, and its purpose is to allow people familiar with this technology to understand the content of the present utility model and implement it accordingly, and cannot limit the protection scope of the present utility model with this. All modifications made according to the spirit of the main technical solutions of the utility model shall fall within the protection scope of the utility model.

Claims (2)

1. a kind of self-balancing of recordable displacement and the mechanical arm of avoidance, it is characterised in that including pedestal, be rotatablely installed in described At least one microwave radar sensor is provided with mechanical arm on pedestal, the mechanical arm side, the mechanical arm is built-in with Six axle gyro sensors.

2. the self-balancing of recordable displacement according to claim 1 and the mechanical arm of avoidance, it is characterised in that also including control Device processed, the microwave radar sensor is electrically connected with the six axles gyro sensor with the controller.