CN107775633A - High-flexibility humanoid mechanical arm - Google Patents
High-flexibility humanoid mechanical arm Download PDFInfo
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- CN107775633A CN107775633A CN201710734205.6A CN201710734205A CN107775633A CN 107775633 A CN107775633 A CN 107775633A CN 201710734205 A CN201710734205 A CN 201710734205A CN 107775633 A CN107775633 A CN 107775633A
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- bevel gear
- mechanical arm
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- gear
- axle
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- 238000001514 detection method Methods 0.000 claims description 14
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Classifications
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a high-flexibility humanoid mechanical arm which comprises a base, an upper arm, a lower arm and a plurality of joints. One joint is connected between the base and the upper arm, the other joint is connected between the upper arm and the lower arm, and the other joint is connected to one tail end of the lower arm. Each joint comprises an equal-ratio bevel gear mechanism, and each equal-ratio bevel gear mechanism comprises two motors, two first equal-ratio bevel gears and a second equal-ratio bevel gear. The two motors are respectively connected with the two first equal-ratio bevel gears which are both connected with the second equal-ratio bevel gear. The two motors are suitable for driving the second bevel gear to rotate along a first shaft or along a second shaft through the two first bevel gears so as to provide two rotational degrees of freedom for each joint.
Description
Technical field
The present invention relates to a kind of mechanical arm, more particularly to a kind of high flexibility ratio Apery manipulator arm.
Background technology
Industrial machine man-based development has arrived the stage of maturation at present, has there is the robot of several classic looks.And
In terms of servicing humanoid robot, because the theory of exploitation is different from target, therefore there is the service humanoid robot of quite a lot of different patterns,
The task that it respectively has advantage and disadvantage and can completed is also otherwise varied, is illustrated below.
The Human Support Robot (HSR) that Toyota (TOYOTA) is developed, its purpose are to help the daily life of people
It is living, it is merged into family and is coexisted with kinsfolk, improves overall quality of life, and with compact (Compact), light weight body
(Lightweight Body), safety interactive (Safe Interaction), simple interface (Simple Interface) are taken into account
Its artificial feature of machine.The robot have a mechanical arm coordinate two refer to clampers, visual identity function, Context awareness with
The functions such as autonomous, Remote ....
Japanese Physical Chemistry Inst (Institute of Physical and Chemical
Research, RIKEN) in proposition RI-MAN robots in 2006, it would be desirable to the mankind are praised by it, but and are not implemented.RIKEN exists
The robot of the mankind can be taken in one's arms with mechanical arm by going out global first item with East Sea rubber industry co-design within 2011, entitled
Robot for Interactive Body Assistance (RIBA), its characteristic be both arms can take in one's arms 60kg the mankind or
Weight, arm are provided with multiple touch sensors, and outer layer is coated with foamed polystyrene, avoids user from feeling not relax when colliding
Clothes.
The personal robot (Personal Robot 2, PR2) that Willow Garage companies of the U.S. are developed is hardware
The very powerful robot platform with software function.Its main purpose being developed, it is desirable to allow software developer to exclude
The problem of falling on hardware, there is provided platform of the software to one complete function of developer, allow user to pass through the (Open that increases income
Source) software develops the various application programs of robot, and this software is exactly the conventional robot manipulating task of academic circles at present
System ROS, PR2 is set freely to be walked in the office of complex environment.In addition to self-navigation, its main software function is more
Number is applied on image and arm, and the platform has the arm of two tools, 7 frees degree, can all be performed by the paw on arm
Task in real world.
The company Unbounded Robotics that shift in investment of Willow Garage companies, also release a cost only PR2 ten
/ mono- service humanoid robot UBR-1, UBR-1 have one can upper and lower telescoping mechanism, highest can be raised to 52 inches, and configure seven
Individual free degree manipulator arm, the heavy articles up to 1.5 kilograms can be lifted, UBR-1 robots aim at researcher and designed with enterprise,
It is used as the state-of-the-art Mobile operating platform of software architecture by ROS.Team of the said firm has stopped production now.
Pepper robots, by Japan Telecom Co. Ltd business's software bank (Softbank) and French company Aldebaran
Robotics is researched and developed jointly, and is entrusted by the foundry manufacturing of Taiwan Hong Hai companies.Pepper is the robot that first is used for accompanying the mankind,
With interaction for its key concept, be not suitable for performing family matters, focusing principally on to speak, and can identify the mood of user, can be autonomous
Mobile and life.There is the sense of hearing, tactile and emotion system in terms of sensing, can also utilize web help user.It is main on hardware
3D video cameras, Touch Screen and ultrasound sensors are equipped with, to ensure safety simultaneously with people's interaction.Mobile aspect uses three
Universal wheel can move freely, and whole body has 17 anti-clamping joints altogether.
In addition, international monopoly numbering WO2015131904A1 disclose a kind of security system for industrial robot, its
The motor of robot judges robot with distinguishing sensors configured at output shaft by the return value of the sensor
Actuator state, if its system according to the return value judges that start need to be stopped, needing actively by brake device prevent machine
Device people continues start, therefore complex on flowing mode is made and be unable to reach automatic locking and stop the effect of start.
Above-listed service humanoid robot, different purpose and function are whether developed by academia or industry, so
All towards coexisted with people, safety grounds, to assist mankind etc. be development goal.Therefore, develop and a can safely coexist, assist with people
Help others class, high heavy burden ability, the multi-function service humanoid robot that can even differentiate mood etc., there is suitable active demand to deposit
Service humanoid robot is set veritably to assist the mankind.
The content of the invention
The present invention provides a kind of mechanical arm, is shone at home for the apery with high torque, high flexibility ratio and high workload space
Shield type mechanical arm, and with the function with person cooperative work.
The mechanical arm of the present invention includes a pedestal, a upper arm, a underarm and multiple joints.One joint be connected to pedestal with
Between upper arm, another joint is connected between upper arm and underarm, and another joint is connected to an end of underarm.Each joint includes one
Compare bevel gear than bevel gear and one second etc. including two motors, two first etc. than bevel gear mechanism Deng than bevel gear mechanism, each wait.
Two motors connect two first grades than bevel gear respectively, and two first grades are both connected to second etc. than bevel gear and compare bevel gear.Two motors
Suitable for driving the second grade to rotate along a first axle than bevel gear or rotated along one second axle than bevel gear by two first grades, with
Each two rotational freedoms in joint are provided.
In one embodiment of this invention, when two motors drive two first grades to be rotated forward than bevel gear along a first axle respectively
When, two first grades rotate forward than the grade of umbrella tooth wheel drive second than bevel gear along first axle, when two motors drive two first grade ratios respectively
Bevel gear along first axle invert when, two first grades invert than the grade of umbrella tooth wheel drive second than bevel gear along first axle.
In one embodiment of this invention, when a motor driving corresponding to the first grade rotated forward than bevel gear along a first axle and
First grade corresponding to the driving of another motor than bevel gear along first axle invert when, two first grades compare umbrella than umbrella tooth wheel drive second etc.
Gear is along one second axle forward or reverse.
In one embodiment of this invention, above-mentioned mechanical arm includes at least a pressure sensor, wherein pressure sensing
Device is configured at the outside of mechanical arm, and when pressure sensor senses the outside of mechanical arm by an external force, mechanical arm is fitted
In stopping start, when pressure sensor sense the outside of mechanical arm persistently by external force when, mechanical arm is suitable to along external force
Action direction start.
In one embodiment of this invention, above-mentioned each joint is touched including an at least worm screw, at least a worm gear and at least one
Detection module is hit, worm screw is connected between a motor and worm gear, and worm gear is connected between worm screw and corresponding first bevel gear, is touched
Hit detection module and be configured at worm gear, when acceleration magnitude of the collision detection module detection from worm gear is different from a desired value, respectively
Motor stops start.
In one embodiment of this invention, above-mentioned motor is suitable to drive worm gear by worm screw, and when motor stops making
During dynamic and worm gear stress, worm screw is not driven so that mechanical arm locks automatically by worm gear.
In one embodiment of this invention, above-mentioned each joint subtracts including a position sensor, a motion sensor and one
Fast mechanism, reducing gear are connected to corresponding motor, and in corresponding motor, motion sensor is configured to be subtracted illustrative position sensor configuration
Fast mechanism and suitable for monitoring reducing gear actual acceleration and actual speed, position sensor be suitable to sensing motor output with
The expection acceleration magnitude of reducing gear and expected tachometer value are extrapolated, when the actual acceleration value and actual speed value of reducing gear
Different from reducing gear expection acceleration magnitude with expected tachometer value when, according to reducing gear actual acceleration value and actual turn
The output of speed value adjustment motor, until the actual acceleration value and actual speed value of reducing gear are same as the expection of reducing gear
Acceleration magnitude and expected tachometer value.
In one embodiment of this invention, above-mentioned motion sensor includes accelerometer, gyroscope or magnetometer.
In one embodiment of this invention, two first grades than bevel gear respectively with the second grade ratio bevel gear phase
Engagement, and two first grades coincide than axial line of the center line respectively with first axle of bevel gear, and second etc. compares umbrella
The axial line of the center line of gear and the second axle coincides, and the axial line of the axial line of the first axle and second axle is mutually empty
Between it is vertical.
Based on above-mentioned, in each joint of the mechanical arm of the present invention, two motors drive two first etc. to compare bevel gear respectively
Rotate, to compare bevel-gear rotating using two first grades driving second more common than bevel gear etc..Accordingly, control two first etc. can be passed through
Steering than bevel gear is identical or opposite second-class is rotated drive the than bevel gear along a first axle or along one second axle turn
It is dynamic, each joint of mechanical arm is possessed two frees degree as the joint of human arm, and can turn into has height flexibly
Degree and high workload space apery home care type mechanical arm.Further, since each joint of mechanical arm is by two horses
Up to driving jointly, therefore with high torque to provide good heavy burden ability.
For features described above of the invention and advantage can be become apparent, special embodiment below, and it is detailed to coordinate accompanying drawing to make
Carefully it is described as follows.
Brief description of the drawings
Fig. 1 is the stereogram of the mechanical arm of one embodiment of the invention.
Fig. 2 shows the comparison of Fig. 1 mechanical arm and the arm of human body.
Fig. 3 A are the partial component block schematic diagrams in the joint between Fig. 1 pedestal and upper arm.
Fig. 3 B are the partial component stereograms in the joint between Fig. 1 pedestal and upper arm.
Fig. 4 A are the partial component block schematic diagrams in the joint between Fig. 1 upper arm and underarm.
Fig. 4 B are the partial component stereograms in the joint between Fig. 1 upper arm and underarm.
Fig. 5 A are the partial component block schematic diagrams in the joint between Fig. 1 underarm and ring flange.
Fig. 5 B are the partial component stereograms in the joint between Fig. 1 underarm and ring flange.
Fig. 6 shows that Fig. 3 A the first grade compares bevel gear than bevel gear and second etc..
Fig. 7 is the stereogram of the mechanical arm of another embodiment of the present invention.
Fig. 8 is the partial component stereogram of the mechanical arm in joint of another embodiment of the present invention.
Fig. 9 shows Fig. 8 mechanical arm collision obstacle.
Figure 10 is the start flow chart of Fig. 9 mechanical arm.
Drawing reference numeral explanation
50：Barrier
100、200、300：Mechanical arm
110、210、310：Pedestal
120、220、320：Upper arm
130、230、330：Underarm
140、240、340：Ring flange
150、150’、160、160’、170、170’、250、260、270、350、360、370：Joint
152、162、172、352：Motor
152a、162a、172a、352a：Worm screw
152b、162b、172b、352b：Worm gear
152c、152d、152e、152f、162c、162d：Spur gear
154、164、174：First etc. compares bevel gear
156、166、176：Second etc. compares bevel gear
172c、172e：Belt pulley
172d：Belt
280：Pressure sensor
390：Collision detection module
A1：First axle
A2：Second axle
Embodiment
Fig. 1 is the stereogram of the mechanical arm of one embodiment of the invention.It refer to Fig. 1, the mechanical arm 100 of the present embodiment
Including pedestal 110, upper arm 120, underarm 130, ring flange 140 and multiple joints 150,160,170.Set in pedestal 110 to
The mechanism of the start free degree of mechanical arm 100 first, second, the joint being then only connected between pedestal 110 and upper arm 120 are provided
150.Set in upper arm 120 to provide the mechanism of the start free degree of mechanical arm 100 the three, the 4th, be then only connected to upper arm 120
Joint 160 between underarm 130.Set in underarm 130 to provide the start free degree of mechanical arm 100 the five, the 6th
Mechanism, it is then only connected to the end of underarm 130 and is connected to the joint 170 of ring flange 140.
Fig. 2 shows the comparison of Fig. 1 mechanical arm and the arm of human body.Fig. 2 is refer to, is connected to pedestal 110 and upper arm
Joint 150 between 120, equivalent to the shoulder joint 150 ' of human body.The joint 160 being connected between upper arm 120 and underarm 130,
Equivalent to the elbow joint 160 ' of human body.The joint 170 being connected between underarm 130 and ring flange 140, the wrist equivalent to human body close
Section 170 '.
The mechanism composition in detailed description below Fig. 1 joint 150.Fig. 3 A are the joints between Fig. 1 pedestal and upper arm
Partial component block schematic diagram.Fig. 3 B are the partial component stereograms in the joint between Fig. 1 pedestal and upper arm.It refer to Fig. 3 A
And Fig. 3 B, joint 150 include first-class than bevel gear mechanism, these compare umbrella than bevel gear mechanism including two motors 152, two first etc.
The grade of gear 154 and 1 second is than bevel gear 156.Each motor 152 is configured at the pedestal 110 shown in Fig. 1, and sequentially passes through worm screw
152a, worm gear 152b, spur gear 152c, spur gear 152d, spur gear 152e, spur gear 152f and first etc. corresponding to being connected to
Than bevel gear 154, wherein worm screw 152a, worm gear 152b, spur gear 152c, spur gear 152d, spur gear 152e, spur gear 152f
And first grade than bevel gear 154 form one group of reducing gear, to carry out big retarding ratio.To make schema more clear, Fig. 3 B are only
One motor 152 and one group of reducing gear are shown out, joint 150 actually includes symmetrical two groups of reducing gears.
In the present embodiment, spur gear 152c is, for example, 12 teeth, and spur gear 152d is, for example, 72 teeth, spur gear
152e is, for example, 13 teeth, and spur gear 152f is, for example, 52 teeth.The coaxially connected spur gear 152c of worm gear 152b, then be transmitted in
Spur gear 152d and co-axial spur gear 152e, then be transmitted in spur gear 152f and co-axial first etc. and compare bevel gear
154, with drive connection in second grade of two first grades than bevel gear 154 than bevel gear 156, and then drive connection is in the second grade ratio
The upper arm 120 (being illustrated in Fig. 1) of bevel gear 156.
The mechanism composition in detailed description below Fig. 1 joint 160.Fig. 4 A are the joints between Fig. 1 upper arm and underarm
Partial component block schematic diagram.Fig. 4 B are the partial component stereograms in the joint between Fig. 1 upper arm and underarm.It refer to Fig. 4 A
And Fig. 4 B, joint 160 include first-class than bevel gear mechanism, these compare umbrella than bevel gear mechanism including two motors 162, two first etc.
The grade of gear 164 and 1 second is than bevel gear 166.Each motor 162 is configured at the upper arm 120 shown in Fig. 1, and sequentially passes through worm screw
162a, worm gear 162b, spur gear 162c, spur gear 162d and first etc. than bevel gear 164, wherein worm screw corresponding to being connected to
162a, worm gear 162b, spur gear 162c, spur gear 162d and first etc. form one group of reducing gear than bevel gear 164, to enter
Row big retarding ratio.To make schema more clear, Fig. 4 B only show out a motor 162 and one group of reducing gear, and joint 160 is actually
Include symmetrical two groups of reducing gears.
In the present embodiment, spur gear 162c is, for example, 35 teeth, and spur gear 162d is, for example, 35 teeth.Worm gear
The coaxially connected spur gear 162c of 162b, then spur gear 162d and the co-axial first grade are transmitted in than bevel gear 164, with driving
Second grade of two first grades than bevel gear 164 is connected to than bevel gear 166, so drive connection in the second grade than bevel gear 166
Underarm 130 (being illustrated in Fig. 1).
The mechanism composition in detailed description below Fig. 1 joint 170.Fig. 5 A are the joints between Fig. 1 underarm and ring flange
Partial component block schematic diagram.Fig. 5 B are the partial component stereograms in the joint between Fig. 1 underarm and ring flange.It refer to
Fig. 5 A and Fig. 5 B, joint 170 include first-class than bevel gear mechanism, and these include two motors 172, two first etc. than bevel gear mechanism
Than the grade of bevel gear 174 and 1 second than bevel gear 176.Each motor 172 is configured at the underarm 130 shown in Fig. 1, and sequentially passes through snail
Bar 172a, worm gear 172b, belt pulley 172c, belt 172d, belt pulley 172e and first etc. compare bevel gear corresponding to being connected to
174, wherein worm screw 172a, worm gear 172b, belt pulley 172c, belt 172d, belt pulley 172e and first etc. are than the structure of bevel gear 174
Into one group of reducing gear, to carry out big retarding ratio.To make schema more clear, Fig. 5 B only show out a motor 172 and one group
Reducing gear, joint 170 actually include symmetrical two groups of reducing gears.
In the present embodiment, belt pulley 172c is, for example, 14 teeth, and belt pulley 172e is, for example, 20 octadentates.Worm gear 172b
Coaxially connected belt pulley 172c, it is driven via belt 172d to belt pulley 172e and the co-axial first grade than bevel gear 174,
With drive connection in second grade of two first grades than bevel gear 174 than bevel gear 176, and then drive connection compares umbrella tooth in second etc.
The ring flange 140 of wheel 176.Ring flange 4 can assembly manipulator use.
Fig. 6 shows that Fig. 3 A the first grade compares bevel gear than bevel gear and second etc..Two first grades are than bevel gear 154
Be meshed respectively with the second grade ratio bevel gear 156, and two first grades than bevel gear 154 center line respectively with
First axle A1 axial line coincides, and the second grade coincides than the axial line of the center line and the second axle A2 of bevel gear 156, described
First axle A1 axial line is vertical with the axial line phase space of the second axle A2.Under above-mentioned configuration mode, control can be passed through
It is identical or opposite drive the second grade than first axle A1 of the bevel gear 156 along Fig. 6 to make steering of two first grades than bevel gear 154
Rotate or rotated along Fig. 6 the second axle A2, the joint 150 of mechanical arm 100 is possessed two as the joint of human arm
The free degree, and the operation of first, second free degree of mechanical arm 100 can be completed.Similarly, control two the can be passed through
The first-class steering than bevel gear 164 is identical or opposite drive the second grade, along neither rotating coaxially, to make machinery than bevel gear 166
The joint 160 of arm 100 possesses two frees degree as the joint of human arm, and can complete the institute of mechanical arm 100
State the 3rd, operation of four-degree-of-freedom.Similarly, can be identical or phase by controlling steering of two first grades than bevel gear 174
It is counter to drive the second grade than bevel gear 176 along neither rotating coaxially, make the joint 170 of mechanical arm 100 such as human arm
Possess two frees degree as joint, and the described 5th of mechanical arm 100 the, operation of six degree of freedom can be completed.
Specifically, by the first grade shown in Fig. 6 than the grade of bevel gear 154 and second than bevel gear 156 exemplified by, when two motors
152 (being illustrated in Fig. 3 A) drive first grade on Fig. 6 right side than bevel gear 154 and the first grade ratio umbrella tooth in Fig. 6 left side respectively
Wheel 154 is rotated forward simultaneously along first axle A1, and the second grade can be made to be rotated forward than bevel gear 156 around first axle A1.Conversely, when two motors 152
(being illustrated in Fig. 3 A) drives first grade on Fig. 6 right side than bevel gear 154 and the first grade ratio bevel gear in Fig. 6 left side respectively
154 are inverted simultaneously along first axle A1, and the second grade can be made to be inverted than bevel gear 156 around first axle A1.On the other hand, when a motor
First grade on 152 (being illustrated in Fig. 3 A) driving Fig. 6 right side rotates forward than bevel gear 154 along first axle A1, and another motor 152
First grade in (being illustrated in Fig. 3 A) driving Fig. 6 left side is inverted than bevel gear 154 along first axle A1, and second etc. can be made to compare bevel gear
156 rotate forward around the second axle A2.Conversely, first etc. when a motor 152 (being illustrated in Fig. 3 A) driving Fig. 6 right side compares bevel gear
154 invert along first axle A1, and first grade in another motor 152 (being illustrated in Fig. 3 A) driving Fig. 6 left side is than the edge of bevel gear 154
First axle A1 is rotated forward, and the second grade can be made to be inverted than bevel gear 156 around the second axle A2.The first grade ratio in the joint 160 of the present embodiment
Bevel gear 164, second etc. than bevel gear 166 and joint 170 first etc. than bevel gear 174, second etc. than bevel gear 176
Thereby make flowing mode and all there is the rotational freedom of two axial directions.
To improve the safety coefficient of mechanical arm 100, joint 150 as above using etc. than bevel gear mechanism and pass through two
Individual motor 152 drives jointly, joint 160 as above using etc. than bevel gear mechanism and by two motors 162 come common
Driving, joint 170 as above using etc. drive jointly than bevel gear mechanism and by two motors 172, with high torsion
Square and good heavy burden ability is provided.
Fig. 7 is the stereogram of the mechanical arm of another embodiment of the present invention.In Fig. 7 mechanical arm 200, pedestal 210,
Upper arm 220, underarm 230, ring flange 240, the configuration in joint 250,260,270 Fig. 1 similar with the mode of action pedestal 110, on
Arm 120, underarm 130, ring flange 140, the configuration in joint 150,160,170 and the mode of action, are not being repeated in this.Mechanical arm
200 are in mechanical arm 200 includes multiple pressure sensors 280, and pressure sensor 280 is matched somebody with somebody with the difference of mechanical arm 100
It is placed in the outside of mechanical arm 200.Specifically, pressure sensor 280 is for example arranged in the mobilizable of mechanical arm 200
On the shell of upper arm 220 and underarm 230, and pedestal 210 is because inactive, therefore can not pressure sensor.Work as pressure sensor
280 when sensing the outside of mechanical arm 200 by external force, and mechanical arm 200 can stop current start according to this, with prevent with it is outside
Object hits.In addition, when pressure sensor 280 sense the outside of mechanical arm 200 persistently by external force when, mechanical arm 200
According to this along the action direction start of external force can user can directly force in mechanical arm 200 and directly adjust, convert machinery
The posture of arm 200.
Fig. 8 is the partial component stereogram of the mechanical arm in joint of another embodiment of the present invention.Fig. 9 shows Fig. 8's
Mechanical arm collision obstacle.In Fig. 8 and the mechanical arm of embodiment illustrated in fig. 9 300, pedestal 310, upper arm 320, underarm
330th, ring flange 340, joint 350,360,370, motor 352, worm screw 352a, worm gear 352b configuration and the mode of action are similar to
Fig. 1 and Fig. 3 B pedestal 110, upper arm 120, underarm 130, ring flange 140, joint 150,160,170, motor 152, worm screw
152a, worm gear 152b configuration and the mode of action, are repeated no more in this.Fig. 8,9 illustrated embodiments and Fig. 1,3B illustrated embodiment
Difference be in Fig. 8, the mechanical arm 300 of 9 embodiments include collision detection module 390, and collision detection module 390 is for example
Comprising six axle sensors (accelerometer, gyroscope or magnetometer etc.) and it is configured at worm gear 352b.When motor 352 passes through worm screw
352a and drive worm gear 352b and collision detection module 390 detects the acceleration magnitude from worm gear 352b and is different from a desired value
When, motor 352 stops start according to this.Thereby, joint velocity, the situation of rotating speed can be monitored, machinery is substituted into using trajectory planning
The kinematics or kinetic model of arm, the output valve of collision detection module 390 installed by worm screw 352a, can extrapolate and subtract
The due acceleration of fast mechanism output shaft and rotating speed, or extrapolate angular acceleration.When feedback acceleration magnitude have it is not as expected
Increase, reduce, then system be judged to colliding, hit, slide etc. emergency situations (as collided the barrier 50 shown in Fig. 9, or
Have human or animal unpredictably close and cause to stop with contacting mechanical arm 300), the stop motion of motor 352 of issuing orders is now sharp
Worm screw 352a characteristic can not be passed to by worm gear 352b with power direction of transfer, after the stopping of motor 352 action, worm screw 352a
Will not be driven by worm gear 352b, thus the mechanical arm 300 in the source that runs out of steam will not because external force act on and caused by rotation, displacement, such as
This also allows for mechanical arm 300 and completes to shut down, mechanical arm 300 is locked automatically without Jia Zhuan Brake car systems, therefore compared to preceding
Stating the robot disclosed in international monopoly numbering WO2015131904A1 needs actively to prevent robot from continuing by brake device
Start, the mechanical arm 300 of the present embodiment reach automatic locking to stop the effect of start by relatively simple design method.
The joint that this detection module 390 can be used between the joint 350 between pedestal 310 and upper arm 320, upper arm 320 and underarm 330
Joint 370 between 360 and underarm 330 and ring flange 340.
Illustrate the idiographic flow of the above-mentioned start of mechanical arm below by way of schema.Figure 10 is the work of Fig. 9 mechanical arm
Dynamic flow chart.First, the system input position of mechanical arm, speed, acceleration command (step S602).Next, it is determined that system
Whether order acts (step S604).If mechanical arm non-actuator state for meeting the order when carrying out step S604,
It is judged as that system command needs start and makes motor action (step S606), and six axle sensors read output shaft action (step
) and return value (step S610) S608.Conversely, if mechanical arm meets the start shape of the order when carrying out step S604
State, then it is judged as that system command is not required to start and directly carries out step S610.
Then, return value is compared with motor axle sensor and system command (step S612), to judge whether to collide
(step S614).If being judged as not colliding when carrying out step S614, judge whether to complete order (step S616).If
It is judged as completing order, then mechanical arm execution (step S618) when carrying out step S616.If carrying out step S616
When be judged as do not complete order, then return to step S606.It is if defeated in addition, be judged as colliding when carrying out step S614
Enter to cease and desist order (step S620) and motor stopping acts (step S622), so as to mechanical arm stopping action (step S624).
In one embodiment, the motor output shaft in each articular portion of mechanical arm installs a position sensor, rotating speed passes
Sensor or current sensor etc. at least one, and reducing gear output shaft install additional a motion sensor (accelerometer, top
Spiral shell instrument, magnetometer etc.), each joint velocity, the situation of rotating speed can be monitored, the kinetic simulation of mechanical arm is substituted into using trajectory planning
Type, the sensor output value installed by motor output shaft, can extrapolate the due acceleration of reducing gear output shaft and rotating speed,
Or extrapolate angular acceleration.If have does not increase, reduces as expected, it is judged to stopping, collides, hits, sliding etc. and happen suddenly
Situation, barrier is such as collided, or have human or animal unpredictably close and cause to stop with contacting mechanical arm, motor is immediately
Stop motion, and the irreversible characteristic of worm and wheel group power direction of transfer is utilized, mechanical arm is without Wai Jia Brake cars, you can
Complete the action shut down.
In one embodiment, the motor output shaft in each articular portion of mechanical arm installs a position sensor, rotating speed passes
Sensor or current sensor etc. at least one, and reducing gear output shaft installs a strain gauge, load cell etc. additional, can monitor
The situation of each joint mechanics, the kinetic model of mechanical arm is substituted into using trajectory planning, the sensor installed by motor output shaft
Output valve, the due stress of reducing gear output shaft, or the due driving current of motor can be extrapolated.If have not as expected
Increase, reduce, then the emergency situations such as be judged to stopping, collide, hit, sliding, such as colliding barrier, or someone or moving
Thing is unpredictably close to be caused to stop with contacting mechanical arm, motor stop motion immediately, and utilizes worm and wheel group power
The irreversible characteristic of direction of transfer, mechanical arm is without Wai Jia Brake cars, you can completes the action shut down.
In one embodiment, the motor output shaft in each articular portion of mechanical arm installs a position sensor, rotating speed passes
Sensor or current sensor etc. at least one, and reducing gear output shaft install additional a motion sensor (accelerometer, top
Spiral shell instrument, magnetometer etc.), actual acceleration, the situation of actual speed of the reducing gear in each joint can be monitored.Position sensor is then
The output of motor can be sensed to extrapolate the expection acceleration magnitude of reducing gear and expected tachometer value, and substituted into using trajectory planning
The kinetic model of mechanical arm extrapolates the due expected acceleration of reducing gear output shaft and expected rotating speed, or extrapolates and subtract
The fast due angular acceleration of mechanism output shaft, or extrapolate the due driving current of motor.When the actual acceleration of reducing gear
When angle value and actual speed value are different from the expection acceleration magnitude of reducing gear with expected tachometer value, that is, have and do not increase as expected
Add, reduce, then the emergency situations such as be judged to stopping, collide, hit, sliding, such as colliding barrier, or have human or animal non-
It is expectedly close to cause to stop with contacting mechanical arm, caused by the various sensors that can be installed additional by reducing gear output shaft
Measuring value infers whether suffered resistance or barrier release., can be by substituting into the kinetic model of mechanical arm if not releasing
The use of making of resistance or obstacle is calculated, and the motor control in each joint is calculated by making use, to reduce the effect of resistance or obstacle,
Untill elimination.That is, the actual acceleration value and actual speed value according to reducing gear adjust the output of motor, until subtracting
The actual acceleration value and actual speed value of fast mechanism are same as or turned close to the expection acceleration magnitude of reducing gear with expected
Speed value.
In summary, in each joint of the mechanical arm of the present invention, two motors drive two first etc. to compare bevel gear respectively
Rotate, to compare bevel-gear rotating using two first grades driving second more common than bevel gear etc..Accordingly, control two first etc. can be passed through
Than bevel gear steering for it is identical or it is opposite drive the second grade to be rotated than bevel gear along a first axle or along the rotation of one second axle,
Each joint of mechanical arm is possessed two frees degree as the joint of human arm, and can turn into high flexibility ratio and
The apery home care type mechanical arm in high workload space.Further, since each joint of mechanical arm is by two motors
To drive jointly, therefore there is high torque to provide good heavy burden ability.
Although the present invention is disclosed as above with embodiment, so it is not limited to the present invention, any art
Middle technical staff, without departing from the spirit and scope of the present invention, when can make a little change and retouching, therefore the protection of the present invention
Scope is worked as to be defined depending on as defined in claim.
Claims (9)
1. a kind of mechanical arm, including：
Pedestal, upper arm and underarm；And
Multiple joints, the joint are connected between the pedestal and the upper arm, and another joint is connected to the upper arm
Between the underarm, the another joint is connected to the end of the underarm,
It is characterized in that：Each joint includes waiting includes two motors, two than bevel gear mechanism, each grade than bevel gear mechanism
For first grade than bevel gear and the second grade than bevel gear, two motor connects two first grade than bevel gear respectively, and described two
First grade is both connected to second grade than bevel gear than bevel gear, and two motor is suitable to compare umbrella tooth by described two first etc.
Take turns and drive second grade to rotate along first axle than bevel gear or rotated along the second axle, to provide each two rotations in the joint
The free degree.
2. mechanical arm according to claim 1, it is characterised in that：When two motor drives described two first etc. respectively
Than bevel gear along first axle rotate forward when, two first grade is than the second grade described in umbrella tooth wheel drive than bevel gear along the first axle
Rotate forward, when two motor drives two first grade to be inverted than bevel gear along the first axle respectively, described two first etc.
Inverted than the second grade described in umbrella tooth wheel drive than bevel gear along the first axle.
3. mechanical arm according to claim 1, it is characterised in that：When the first grade ratio corresponding to motor driving
First grade corresponding to bevel gear along first axle rotating forward and another motor driving inverts than bevel gear along the first axle
When, two first grade is than the second grade described in umbrella tooth wheel drive than bevel gear along the second axle forward or reverse.
4. mechanical arm according to claim 1, it is characterised in that：Including an at least pressure sensor, the pressure passes
Sensor is configured at the outside of mechanical arm, when the pressure sensor senses the outside of the mechanical arm by external force, institute
State mechanical arm to be suitable to stop start, when the pressure sensor senses the outside of the mechanical arm persistently by the external force
When, the mechanical arm is suitable to the action direction start along the external force.
5. mechanical arm according to claim 1, it is characterised in that：Each joint includes an at least worm screw, at least one
Worm gear and at least a collision detection module, the worm screw are connected between the motor and the worm gear, and the worm gear is connected to
Between the worm screw and corresponding first bevel gear, the collision detection module is configured at the worm gear, when the collision
When acceleration magnitude of the detection module detection from the worm gear is different from desired value, each motor stops start.
6. mechanical arm according to claim 5, it is characterised in that：The motor is suitable to by the worm screw to drive
Worm gear is stated, and when the motor stops start and the worm gear stress, the worm screw is not driven so that described by the worm gear
Mechanical arm locks automatically.
7. mechanical arm according to claim 1, it is characterised in that：Each joint includes position sensor, motion passes
Sensor and reducing gear, the reducing gear are connected to the corresponding motor, and the illustrative position sensor configuration is in corresponding institute
Motor is stated, the motion sensor is configured at the reducing gear and actual acceleration and reality suitable for monitoring the reducing gear
Border rotating speed, the position sensor are suitable to sense the output of the motor to extrapolate the expection acceleration magnitude of the reducing gear
With being expected tachometer value, when the actual acceleration value and actual speed value of the reducing gear are different from the expection of the reducing gear
When acceleration magnitude is with expected tachometer value, actual acceleration value and actual speed value according to the reducing gear adjust the motor
Output, accelerate until the actual acceleration value and actual speed value of the reducing gear are same as the expected of the reducing gear
Angle value and expected tachometer value.
8. mechanical arm according to claim 7, it is characterised in that：The motion sensor includes accelerometer, gyro
Instrument or magnetometer.
9. mechanical arm according to claim 1, it is characterised in that：Two first grades than bevel gear respectively with it is described
Second grade is meshed than bevel gear, and two first grades are than the center line axial line phase with first axle respectively of bevel gear
Overlap, the second grade coincides than the axial line of the center line and the second axle of bevel gear, the axial line of the first axle and described the
The axial line phase space of two axles is vertical.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105127448 | 2016-08-26 | ||
| TW105127448A TWI605919B (en) | 2016-08-26 | 2016-08-26 | Robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107775633A true CN107775633A (en) | 2018-03-09 |
Family
ID=61023294
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710734205.6A Pending CN107775633A (en) | 2016-08-26 | 2017-08-24 | High-flexibility humanoid mechanical arm |
| CN201721065488.1U Active CN207593798U (en) | 2016-08-26 | 2017-08-24 | High-flexibility humanoid mechanical arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721065488.1U Active CN207593798U (en) | 2016-08-26 | 2017-08-24 | High-flexibility humanoid mechanical arm |
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| TW (1) | TWI605919B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI605919B (en) * | 2016-08-26 | 2017-11-21 | 黃榮堂 | Robotic arm |
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|---|---|---|---|---|
| CN101602208A (en) * | 2008-06-11 | 2009-12-16 | 松下电器产业株式会社 | The collision checking method of manipulator, manipulator and the control method of manipulator |
| CN102615551A (en) * | 2011-01-31 | 2012-08-01 | 德克尔马霍普夫龙滕有限公司 | Machine tool comprising a device for collision monitoring |
| TWM461525U (en) * | 2013-04-29 | 2013-09-11 | Univ Lunghwa Sci & Technology | Driving device of humanoid robotic arm |
| TW201347934A (en) * | 2012-05-16 | 2013-12-01 | Jung-Tang Huang | Robotic arm |
| CN105471329A (en) * | 2015-12-30 | 2016-04-06 | 南京航空航天大学 | Torque impulse balance control method of AC synchronous motor system |
| CN205459532U (en) * | 2016-02-01 | 2016-08-17 | 浙江捷昌线性驱动科技股份有限公司 | Elevating gear of machine of shifting and machine of shifting |
| CN207593798U (en) * | 2016-08-26 | 2018-07-10 | 冠亿精密工业(昆山)有限公司 | High-flexibility humanoid mechanical arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2346650A1 (en) * | 2008-08-29 | 2011-07-27 | ABB Research Ltd. | Compliant apparatus for the tool at the end of an arm of an industrial robot |
-
2016
- 2016-08-26 TW TW105127448A patent/TWI605919B/en not_active IP Right Cessation
-
2017
- 2017-08-24 CN CN201710734205.6A patent/CN107775633A/en active Pending
- 2017-08-24 CN CN201721065488.1U patent/CN207593798U/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101602208A (en) * | 2008-06-11 | 2009-12-16 | 松下电器产业株式会社 | The collision checking method of manipulator, manipulator and the control method of manipulator |
| CN102615551A (en) * | 2011-01-31 | 2012-08-01 | 德克尔马霍普夫龙滕有限公司 | Machine tool comprising a device for collision monitoring |
| TW201347934A (en) * | 2012-05-16 | 2013-12-01 | Jung-Tang Huang | Robotic arm |
| TWM461525U (en) * | 2013-04-29 | 2013-09-11 | Univ Lunghwa Sci & Technology | Driving device of humanoid robotic arm |
| CN105471329A (en) * | 2015-12-30 | 2016-04-06 | 南京航空航天大学 | Torque impulse balance control method of AC synchronous motor system |
| CN205459532U (en) * | 2016-02-01 | 2016-08-17 | 浙江捷昌线性驱动科技股份有限公司 | Elevating gear of machine of shifting and machine of shifting |
| CN207593798U (en) * | 2016-08-26 | 2018-07-10 | 冠亿精密工业(昆山)有限公司 | High-flexibility humanoid mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201806716A (en) | 2018-03-01 |
| CN207593798U (en) | 2018-07-10 |
| TWI605919B (en) | 2017-11-21 |
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