CN106041993B - A kind of mechanical arm and its localization method being accurately positioned - Google Patents

Abstract

The invention discloses a kind of mechanical arm and its localization method being accurately positioned, the mechanical arm that can be accurately positioned includes mechanical arm, is installed on the video system of mechanical arm and visible light laser emitter device；The video system includes the camera, transmission of video mechanism and display, and the optical path Center axis of the camera and the Clamping Center line along mechanical arm direction of two clamping jaws of mechanical arm are coaxial；The visible light laser emitter device is installed on other than the camera optical path Center axis and is installed on mechanical arm by the shaft perpendicular to mechanical arm, which can be rotated and be positioned as needed.The present invention realizes that accurate positionin is clamped by being equipped with single video Exact Location System on robot arm, not only target object accurate positioning, but also easy to operate, easy to use.

Description

A mechanical arm capable of accurate positioning and its positioning method

technical field

The invention belongs to the field of robot remote control, in particular to a mechanical arm capable of accurate positioning and a positioning method thereof.

Background technique

In the application field of remote control robots, it is often encountered that the remote control robot performs certain operations, such as controlling the EOD robot to process unexploded bombs through remote video images. In this work, the operator is required to remotely control the robotic arm of the robot to first accurately grip the unexploded bomb and then move it to a safe position. In the process of using the robotic arm to hold the unexploded bomb, the operator mainly obtains the position information of the unexploded bomb through the wireless video shooting and transmission system that comes with the robot. In the prior art, it is necessary to install multiple video systems on the robot to provide shooting information from different angles. The operator needs to watch these video information at the same time to comprehensively judge the relative position of the robotic arm and the unexploded bomb to complete this operation. This not only makes the structure of the system itself complex, but also requires a high level of space construction ability of the operator, and beginners often need a long training time to do so.

Contents of the invention

The object of the present invention is to provide an easy-to-operate mechanical arm that can be positioned accurately and a positioning method thereof, so as to solve the problem that the existing mechanical arm has high requirements for operators.

The present invention is achieved like this:

A mechanical arm that can be accurately positioned includes a mechanical arm, a video system installed on the mechanical arm, and a visible light laser transmitter; the video system includes a camera, a video transmission mechanism, and a display, and the central axis of the optical path of the camera and the The clamping centerlines of the two jaws along the direction of the mechanical arm are coaxial; the visible light laser emitter is installed outside the central axis of the optical path of the camera and installed on the mechanical arm through a rotating shaft perpendicular to the mechanical arm. Rotate and position.

Under above-mentioned technical scheme, the present invention can realize like this:

The vertical distance between the visible light laser emitter and the central axis of the optical path of the camera is adjusted as required.

The intersection point of the laser emitted by the visible light laser emitter and the central axis of the optical path of the camera is located in the clamping jaw, and the intersection point is located on the frontmost end face of the object to be clamped after being clamped.

The mechanical arm is a telescopic mechanical arm.

The telescopic mechanical arm adopts a hydraulic rod telescopic mechanism.

The positioning method of the mechanical arm includes the following steps:

A. video system is installed on the mechanical arm; the video system includes a camera, a video transmission mechanism and a display, and the center axis of the optical path of the camera is coaxial with the clamping centerline of the gripper of the mechanical arm along the direction of the mechanical arm;

b. installing a visible light laser transmitter on the mechanical arm; the visible light laser transmitter is installed outside the central axis of the optical path of the camera;

c. Adjust the installation position and direction of the visible light laser transmitter, so that the intersection point of the laser emitted by the visible light laser transmitter and the central axis of the optical path of the camera is located in the jaw of the mechanical arm, and the intersection point is located in the to-be-clamped The end surface of the front end of the holding object after being clamped;

d. According to the image captured by the camera, determine the approximate position of the target object, and operate the mechanical arm so that the target object is located in the center of the display, that is, on the central axis of the optical path of the camera;

e. Operate the manipulator to move linearly along the central axis of the optical path of the camera, gradually approaching the target object, and when the target object enters the jaws, the laser emitted by the visible light laser emitter can generate laser light on the front surface of the target object Spot: According to the direction and degree of deviation of the laser spot from the center of the target object, continue to adjust the position of the mechanical arm so that the laser spot is located at the center of the display;

f. Drive the jaws to clamp.

In the method of the present invention, the mechanical arm can also be a telescopic mechanical arm, for example, a telescopic rod of the mechanical arm is installed on the mechanical arm, so as to conveniently perform the operation of approaching the target object in a straight line.

The present invention realizes accurate positioning and clamping by installing a single-video accurate positioning system on the robotic arm of the robot, not only accurate positioning of the target object, but also simple operation and easy use.

Description of drawings

Figure 1 is a schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the telescopic rod of the mechanical arm in the present invention.

In the figure: 1. Mechanical arm, 2. Video system, 3. Visible light laser emitter, 4. Gripper, 5. Camera, video transmission mechanism 6. 7. Display, 8. Rotating shaft, 9. Target object, 10. Telescopic Rod, 11, hydraulic cylinder, 12, hydraulic rod, 13, oil inlet and outlet.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings, but this description does not constitute any limitation to the mechanical arm and positioning method of the present invention.

First install the video system and visible laser transmitter on the robotic arm as follows:

The end of the mechanical arm 1 is provided with a gripper 4 , and may optionally include a mechanical arm telescopic rod 10 . The video system 2 includes a camera 5 , a video transmission mechanism 6 and a display 7 . The video transmission mechanism 6 in the figure is a wired transmission system, and in order to simplify the structure, the video transmission mechanism preferably uses a wireless transmission system. The camera 5 is installed on the mechanical arm 1 , and the central axis of the optical path of the camera 5 is coaxial with the clamping centerline of the clamping jaw of the mechanical arm along the direction of the mechanical arm. The camera 5 can be installed at the rear of the mechanical arm as shown in Figure 1, or it can be installed at the front of the mechanical arm. The advantage of being installed at the front is that it is closer to the target object, less occluded, and easier to take out. images and imaging. The visible light laser emitter 3 is also installed on the mechanical arm 1, but its installation position is outside the central axis of the optical path of the camera, so that the emitted laser light can be imaged by the camera and displayed on the display after generating a spot at a suitable position. The visible light laser emitter 3 is installed on the mechanical arm through a rotating shaft 8 perpendicular to the mechanical arm, and the rotating shaft 8 can be rotated and positioned as required. The visible light laser emitter 3 rotates along the rotating shaft 8 until the intersection point of the laser light emitted by the visible light laser emitter 3 and the central axis of the optical path of the camera is located in the jaw of the gripper, and the intersection point is located at the point where the object to be clamped is clamped. Position the shaft when the end face of the rearmost end is on. The size of the included angle α between the visible light laser transmitter 3 and the central axis of the optical path of the camera is related to the vertical distance between the visible light laser transmitter 3 and the central axis of the optical path of the camera. When the distance is constant, the size of the included angle α is basically determined. , it only needs fine-tuning according to the different positions of the front end surface in the jaw determined according to the length of the target object.

In the present invention, the installation of the visible light laser emitter can be set to an adjustable installation position, thereby, the vertical distance between the visible light laser emitter and the central axis of the optical path of the camera can be adjusted as required. In the present invention, the mechanical arm can also be set as a retractable mechanical arm, so as to perform the operation of approaching the target in a straight line. The telescopic mechanical arm can adopt various structures that can be realized in the prior art. One possible implementation is as shown in FIG. 2 , the telescopic mechanical arm adopts a hydraulic rod telescopic mechanism. As shown in Figure 2, the telescopic mechanical arm is to install a telescopic rod 10 on the mechanical arm. The telescopic rod 10 is made up of a hydraulic cylinder 11, a hydraulic rod 12, and an oil inlet and outlet 13.

Next follow these steps:

According to the image captured by the camera, the approximate position of the target object 9 is judged, and the mechanical arm 1 is operated so that the target object is located at the center of the display 7, that is, on the central axis of the optical path of the camera 5 . Operate the mechanical arm 1 to move linearly along the central axis of the optical path of the camera, gradually approaching the target object 9, and when the target object enters the jaws, the laser emitted by the visible light laser emitter 3 can be placed on the front surface of the target object 9 Generate a laser spot; according to the direction and degree of deviation of the laser spot from the center of the target object, continue to adjust the position of the mechanical arm so that the laser spot is located at the center of the display 7 . Accurate clamping of the target object 9 can be achieved by driving the jaws to clamp.

Claims (1)

1. a kind of mechanical arm localization method, which is characterized in that include the following steps：

A., video system is installed on the robotic arm；The video system includes camera, transmission of video mechanism and display, institute The Clamping Center line along mechanical arm direction of the optical path Center axis for stating camera and the clamping jaw of mechanical arm is coaxial；

B., visible light laser emitter device is installed on the robotic arm；The visible light laser emitter device is installed on the camera light Other than Lu Zhizheng axis；

C. the installation site of adjustment visible light laser emitter device and direction, make laser that visible light laser emitter device emitted with The crosspoint of the optical path Center axis of the camera is located in the clamping opening of the clamping jaw of mechanical arm, and the crosspoint is located at object to be held On the end face of front end after body is clamped；

D. the image captured by camera judges that the approximate location of target object, operating robotic arm make object position In on the center of display, that is, camera optical path Center axis；

E. operating robotic arm along camera optical path Center axis direction move along a straight line, gradually approach target object, until target object into When entering in the clamping opening of clamping jaw, it is seen that the laser that ray laser transmitter is emitted can be generated in the surface of target object front end to swash Light hot spot；Direction and the departure degree for deviateing target object center according to the laser facula continue the position for adjusting mechanical arm, make Laser facula is located at the center of display；

F. driving clamping jaw is clamped.