CN211806133U - Two fingers grab demonstrator and teaching system of robot - Google Patents
Two fingers grab demonstrator and teaching system of robot Download PDFInfo
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- CN211806133U CN211806133U CN201922453361.2U CN201922453361U CN211806133U CN 211806133 U CN211806133 U CN 211806133U CN 201922453361 U CN201922453361 U CN 201922453361U CN 211806133 U CN211806133 U CN 211806133U
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Abstract
The utility model provides a demonstrator and a demonstration system of a two-finger grabbing robot, wherein the demonstrator comprises a pair of pliers, a demonstrator body, a first camera, a handle, a pressure sensor, a gyroscope and an inertial sensor; the front end of the demonstrator body is provided with a pair of pliers, the front end of the inner side of each pliers is provided with a pressure sensor, and the pressure sensors are used for monitoring the grabbing force of the pliers when the pliers clamp a target object in real time; the first camera is mounted at the top end, close to the front end, of the demonstrator body and used for acquiring a pose image of a target object relative to the demonstrator in real time; a gyroscope and an inertial sensor are installed inside the demonstrator body and are respectively used for acquiring the motion inclination angle of the demonstrator and the motion acceleration of the demonstrator in real time. The teaching system comprises a demonstrator, a two-finger grabbing robot and a computer. The utility model has the advantages that: the intuition and the sense of touch advantage of full play people to make the robot of teaching accurate, nimble snatch the target object, improve the security and the accuracy of snatching.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a two fingers pick demonstrator and teaching system of robot.
Background
The traditional robot teaching methods at present have great limitations, and the methods are gradually eliminated. With the development of technology and the increase of people's demand, some teaching methods combining advanced technology are proposed. In both the teaching method based on the computer vision technology and the teaching method based on various sensors, the trajectory of the teaching device is acquired and input to the robot, so that the robot can repeat the operation of the teaching device. However, it is difficult to teach the robot a complicated operation. Although the teaching method based on gesture recognition can teach the grabbing posture of the grabbing manipulator, the teaching method cannot be effectively implemented for teaching the force during grabbing.
Different from robots with tail ends without complex actions, such as paint spraying robots, welding robots and the like, end effectors of the grabbing robots are complex in structure and often need to complete complex actions, complex factors such as grabbing strength and direction need to be considered, and if no special method is provided for teaching the pose and the strength of the complex actions performed on the tail ends of the grabbing robots, the grabbing robots are likely to grab unstable objects or grab objects to deform.
Disclosure of Invention
In order to solve the problem, the utility model relates to a two fingers snatch teaching system and demonstrator of robot.
A demonstrator of a two-finger grabbing robot comprises a pair of pliers, a demonstrator body, a first camera, a handle, a pressure sensor, a gyroscope and an inertial sensor; the front end of the demonstrator body is provided with the pliers, the front end of the inner side of each pliers is provided with a pressure sensor, and the pressure sensors are used for monitoring the grabbing force of the pliers when the pliers clamp a target object in real time; the first camera is mounted at the top end, close to the front end, of the demonstrator body and used for acquiring a pose image of a target object relative to the demonstrator in real time; the gyroscope and the inertial sensor are installed in the demonstrator body, the gyroscope is used for collecting the motion inclination angle of the demonstrator in real time, and the inertial sensor is used for collecting the motion acceleration of the demonstrator in real time; the demonstrator body is internally provided with a wireless transmission circuit which is used for wirelessly transmitting data collected by the pressure sensor, the gyroscope and the inertial sensor to a computer.
Further, this demonstrator still has trigger, motor and control circuit, the trigger is installed in the bottom that is close to this demonstrator body front end, the motor is installed in the demonstrator body, with the pliers is connected, controls the removal of pliers through trigger and control circuit, simultaneously through the power of grabbing of motor control pliers to in order to press from both sides and get the target object.
Further, this teach pendant still includes the handle, the handle is installed one side of teach pendant body, and convenience of customers holds this teach pendant.
A teaching system of a two-finger grabbing robot comprises the demonstrator, the two-finger grabbing robot and a computer;
the two-finger grabbing robot comprises a base, a second camera, a multi-section mechanical arm and two-finger mechanical arms; the second camera is positioned at the top end of the base, the first section of mechanical arm is connected to the base, the plurality of sections of mechanical arms are sequentially and movably connected, and the tail end of the last section of mechanical arm is connected with the two mechanical arms; a power supply device is arranged in the two-finger manipulator; the second camera is used for acquiring the motion image of the demonstrator in real time, and the power supply device is used for providing grabbing force for the two-finger manipulator to grab the object.
Further, the teaching system further comprises a third camera, wherein the third camera is installed on the two mechanical arms and used for acquiring images of the poses of the target object relative to the two mechanical arms in real time so as to verify whether the motion tracks of the two mechanical arms are consistent with the motion track of the teaching device.
Further, the power supply device is a motor.
The utility model provides a beneficial effect that technical scheme brought is: the intuition and the sense of touch advantage of full play people to make the robot of teaching accurate, nimble snatch the target object, improve the security and the accuracy of snatching.
Drawings
The invention will be further explained with reference to the drawings and examples, wherein:
fig. 1 is a schematic structural diagram of a demonstrator of a two-finger grabbing robot in an embodiment of the present invention;
fig. 2 is a schematic side view of a demonstrator structure of a two-finger grabbing robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a two-finger robot of a two-finger grabbing robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a two-finger grabbing robot for grabbing a target object according to an embodiment of the present invention.
Detailed Description
In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
An embodiment of the utility model provides a two fingers snatch demonstrator and teaching system of robot. Two fingers mean that the manipulator of the robot has two clamping jaws, similar to two fingers of a human hand.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of a demonstrator of a two-finger grabbing robot in an embodiment of the present invention, fig. 2 is a schematic side view of a structure of a demonstrator of a two-finger grabbing robot in an embodiment of the present invention, fig. 3 is a schematic structural diagram of a two-finger grabbing robot in an embodiment of the present invention, and fig. 4 is a schematic structural diagram of a target object grabbed by two-finger grabbing robots in an embodiment of the present invention; a demonstrator of a two-finger grabbing robot comprises a pair of pliers 1, a demonstrator body 2, a first camera 3, a handle 4, a pressure sensor 5, a gyroscope 6, an inertial sensor 7 and a trigger 8; the front end of the demonstrator body 2 is provided with the pliers 1, the front ends of the inner sides of the two pliers legs of the pliers 1 are provided with the pressure sensors 5, and the pressure sensors 5 are used for monitoring the gripping force of the pliers 1 when gripping a target object in real time; a first camera 3 is mounted at the top end of the demonstrator body 2 close to the front end, and the first camera 3 is used for acquiring a pose image of a target object relative to the demonstrator in real time; the gyroscope 6 and the inertial sensor 7 are installed inside the demonstrator body, the gyroscope 6 is used for collecting the motion inclination angle of the demonstrator in real time, and the inertial sensor 7 is used for collecting the acceleration of the movement of the demonstrator in real time; the demonstrator body is internally provided with a wireless transmission circuit which is used for wirelessly transmitting data collected by the pressure sensor, the gyroscope and the inertial sensor to a computer. The wireless transmission circuit can adopt a WIFI wireless transmission circuit or a Bluetooth transmission circuit, and 5G, 4G and other technologies are selected.
Trigger 8 installs in the bottom that is close to this teach pendant body front end, and this teach pendant still includes motor and control circuit, the motor is installed this is internal for the teach pendant, with the pliers is connected, controls the removal of pliers through trigger and control circuit, simultaneously through the power of grabbing of motor control pliers to in the time, in order to press from both sides the target object of getting.
The handle 4 is installed the bottom of demonstrator body, and convenience of customers holds this demonstrator.
A teaching system of a two-finger grabbing robot comprises the demonstrator, the two-finger grabbing robot and a computer;
the two-finger grabbing robot comprises a base 21, a second camera 22, a multi-section mechanical arm and two-finger mechanical arms 26; the second camera 22 is positioned at the top end of the base 21, the first section of mechanical arm is connected to the base 21, the multiple sections of mechanical arms are sequentially and movably connected, the two grabbing robots are serially connected mechanical arms, the degree of freedom of the two grabbing robots is 3-8, the base of the two grabbing robots is connected to a fixed platform or a movable platform, and the tail end of each mechanical arm is provided with a mechanical arm; in this embodiment, the degree of freedom of the multi-section mechanical arm of the two-finger grabbing robot is 3, the multi-section mechanical arm is a three-section mechanical arm, and the three-section mechanical arm includes: the mechanical arm comprises a first section of mechanical arm 23, a second section of mechanical arm 24 and a third section of mechanical arm 25, wherein the first section of mechanical arm 23, the second section of mechanical arm 24 and the third section of mechanical arm 25 are sequentially and movably connected, and the tail end of the third section of mechanical arm 25 is connected with the two-finger mechanical arm 26; a power supply device is arranged in the two-finger manipulator 26; the second camera 22 is used for acquiring the motion image of the demonstrator in real time, and the power supply device is used for providing grabbing force for the two-finger manipulator to grab an object; the power supply device may be a motor. The length of the third section of mechanical arm 25 is less than the length of the first section of mechanical arm 23.
The teaching system further comprises a third camera 27, wherein the third camera 27 is mounted on the two-finger manipulator 26 and used for acquiring images of the pose of a target object relative to the two-finger manipulator 26 in real time so as to verify whether the motion trail of the two-finger robot is consistent with that of the teaching device; when the real-time pose image of the target object relative to the two-finger robot, which is acquired by the third camera, is the same as the real-time pose image of the target object relative to the demonstrator, which is acquired by the first camera, the motion trail of the two-finger robot is consistent with the motion trail of the demonstrator; when the pose image of the target object relative to the two fingers, which is acquired by the third camera in real time, is different from the pose image of the target object relative to the demonstrator, which is acquired by the first camera in real time, the motion of the two fingers is adjusted based on the pose of the target object relative to the pose image of the demonstrator, which is acquired by the first camera in real time, so that the pose of the target object relative to the two fingers is consistent with the pose of the target object relative to the pose image of the demonstrator, which is acquired by the first camera in real time.
The computer is provided with control software, the control software analyzes the moving image sent by the second camera received in real time, data fusion processing is carried out by combining the acceleration of the movement of the demonstrator received in real time and the movement inclination angle of the demonstrator, the movement track of the demonstrator is obtained, and the moving process of the two-finger grabbing robot is taught; the control software processes the received grabbing force sent by the demonstrator in real time and the real-time acquired pose image of the target object relative to the demonstrator sent by the first camera, and controls the two mechanical arms of the two-finger grabbing robot to carry out corresponding grabbing process teaching; updating the movement of the two-finger manipulator of the two-finger grabbing robot and the grabbing force of the two-finger manipulator in real time according to the data acquired in real time and the image acquired in real time; the data comprises the moving acceleration of the demonstrator, the moving inclination angle of the demonstrator and the grabbing force of the pliers for clamping the target object, and the image comprises a pose image of the target object relative to the demonstrator, which is acquired by the first camera, and an image of the movement of the demonstrator, which is acquired by the second camera.
The utility model has the advantages that: the intuition and the sense of touch advantage of full play people to make the robot of teaching accurate, nimble snatch the target object, improve the security and the accuracy of snatching.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (6)
1. The utility model provides a two fingers grab robot's demonstrator which characterized in that: the demonstrator comprises pliers, a demonstrator body, a first camera, a handle, a pressure sensor, a gyroscope and an inertial sensor; the front end of the demonstrator body is provided with the pliers, the front ends of the inner sides of the two pliers legs of the pliers are provided with pressure sensors, and the pressure sensors are used for monitoring the gripping force of the pliers when the pliers grip a target object in real time; the first camera is mounted at the top end, close to the front end, of the demonstrator body and used for acquiring a pose image of a target object relative to the demonstrator in real time; the gyroscope and the inertial sensor are installed in the demonstrator body, the gyroscope is used for collecting the motion inclination angle of the demonstrator in real time, and the inertial sensor is used for collecting the motion acceleration of the demonstrator in real time; the demonstrator body is internally provided with a wireless transmission circuit which is used for wirelessly transmitting data collected by the pressure sensor, the gyroscope and the inertial sensor to a computer.
2. The demonstrator of the two-finger grasping robot according to claim 1, wherein: this demonstrator still has trigger, motor and control circuit, the trigger is installed in the bottom that is close to this demonstrator body front end, the motor is installed this is internal for the demonstrator, with the pliers are connected, control the removal of pliers through trigger and control circuit, simultaneously through the grabbing power of motor control pliers to in the time get the target object.
3. The demonstrator of the two-finger grasping robot according to claim 1, wherein: this demonstrator still includes the handle, the handle is installed the bottom of demonstrator body, and convenience of customers holds this demonstrator.
4. The utility model provides a two fingers grasp robot's teaching system which characterized in that: the demonstrator comprises the demonstrator of claim 1, and further comprises a two-finger grabbing robot and a computer;
the two-finger grabbing robot comprises a base, a second camera, a multi-section mechanical arm and two-finger mechanical arms; the second camera is positioned at the top end of the base, the first section of mechanical arm is connected to the base, the plurality of sections of mechanical arms are sequentially and movably connected, and the tail end of the last section of mechanical arm is connected with the two mechanical arms; a power supply device is arranged in the two-finger manipulator; the second camera is used for acquiring the motion image of the demonstrator in real time, and the power supply device is used for providing grabbing force for the two-finger manipulator to grab the object.
5. The teaching system of a two-finger grabbing robot according to claim 4, wherein: the teaching system further comprises a third camera, wherein the third camera is installed on the two-finger manipulator and used for acquiring images of the pose of the target object relative to the two-finger manipulator in real time so as to verify whether the motion trail of the two-finger robot is consistent with the motion trail of the teaching device.
6. The teaching system of a two-finger grabbing robot according to claim 4, wherein: the power supply device is a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922453361.2U CN211806133U (en) | 2019-12-30 | 2019-12-30 | Two fingers grab demonstrator and teaching system of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922453361.2U CN211806133U (en) | 2019-12-30 | 2019-12-30 | Two fingers grab demonstrator and teaching system of robot |
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| Publication Number | Publication Date |
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| CN211806133U true CN211806133U (en) | 2020-10-30 |
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| CN201922453361.2U Expired - Fee Related CN211806133U (en) | 2019-12-30 | 2019-12-30 | Two fingers grab demonstrator and teaching system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002294A (en) * | 2019-12-30 | 2020-04-14 | 中国地质大学（武汉） | Two fingers grab demonstrator and teaching system of robot |
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- 2019-12-30 CN CN201922453361.2U patent/CN211806133U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002294A (en) * | 2019-12-30 | 2020-04-14 | 中国地质大学（武汉） | Two fingers grab demonstrator and teaching system of robot |
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Granted publication date: 20201030 |