CN107336222B - Driving circuit board for humanoid mechanical arm - Google Patents
Driving circuit board for humanoid mechanical arm Download PDFInfo
- Publication number
- CN107336222B CN107336222B CN201710679644.1A CN201710679644A CN107336222B CN 107336222 B CN107336222 B CN 107336222B CN 201710679644 A CN201710679644 A CN 201710679644A CN 107336222 B CN107336222 B CN 107336222B
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- circuit board
- joint
- arm
- driving circuit
- lifting
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- 239000003638 chemical reducing agent Substances 0.000 claims description 47
- 210000001503 joint Anatomy 0.000 claims description 37
- 238000009434 installation Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims 2
- 230000004044 response Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 13
- 230000009471 action Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 210000002310 elbow joint Anatomy 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0024—Wrist motors at rear part of the upper arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a driving circuit board which is arranged on the circuit board mounting end surface of a rotating arm joint opposite to an adjacent arm lifting joint according to the shape of a humanoid mechanical arm. Because the driving circuit board is adjacent to the jib joint and the arm lifting joint at the same time, the arrangement of connecting wires of the driving circuit board to the jib joint and the arm lifting joint is facilitated. The driving circuit board is installed and fixed in a chute mode and is electrically connected with other parts through the connector, so that the driving circuit board is easy to install and debug. The drive circuit board adopts a high-speed real-time bus EtherCAT to transmit control signals, and has the advantages of quick response in real time, low cost and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a driving circuit board for a humanoid mechanical arm.
Background
The mechanical arm of the existing industrial robot consists of a plurality of joints which are mutually at right angles. The mechanical arm with the structure has no strict limitation on the appearance, and further the size and the shape of a driving circuit of the existing mechanical arm have no strict limitation, can be quite large, and is often placed in an equipment box. In the equipment box, driving wires and various feedback wires are led out from the drivers of the respective joints and are respectively connected to the respective joint motors of the mechanical arm.
In the field of robot design, with the improvement of the design level and the progress of the industrial technology, the humanoid machine has become an increasingly important development direction, and because the action of the humanoid machine can be close to the action of limbs of a person, the humanoid machine can be suitable for the manual working condition, and in addition, an electromechanical control circuit capable of precisely controlling can be designed, so that the design and the manufacture of the humanoid machine have become an important direction in the field of robot design.
Because the structure of the humanoid robot has significant differences from that of the traditional industrial robot, the requirements of the mechanical structure and the control circuit are more precise than those of the traditional industrial robot, and the design of the traditional industrial robot cannot meet the design of the humanoid robot.
For example, for the design of the humanoid robot, since each joint in the humanoid robot needs to simulate a human arm for design, strict limitation is put forward on the shape and the size of the humanoid robot, and since the human arm has multiple degrees of freedom of rotation, a control circuit in the humanoid robot is required to meet the requirement of the degree of freedom of rotation, and the circuit wiring cannot be wound with the humanoid robot in the process of completing various rotations of the humanoid robot is avoided. Therefore, for the humanoid mechanical arm, it is necessary to redesign the corresponding driving circuit according to the form and the freedom of movement thereof.
Disclosure of Invention
In view of the above, the invention provides a motor driving circuit board for a humanoid mechanical arm, which is used for being combined with the overall design of the humanoid mechanical arm to adapt to the motion of various degrees of freedom of the humanoid mechanical arm, and is matched with the reasonable arrangement of control lines to avoid the distortion and winding of the lines.
The technical scheme of the invention is realized as follows:
a driving circuit board for a humanoid mechanical arm;
the driving circuit board is positioned at a rotary arm joint in the humanoid mechanical arm;
the driving circuit board comprises a rotary arm joint driving circuit and a lifting arm joint driving circuit; wherein,
the rotary arm joint driving circuit is electrically connected with the rotary arm joint to control the rotation of the rotary arm joint;
the arm lifting joint driving circuit is electrically connected with an arm lifting joint adjacent to the rotating arm joint so as to control rotation of the arm lifting joint.
Further, the rotary arm joint is provided with a circuit board mounting end face;
when the humanoid mechanical arm is in an extending state, the installation end surface of the circuit board is opposite to an arm lifting joint adjacent to the rotating arm joint, and an accommodating space is formed between the installation end surface of the circuit board and the arm lifting joint;
the driving circuit board is mounted on the mounting end face of the circuit board and is located in the accommodating space.
Further, a chute is arranged on the installation end surface of the circuit board;
the driving circuit board is arranged on the mounting end face of the circuit board through the sliding groove.
Further, the driving circuit board is provided with a radiator;
when the driving circuit board is mounted on the mounting end face of the circuit board, the radiator is tightly pressed against the mounting end face of the circuit board, so that heat of the driving circuit board is transferred to the mounting end face of the circuit board, and further heat is dissipated through the rotating arm joint.
Further, the driving circuit board is provided with a rotary arm joint driving circuit connector and a lifting arm joint driving circuit connector;
the rotary arm joint driving circuit is electrically connected with the rotary arm joint through the rotary arm joint driving circuit connector;
the arm lifting joint driving circuit is electrically connected with the arm lifting joint through the arm lifting joint driving circuit connector.
Further, the driving circuit board is provided with a first side edge and a second side edge which are opposite to each other, and the first side edge and the second side edge are parallel to each other and are in a straight line shape;
the driving circuit board is also provided with a third side edge and a fourth side edge which are opposite to each other, and the third side edge and the fourth side edge are in an outwards convex arch shape;
the driving circuit board is inserted into the sliding groove through the first side edge and the second side edge.
Further, the humanoid mechanical arm comprises a rotating arm joint and a lifting arm joint which are staggered along the axis direction of the humanoid mechanical arm; wherein,
the rotary arm joint comprises a first speed reducer end and a first motor end;
the arm lifting joint comprises a second speed reducer end and a second motor end; wherein,
the first speed reducer end and the first motor end are mutually connected in a shaft way by taking a first end face perpendicular to the axis direction as a first butt joint face, and the central shaft of the first speed reducer end and the central shaft of the first motor end are coincident with the axis so as to generate relative rotation around the central shaft in the first butt joint face under the drive of the rotary arm joint driving circuit;
the second reducer end and the second motor end are mutually connected in a shaft way by taking a second end face extending along the axial direction as a second butt joint face, and the central shaft of the second reducer end and the central shaft of the second motor end are perpendicular to the axial direction so as to generate relative rotation around the central shaft perpendicular to the axial direction in the second butt joint face under the drive of the arm lifting joint driving circuit;
each first speed reducer end is fixedly connected with the adjacent second speed reducer end, and each first motor end is fixedly connected with the adjacent second motor end.
Further, the circuit board mounting end face is located at the first motor end.
Further, when the humanoid robot arm is in an extended state:
the axis of the humanoid mechanical arm is in a straight line shape;
the central shaft of the first speed reducer end and the central shaft of the first motor end in all the rocking arm joints in the humanoid mechanical arm are coincident with the axis;
the central shafts of the second speed reducer ends and the second motor ends of all the arm lifting joints in the humanoid mechanical arm are perpendicular to the axis.
Further, each stage of rotary arm joint is provided with one driving circuit board.
According to the scheme, the driving circuit board for the humanoid mechanical arm is arranged on the circuit board mounting end surface of the swinging arm joint opposite to the adjacent lifting arm joint according to the shape of the humanoid mechanical arm, and when the humanoid mechanical arm is in an extending state, the driving circuit board is just arranged between the adjacent swinging arm joint and the lifting arm joint, so that the mounting space of the driving circuit board is saved, the lengths of the swinging arm joint and the lifting arm joint can be greatly shortened, and the overall flexibility of the humanoid mechanical arm is further improved. Further, because the driving circuit board is adjacent to the jib joint and the arm lifting joint at the same time, the arrangement of connecting wires of the driving circuit board to the jib joint and the arm lifting joint is facilitated. In the embodiment of the invention, the driving circuit board is installed and fixed in a chute mode and is electrically connected with other parts through the connector, so that the installation and the debugging are easy. The drive circuit board adopts a high-speed real-time bus EtherCAT to transmit control signals, and has the advantages of quick response in real time, low cost and the like.
The humanoid mechanical arm requires a small volume, light weight and high efficiency of each joint motor driving circuit. The drive circuit board not only needs to provide servo drive for the motor, but also needs to receive Hall feedback from the motor and position feedback of the rotary encoder, and meanwhile, needs to be capable of providing functions such as braking protection and the like. Therefore, the embodiment of the invention can design the volume of the driving circuit to be very small and hide in each joint of the humanoid mechanical arm, so that the appearance and the size of the mechanical arm are similar to those of arms of common people.
Drawings
FIG. 1 is a partial design block diagram of a humanoid robot in an embodiment of the present invention;
FIG. 2 is a diagram illustrating a driving circuit board according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a driving circuit board according to an embodiment of the present invention;
fig. 4 is a driving circuit diagram of a brake in an embodiment of the present invention;
fig. 5 is a schematic diagram of a humanoid robot arm according to an embodiment of the driving circuit board of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below by referring to the accompanying drawings and examples.
Fig. 1 is a partial design structure diagram of a humanoid robot arm according to the present invention. Referring to fig. 1, in the embodiment of the present invention, a driving circuit board 41 for a humanoid robot is designed in combination with the overall structure of the humanoid robot. Wherein the driving circuit board 41 is located at the jib joint 10 of the humanoid robot arm. Fig. 2 is a schematic diagram of a driving circuit board according to an embodiment of the present invention. The driving circuit board comprises a rotary arm joint driving circuit 411 and a lifting arm joint driving circuit 412. Wherein the jib joint driving circuit 411 is electrically connected to the jib joint 10 to control the rotation of the jib joint 10. The arm-lift joint driving circuit 412 is electrically connected to the arm-lift joint 20 adjacent to the boom joint 10 to control the rotation of the arm-lift joint 20.
As shown in fig. 1, the boom joint 10 has a circuit board mounting end surface, which is opposite to the arm lifting joint 20 adjacent to the boom joint 10 when the humanoid robot arm is in an extended state, and an accommodating space is provided between the circuit board mounting end surface and the arm lifting joint. The driving circuit board 41 is mounted to the circuit board mounting end face and is located in the accommodation space.
In order to facilitate the mounting and testing of the driving circuit board 41, the circuit board mounting end face is provided with a chute, and the driving circuit board 41 is mounted on the circuit board mounting end face through the chute. Meanwhile, in order to facilitate the heat dissipation of the driving circuit board 41, the driving circuit board is mounted with a heat sink which is fixed on the boom joint driving circuit 411 and the arm lifting joint driving circuit 412, and when the driving circuit board 41 is mounted on the circuit board mounting end surface, the heat sink is pressed against the circuit board mounting end surface to transfer the heat of the driving circuit board 41 to the circuit board mounting end surface, thereby dissipating the heat through the boom joint 10.
In addition, in order to facilitate connection and disassembly with the jib joint and the lifting arm joint, in the embodiment of the invention, the driving circuit board is provided with a jib joint driving circuit connector and a lifting arm joint driving circuit connector. The swing arm joint driving circuit 411 is electrically connected to the swing arm joint 10 through the swing arm joint driving circuit connector, and the lift arm joint driving circuit 412 is electrically connected to the lift arm joint 20 through the lift arm joint driving circuit connector.
With continued reference to fig. 2, in order to match the sliding groove of the installation end surface of the circuit board, the installation of the driving circuit board 41 is facilitated, the driving circuit board 41 has a first side 413 and a second side 414 which are opposite to each other, and the first side 413 and the second side 414 are parallel to each other and are in a straight line shape, and in addition, the driving circuit board 41 can be inserted into the sliding groove through the first side 413 and the second side 414. Meanwhile, in order to match the appearance of the humanoid mechanical arm, the end part of the driving circuit board 41 is prevented from protruding out of the outer side of the humanoid mechanical arm so as to keep the whole appearance of the humanoid mechanical arm, the driving circuit board is further provided with a third side 415 and a fourth side 416 which are arranged oppositely, the third side 415 and the fourth side 416 are in convex arches, the convex arches are designed to facilitate holding of the driving circuit board 41 in a sliding groove when the driving circuit board 41 is inserted and pulled out, and the driving circuit board is similar to the outer arc surface of the humanoid mechanical arm, so that the end part of the driving circuit board 41 is prevented from protruding out of the outer side of the humanoid mechanical arm, and the whole appearance of the humanoid mechanical arm can be kept.
In the driving circuit board embodiment of the present invention, as shown in fig. 3, two card-type motor drivers are mounted on the driving circuit board, the arm-lifting joint driving circuit 411 mainly comprises an arm-lifting motor driver and its auxiliary circuit, and the arm-lifting joint driving circuit 412 mainly comprises an arm-lifting motor driver and its auxiliary circuit, so as to drive the motors of the arm-lifting joint and the arm-lifting joint respectively. The direct current 48V provides power supply for the driver, and the direct current 24V provides logic control power supply for the driver. The absolute value encoder at the joint end, the relative value encoder at the motor end and the position signals of the motor and the joint fed back by the Hall sensor of the motor are input to a corresponding motor driver through respective connectors, and the motor driver outputs three-phase motor power current to the motor.
In order to maintain the mechanical arm in a pre-power-off state without power, a brake is also required to prevent the motor from rotating when power is off. When the motor is electrified, the brake is released, and the motor rotates according to the requirement of the driver. Since the current required by the actuator is large and the actuator control signal is TTL level, the circuit shown in fig. 4 is used to drive the actuator. Wherein U8 is a photoelectric coupled MOSFET relay (normally open type), the maximum output current of the relay is 1A, and the withstand voltage is 60V. The driving current of the light emitting diode of the optocoupler is 5-10 mA. To prevent the surge voltage generated by the brake coil at the instant of power failure from breaking down the MOSFET relay, a bi-directional transient voltage suppression (Transient Voltage Suppress, TVS) diode D10 is employed to absorb the instantaneous high voltage. As a specific embodiment, the TVS diode D10 is of the type SMF30CA, and can be turned on instantaneously when the voltage across the MOSFET relay pins 3, 4 is greater than 33.3V, so as to absorb the surge voltage generated by the brake coil.
Fig. 5 shows the overall structure of a humanoid robot to which the driving circuit board embodiment of the present invention is applied. See also figures 1 and 5. The humanoid robot arm comprises a rotary arm joint 10 and a lifting arm joint 20 which are staggered along the axis 30 of the humanoid robot arm.
Each of the revolute joints 10 includes a first reducer end 12 and a first motor end 14. Wherein the first reducer end 12 has a central axis 122 extending in the direction of the axis 30, and a first end surface 124 perpendicular to the central axis 122, and the first motor end 14 has a central axis 142 extending in the direction of the axis 30, and a first end surface 144 perpendicular to the central axis 142; the first reducer end 12 and the first motor end 14 are mutually pivoted by taking first end surfaces 124 and 144 perpendicular to the axis 30 as first abutting surfaces 16, and a central shaft 122 of the first reducer end 12 and a central shaft 142 of the first motor end 14 coincide with the axis 30 so as to generate relative rotation around central shafts 122 and 124 in the first abutting surfaces 16 under the drive of the rotary arm joint driving circuit 411.
Each of the lift arm joints 20 includes a second reducer end 22 and a second motor end 24. Wherein the second reducer end 22 has a second end face 224 extending in the direction of the axis 30, and a central axis 222 perpendicular to the second end face 224, and the second motor end 24 has a second end face 244 extending in the direction of the axis 30, and a central axis 242 perpendicular to the second end face 244. The second reducer end 22 and the second motor end 24 are mutually pivoted by the second end surfaces 224 and 244 extending along the direction of the axis 30 as the second abutting surface 26, and the central axis 222 of the second reducer end 22 and the central axis 242 of the second motor end 24 are perpendicular to the direction of the axis 30, so as to generate relative rotation around the central axes 222 and 242 perpendicular to the direction of the axis 30 in the second abutting surface 26 under the driving of the arm lifting joint driving circuit 412.
Each first end 12 is fixedly connected to its adjacent second end 22, and each first end 14 is fixedly connected to its adjacent second end 24, such that the fixedly connected two components rotate with one another when the other rotates. Specifically, as shown in fig. 5, in any one of the jib joints 10, the first reducer end 12 thereof is adjacent to the second reducer end 22 of one of the jib joints 20 adjacent thereto, while being spaced apart from the second reducer end 22 of the other of the jib joints 20 adjacent thereto by the first motor end 14 of the jib joint 10, so that the first reducer end 12 of the jib joint 10 is fixedly connected to the second reducer end 22 adjacent thereto. Similarly, in the jib 10, the first motor end 14 thereof is separated from the second motor end 24 of an adjacent one of the lift arm joints 20 by the first reducer end 12 of the jib 10, and is fixedly connected to the second motor end 24 adjacent thereto.
In this embodiment, each arm joint 10 can rotate about the axis 30 of the humanoid robot arm, with a degree of freedom of rotation within 360 °, similar to the twisting action of a human arm. The arm lifting joint 20 adjacent to the arm lifting joint rotates around the direction perpendicular to the axis 30, has a rotation freedom degree within 360 degrees, and the rotation of the arm lifting joint is similar to the lifting action of a human arm. Further, the adjacent boom joint 10 and the arm lifting joint 20 are necessarily fixedly connected through a motor end or a reducer end, so that rotation in two directions perpendicular to each other or orthogonal to each other is combined, and therefore combination of multiple angles and positions is realized in a three-dimensional space, and the requirement that the humanoid mechanical arm can stay in any direction and angle is met. However, the rotation of the arm-like arm is not hindered by the driving circuit board 41, and the driving circuit board 41 is located on the end surface of the arm-like arm facing the arm-lifting joint, so that the arm-like arm is not required to be too long to meet the size of the driving circuit board 41. Furthermore, on one hand, the appearance of the humanoid mechanical arm is beautified, and on the other hand, the rotating arm joint and the arm lifting joint are not required to be designed too long, so that the control on the rotation and the position is finer, and the movable coverage area is wider.
In the embodiment shown in fig. 5, the combination of one boom joint 10 and one arm lifting joint 20 can realize the coverage of all angles and positions in almost four degrees of freedom, preferably, the total number of the boom joint 10 and the arm lifting joint 20 in the humanoid mechanical arm in the embodiment is at least seven, and the requirement of six degrees of freedom movement in a three-dimensional space is met by combining multiple groups of two connected boom joints 10 and arm lifting joints 20, so that the operation precision of the mechanical arm is improved. The circuit board mounting end face is located at the first motor end 12 of the jib joint 10, and each stage of jib joint 10 is provided with one driving circuit board 41, that is, the first motor end 14 of each jib joint 10 is provided with one driving circuit board 41, and the driving circuit board 41 is arranged on the first motor end 14 of the jib joint 10. The first motor end 14 and the second motor end 24 of two adjacent joints are fixedly connected together so that there is no relative movement therebetween, and when the drive circuit board 41 is disposed on the first motor end 14, the wiring (e.g., motor power lines, code lines, etc.) between the drive circuit board 41 and the first motor end 14 and the second motor end 24 can be made inside the first motor end 14 and the second motor end 24, for example, by fixed wire slots. Meanwhile, the connection between the driving circuit board 41 and the first speed reducer 12 and the second speed reducer 22 is very few, and most of them are only one sensor connection, so that the arrangement of the driving circuit board 41 on the first motor end 14 of the jib joint 10 can simplify the connection structure and wiring layout between joints.
In the embodiment shown in fig. 5, the humanoid robot arm is in an extended state. The axis 30 of the humanoid robot is in a straight line, the central axes 122 and 142 of the first reducer end 12 and the first motor end 14 in all the boom joints 10 in the humanoid robot are coincident with the axis 30, and the central axes 222 and 242 of the second reducer end 22 and the second motor end 24 in all the lift arm joints 20 in the humanoid robot are perpendicular to the axis 30. Furthermore, the entire humanoid robot arm is in a straight state.
To simulate the structure of a human arm, a human-simulated mechanical arm may be implemented by a seven-joint mechanical arm as shown in fig. 5. Wherein, a wrist joint W is formed by combining one arm joint 10 and one arm lifting joint 20, a shoulder joint S is formed by combining one arm joint 10 and one arm lifting joint 20, an elbow joint E is formed by combining two arm joints 10 and one arm lifting joint 20 positioned therebetween, the elbow joint E is arranged between the wrist joint W and the shoulder joint S, and the elbow joint E is arranged according to the staggered sequence of the arm joints 10 and the arm lifting joints 20, thereby realizing the freedom degree similar to or even exceeding the human arm.
Preferably, each first reducer end 12 has a first hollow cavity 126 extending through the first reducer end 12 along its central axis 122, and each first motor end 14 has a first hollow cavity 146 extending through the first motor end 14 along its central axis 142, with the first reducer end 12 and the first motor end 14 being journaled together in one of the tumbler joints 10 so that their first hollow cavities 126 and 146 remain aligned.
Similarly, the second reducer end 22 or the second motor end 24 of each lift arm joint 20 has a second hollow cavity 246 extending through the second reducer end 22 or the second motor end 24 in the direction of the axis 30, as shown in FIG. 1. Wherein in the embodiment shown in fig. 5, a second hollow cavity 246 is located in the second motor end 24 of each arm-lift joint 20.
Preferably, the second hollow cavity 246 is located on a side of the second reducer end 22 or the second motor end 24 facing away from the second interface 26.
In the embodiment of the present invention, the driving circuit board 41 and the cable 42 connected to the driving circuit board 41 together form the electrical mechanism 40. Wherein cable 42 is alternately routed through first hollow cavities 126, 146 and second hollow cavity 246 to connect with each of the swing arm joint 10 and the lift arm joint 20.
In the embodiment of the present invention, the boom joint 10 and the arm lifting joint 20 have hollow joint structures, and the humanoid robot arm according to the embodiment of the present invention rotates around its own axis 30, and the cable 42 is routed centrally, instead of being exposed at the periphery of the robot arm. According to the rotating and running characteristics of the mechanical arm, the cross section of each joint is basically circular, and if a cable of the mechanical arm is placed on a shell of the mechanical arm, the shell is necessarily shaped into a non-circular shape, so that the processing cost is increased. Further, since there is a relative rotational movement between the two parts of each joint, if the cable of the robot arm is placed on the housing of the robot arm, the rotational movement necessarily causes a change in the length of the cable 42, and thus, in order to avoid the cable from being broken, it is necessary to provide a large amount of redundancy.
In the embodiment of the present invention, the length of the cable 42 does not change drastically along with the rotation of the boom joint 10 when the boom joint rotates, and the length of the cable 42 changes only a limited amount when the boom joint 20 rotates, so that only a redundant amount of cable length change is provided for the rotation of each boom joint 10.
Wherein the power and control signals may be provided to the motors of each joint by way of a bus, cable 42 may be a bus cable formed from a power line and a control bus. Wherein, can adopt the real-time EtherCAT bus of high-speed, the power cord adopts 20A's power cord and 5A's control line, and the diameter after control bus and the power cord inlayer encircled the shielding layer can be 9mm like this. The diameters of the first hollow cavity and the second hollow cavity are correspondingly at least 11mm for the bus cable to pass through.
Preferably, in order to avoid increasing the length of the arm-lifting joint, one driving circuit board 41 connected to the adjacent swing arm joint 10 and arm-lifting joint 20 is provided in the swing arm joint 10. Since the relative rotation direction of the arm joints 20 is perpendicular or orthogonal to the axial direction of the robot arm, the increase in the length of the arm lifting joint 20 necessarily affects the degree of flexibility and precision of the entire robot arm, and thus, according to the characteristics of the adjacent structure, a driving circuit board 41 is provided for the adjacent pair of the arm joints 10 and the arm lifting joint 20 together, and the driving circuit board 41 is disposed in the arm joint 10.
To avoid twisting of the cable 42 due to relative rotational movement of each joint to friction with the high speed rotating motor rotor, resulting in damage, each jib joint 10 also includes a clip 182 and a spring clip 184. Wherein the clip 182 is disposed within the first hollow cavity 146 of the first motor end 14 to secure the cable 42 therein. A spring clip 184 is disposed within the first hollow cavity 126 of the first reducer end 12 to adjustably secure the cable 42 therein.
Wherein, clip 182 is fixedly connected with cable 42, and no relative movement or rotation occurs between each clip 182 and cable 42. The spring clip 184 is adjustably connected with the cable 42, the cable 42 and the spring clip 184 have a degree of freedom of relative movement, and the cable 42 between the clip 182 and the spring clip 184 can be kept in a straightened state in the arm joint 10 under the adjustment and fixation actions of the spring clip 184, so as to avoid the problem of friction with the motor rotor due to winding.
The length of the cable 42 adjusted by the spring clip 184 is the change of the length of the cable 42 caused by the rotation of the arm lifting joint 20, so that the cable 42 between the two clip 182 can be kept in a straightened state in the adjacent pair of the arm lifting joint 20 and the arm lifting joint 10 under the adjustment and fixation action of the spring clip 184, so as to avoid the problem of friction with the motor rotor caused by winding.
According to the driving circuit board for the humanoid mechanical arm, the driving circuit board is arranged on the circuit board mounting end face of the boom joint opposite to the adjacent arm lifting joint according to the shape of the humanoid mechanical arm, and when the humanoid mechanical arm is in an extending state, the driving circuit board is just arranged between the adjacent boom joint and the arm lifting joint. Further, because the driving circuit board is adjacent to the jib joint and the arm lifting joint at the same time, the arrangement of connecting wires of the driving circuit board to the jib joint and the arm lifting joint is facilitated. In the embodiment of the invention, the driving circuit board is installed and fixed in a chute mode and is electrically connected with other parts through the connector, so that the installation and the debugging are easy. The drive circuit board adopts a high-speed real-time bus EtherCAT to transmit control signals, and has the advantages of quick response in real time, low cost and the like.
The humanoid mechanical arm requires a small volume, light weight and high efficiency of each joint motor driving circuit. The drive circuit board not only needs to provide servo drive for the motor, but also needs to receive Hall feedback from the motor and position feedback of the rotary encoder, and meanwhile, needs to be capable of providing functions such as braking protection and the like. Therefore, the embodiment of the invention can design the volume of the driving circuit to be very small and hide in each joint of the humanoid mechanical arm, so that the appearance and the size of the mechanical arm are similar to those of arms of common people.
In addition, in the embodiment of the invention, each rotary arm joint can rotate by taking the axis of the humanoid mechanical arm as the center, has a rotation degree of freedom within 360 degrees, and the rotation of the rotary arm joint is similar to the torsion action of the human arm. The arm lifting joint adjacent to the arm lifting joint rotates by taking the direction vertical to the axis as the center, has a rotation freedom degree within 360 degrees, and the rotation of the arm lifting joint is similar to the lifting action of the human arm. Further, the adjacent rotating arm joints and lifting arm joints are fixedly connected through the motor end or the reducer end, so that rotation in two directions which are perpendicular or orthogonal to each other is combined, and therefore combination of multiple angles and positions is achieved in a three-dimensional space, and the requirement that a mechanical arm can stay in any direction and angle is met.
The humanoid mechanical arm of the embodiment can realize the coverage of all angles and positions in almost four degrees of freedom through the combination of one rotating arm joint and one lifting arm joint, and meets the requirement of six-degree-of-freedom movement in a three-dimensional space through the combination of multiple groups of rotating arm joints and lifting arm joints which are connected in pairs, so that the operation precision of the mechanical arm is improved.
Further, according to the characteristic that the humanoid robot arm rotates around its own axis direction, the cable of the humanoid robot arm adopts a central wiring manner instead of being exposed at the periphery of the robot arm. According to the rotation operation characteristic of the mechanical arm of the embodiment, the cross section of each joint is basically circular, if the cable of the mechanical arm is placed on the shell of the mechanical arm, the shell is necessarily shaped into a non-circular shape, and therefore the processing cost is increased. Further, since there is a relative rotational movement between the two parts of each joint, if the cable of the robot arm is placed on the housing of the robot arm, the rotational movement necessarily causes a change in the length of the cable, and thus, in order to avoid the cable from being broken, it is necessary to provide a large amount of redundancy. In this embodiment, through the central wiring manner and the setting direction of the hollow cavity, the length of the cable does not change drastically along with the rotation of the rotating arm joint when the rotating arm joint rotates, and the length change of the cable is limited when the arm lifting joint rotates, so that only the redundancy of the cable length change is provided for the rotation of each arm lifting joint.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (8)
1. A drive circuit board for imitative people arm, its characterized in that:
the humanoid mechanical arm comprises a rotating arm joint and an arm lifting joint which are staggered along the axis direction of the humanoid mechanical arm, and when the humanoid mechanical arm is in an extending state, the axis of the humanoid mechanical arm is in a straight line shape;
the driving circuit board is positioned at a rotary arm joint in the humanoid mechanical arm, wherein the rotary arm joint is provided with a circuit board mounting end face, and the driving circuit board is mounted at the circuit board mounting end face;
the driving circuit board comprises a rotary arm joint driving circuit and a lifting arm joint driving circuit; wherein,
the rotary arm joint driving circuit is electrically connected with the rotary arm joint to control the rotation of the rotary arm joint;
the arm lifting joint driving circuit is electrically connected with an arm lifting joint adjacent to the rotating arm joint so as to control the rotation of the arm lifting joint;
the arm lifting joint comprises a second speed reducer end and a second motor end;
the first speed reducer end and the first motor end are provided with a first hollow cavity penetrating along the central axis;
the first speed reducer end and the first motor end are mutually connected in a shaft way by taking a first end face perpendicular to the axis direction as a first butt joint face, and the central shaft of the first speed reducer end and the central shaft of the first motor end are coincident with the axis so as to generate relative rotation around the central shaft in the first butt joint face under the drive of the rotary arm joint driving circuit;
the second motor end is provided with a second hollow cavity penetrating along the axis direction, the second hollow cavity is positioned at one side of the second motor end, which is far away from a second butt joint surface, wherein the second reducer end and the second motor end are mutually connected by taking a second end surface extending along the axis direction as the second butt joint surface, and a central shaft of the second reducer end and a central shaft of the second motor end are perpendicular to the axis direction so as to generate relative rotation around a central shaft perpendicular to the axis direction in the second butt joint surface under the drive of the arm lifting joint driving circuit;
the cable connected with the driving circuit board alternately passes through the first hollow cavity and the second hollow cavity;
each second reducer end is fixedly connected with the adjacent reducer end, and each first motor end is fixedly connected with the adjacent second motor end;
the circuit board mounting end face is located at the first motor end.
2. The drive circuit board according to claim 1, wherein:
when the humanoid mechanical arm is in an extending state, the installation end surface of the circuit board is opposite to an arm lifting joint adjacent to the rotating arm joint, and an accommodating space is formed between the installation end surface of the circuit board and the arm lifting joint;
the driving circuit board is located in the accommodating space.
3. The drive circuit board according to claim 1, wherein:
the installation end face of the circuit board is provided with a chute;
the driving circuit board is arranged on the mounting end face of the circuit board through the sliding groove.
4. The drive circuit board according to claim 1, wherein:
the driving circuit board is provided with a radiator;
when the driving circuit board is mounted on the mounting end face of the circuit board, the radiator is tightly pressed against the mounting end face of the circuit board, so that heat of the driving circuit board is transferred to the mounting end face of the circuit board, and further heat is dissipated through the rotating arm joint.
5. The drive circuit board according to claim 1, wherein:
the driving circuit board is provided with a rotary arm joint driving circuit connector and a lifting arm joint driving circuit connector;
the rotary arm joint driving circuit is electrically connected with the rotary arm joint through the rotary arm joint driving circuit connector;
the arm lifting joint driving circuit is electrically connected with the arm lifting joint through the arm lifting joint driving circuit connector.
6. A drive circuit board according to claim 3, wherein:
the driving circuit board is provided with a first side edge and a second side edge which are opposite to each other, and the first side edge and the second side edge are parallel to each other and are in a straight line shape;
the driving circuit board is also provided with a third side edge and a fourth side edge which are opposite to each other, and the third side edge and the fourth side edge are in an outwards convex arch shape;
the driving circuit board is inserted into the sliding groove through the first side edge and the second side edge.
7. The drive circuit board of claim 1, wherein when the humanoid robot arm is in an extended state:
the central shaft of the first speed reducer end and the central shaft of the first motor end in all the rocking arm joints in the humanoid mechanical arm are coincident with the axis;
the central shafts of the second speed reducer ends and the second motor ends of all the arm lifting joints in the humanoid mechanical arm are perpendicular to the axis.
8. The drive circuit board according to claim 1, wherein:
and each stage of rotary arm joint is provided with one driving circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710679644.1A CN107336222B (en) | 2017-08-10 | 2017-08-10 | Driving circuit board for humanoid mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710679644.1A CN107336222B (en) | 2017-08-10 | 2017-08-10 | Driving circuit board for humanoid mechanical arm |
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| CN107336222A CN107336222A (en) | 2017-11-10 |
| CN107336222B true CN107336222B (en) | 2024-02-13 |
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| CN201710679644.1A Active CN107336222B (en) | 2017-08-10 | 2017-08-10 | Driving circuit board for humanoid mechanical arm |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018004358A1 (en) * | 2018-06-02 | 2019-12-05 | Franka Emika Gmbh | Drive device for a manipulator |
| JP6892080B2 (en) * | 2018-08-09 | 2021-06-18 | 東京ロボティクス株式会社 | Robot arm and robot |
| CN114043470B (en) * | 2021-11-12 | 2024-03-15 | 浙江大学杭州国际科创中心 | Driver and manipulator with same |
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| CN107336222A (en) | 2017-11-10 |
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