CN108481365A - For the absolute zero position detection device and detection method of robot, robot - Google Patents
For the absolute zero position detection device and detection method of robot, robot Download PDFInfo
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- CN108481365A CN108481365A CN201810304682.3A CN201810304682A CN108481365A CN 108481365 A CN108481365 A CN 108481365A CN 201810304682 A CN201810304682 A CN 201810304682A CN 108481365 A CN108481365 A CN 108481365A
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- level state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of for the absolute zero position detection device and detection method of robot, robot.The device includes：Circuit board, Hall sensor and microcontroller, the circuit board are arranged on the motor reducer；It is provided with Hall sensor in each predetermined angle of the circuit board, the motion state data for detecting the magnet steel.This method includes：The I/O interface of the microcontroller detects the level state of the Hall sensor；The level state is sent to the microcontroller by I/O interface and preserves the level state in the microcontroller by the Hall sensor；The joint control received according to the motor driving plate is instructed is sent to the motor driving plate by the low level state in the level state；Absolute zero position detection is completed by the motor driving plate and incremental encoder cooperation.The technical issues of cannot remembering initial position present application addresses incremental encoder motor.
Description
Technical field
This application involves robot fields, in particular to for the absolute zero position detection device of robot and detection
Method, robot.
Background technology
Most of robots are powered off again after the power is turned on, it is desirable to it is had to if normal work there are one initial position,
Namely zero-bit, for articulated type, biped robot, zero-bit is most important.And for the selection of motor, absolutely
Value encoder motor disclosure satisfy that the requirement for detecting zero-bit after the power is turned on again, but its cost is very high, and range ability is small, reliability
It is poor, and external battery is needed, wiring is more troublesome；In contrast, incremental encoder motor cost is low, anti-interference,
Data reliability is very high, so selecting incremental encoder motor more suitable.
Inventor has found that the shortcomings that incremental encoder motor is cannot to remember initial position.
For the problem of incremental encoder motor cannot remember initial position in the related technology, not yet propose at present effective
Solution.
Invention content
The main purpose of the application be to provide a kind of absolute zero position detection device for robot and and detection method,
Robot, to be that cannot remember initial position the shortcomings that solving the problems, such as incremental encoder motor.
To achieve the goals above, according to the one side of the application, a kind of absolute zero position for robot is provided
Detection device.According to the absolute zero position detection device for robot of the application, the joint part of the robot includes：Electricity
Machine driving plate, motor reducer and motor, the motor driving plate are used for controlling the motor rotation, the motor reducer
In the control decelerating through motor；The joint part further includes：Magnet steel and joint output shaft, the magnet steel are set to the joint
On output shaft, the joint output shaft is connected with the motor reducer, and described device includes：Circuit board, Hall sensor and
Microcontroller, the circuit board are arranged on the motor reducer, and Hall is provided in each predetermined angle of the circuit board
Sensor, the motion state data for detecting the magnet steel；The microcontroller is connected with the Hall sensor by I/O interface
It connects, the motion state data for receiving the magnet steel；The microcontroller is connect with the motor driving plate by SPI interface,
For the motion state data of the magnet steel received to be sent to the motor driving plate.
Further, the joint of robot position further includes：Incremental encoder, the incremental encoder and the motor
Connection, the relative position for determining the motor rotation.
Further, the microcontroller detects the level state of the Hall sensor by I/O interface.
Further, the microcontroller is captured after the level state of the Hall sensor by I/O interface by the Hall
The level state of sensor is sent to the motor driving plate of joint of robot by SPI interface.
Further, the magnet steel is fixed by being set to the joint output shaft support.
Further, the shape of the circuit board is the closed circle to match with the motor reducer shape or opening
Annulus.
To achieve the goals above, according to the another aspect of the application, a kind of robot is provided, including above-mentioned absolute
Zero detector.
To achieve the goals above, according to the third aspect of the application, a kind of absolute zero position detection method is provided.According to
Detection method includes the following steps by the application：The I/O interface of the microcontroller detects the level state of the Hall sensor；
The level state is sent to the microcontroller by I/O interface and preserves institute in the microcontroller by the Hall sensor
State level state；The joint control received according to the motor driving plate is instructed the first level shape in the level state
State is sent to the motor driving plate；Absolute zero position inspection is completed by the motor driving plate and incremental encoder cooperation
It surveys.
Further, the level state that the I/O interface of the microcontroller detects the Hall sensor includes：Described in detection
The position relationship of Hall sensor and the magnet steel；If detecting the Hall sensor with the position of the magnet steel in default inspection
When location is set, then the I/O interface detects the first level state of the Hall sensor；If detecting the Hall sensor
Position with the magnet steel is not in default test position, then the I/O interface detects the second electrical level shape of the Hall sensor
State.
Further, it is instructed first in the level state according to the joint control that the motor driving plate receives
Level state is sent to the motor driving plate：The motor driving plate is instructed according to the joint control by chip selection signal
It is sent to the microcontroller with clock signal；First level state is sent to described by the microcontroller by SPI interface
Motor driving plate.
In the embodiment of the present application, detection joint position has been reached by detecting the position of magnet steel using Hall sensor
Purpose, then the location information detected is sent to the motor driver of corresponding joint, to realize joint absolute zero position
The technique effect of detection, and then solve the disadvantage that incremental encoder motor is the technical issues of cannot remembering initial position.
Description of the drawings
The attached drawing constituted part of this application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the schematic device according to the embodiment of the present application；
Fig. 2 is the device and robot connection diagram according to the embodiment of the present application；
Fig. 3 is the detection magnet steel signal schematic representation according to the embodiment of the present application；
Fig. 4 is the device circuit schematic diagram according to the embodiment of the present application；
Fig. 5 is the STM8S103FU6 single chip communication circuit diagrams according to the embodiment of the present application；
Fig. 6 is a kind of open annulus circuit board schematic diagram according to the embodiment of the present application；
Fig. 7 is the open annulus circuit board schematic diagram of another kind according to the embodiment of the present application；
Fig. 8 is another closed circle circuit board schematic diagram according to the embodiment of the present application；
Fig. 9 is the predetermined angle schematic diagram according to the embodiment of the present application；
Figure 10 is the method schematic diagram according to the embodiment of the present application；
Figure 11 is the method and step schematic diagram according to the embodiment of the present application；
Figure 12 is to detect level state step schematic diagram according to the method for the embodiment of the present application；And
Figure 13 is the method principal function schematic diagram according to the embodiment of the present application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that the term " comprising " in the description and claims of this application and above-mentioned attached drawing and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
In this application, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the application and embodiment
It sets, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, it may be solid
Fixed connection, is detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected, either
Indirectly connected through an intermediary, or it is two connections internal between device, element or component.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this application involves a kind of absolute zero position detection device for robot, the joint of the robot
Position includes：Motor driving plate 4, motor reducer 5 and motor 6, the motor driving plate 4 are rotated for controlling the motor 6,
The motor reducer 5 is for controlling the deceleration of the motor 6；The joint part further includes：Magnet steel 7 and joint output shaft 8, institute
It states magnet steel 7 to be set on the joint output shaft 8, the joint output shaft 8 is connected with the motor reducer 5, described device
Including：Circuit board 1, Hall sensor 2 and microcontroller 3, the circuit board 1 are arranged on the motor reducer 5, the circuit
It is provided with Hall sensor 2 in each predetermined angle of plate 1, the motion state data for detecting the magnet steel 7；The monolithic
Machine 3 is connect with the Hall sensor 2 by I/O interface, the motion state data for receiving the magnet steel 7；The microcontroller
3 are connect with the motor driving plate 4 by SPI interface, for the motion state data of the magnet steel 7 received to be sent to
The motor driving plate 4.
Preferably, which mainly completes the function of absolute zero position detection using Hall sensor 2 and microcontroller 3, by
In using Hall sensor 2, therefore belong to contactless detection device.
Wherein, carrier of the circuit board 1 as Hall sensor 2 so that the wiring of circuit becomes simple clean and tidy.
Wherein, microcontroller 3 captures the signal of Hall sensor 2, is handled, and location information passes through by treated
The motor driving plate 4 that communication interface is sent to corresponding joint of robot carries out motor control.Microcontroller 3 can be according to its I/O resource
With the most rational brand of the corresponding design requirement selection utilization of resources and model.
Preferably, the selection of Hall sensor 2 is also to be distributed the requirements such as spacing according to circuit size, sensor to select size
Meet the model of design requirement with sensitivity.
Wherein, communication has the communications such as SPI, SCI, CAN it can be selected that simple and reliable.
Preferably, the selection of the devices such as microcontroller, Hall sensor, interface is not unique, can realize function, performance
Stabilization.
Preferably, magnet steel 7 can be replaced by the magnetic field components comprising magnet steel 7.
As shown in Fig. 2, the device is installed on the motor reducer 5 of corresponding joint, shape is designed as and joint of robot
The annulus or open annulus that 5 shape of motor reducer matches, are fixed by mounting hole 9 with retarder.Apparatus surface with
Every certain angle in the arcuate extent (corresponding joint of robot normal range) of the consistent concentric circles in the retarder center of circle
One piece of Hall sensor 2 is installed, magnet steel 7 is mounted on corresponding joint output shaft 8, and (radial extended line passes through by holder 10
The axle center of joint output shaft) by the 2 place circular arc pair of Hall sensor above the center of circle of magnet steel 7 and absolute zero position detection device
Together, when the magnet steel 7 on the output shaft of joint rotates to 2 position of Hall sensor, Hall sensor 2 will produce level change
Change, which is captured by the I/O interface of microcontroller and corresponding location information is sent to corresponding robot by communication interface and closed
The motor driving plate 4 of section.
As shown in figure 3, when the Hall sensor 2 in the device is close with any one magnet steel 7, Hall sensor 2 will be defeated
Go out the signal " 0 " of the first level state, magnet steel 7 leaves the signal " 1 " that it exports second electrical level state.Therefore, in absolute zero position
The Hall sensor 2 held of arranging in detection device can detect 7 position of magnet steel being fixed on joint output shaft 8, coordinate motor 6
On incremental encoder 11 so as to finding preset zero-bit.
As shown in figure 4, power supply and communication interface select the horizontal patch socket of small size of 1.25mm spacing, effect is will be electric
Source, which is introduced, powers to absolute zero position detection device and provides communication port, supply voltage 3.3V；Number of sensors can root
It is determined according to the size and articulation range of robot joint speed reducer.
As shown in figure 5, its realization method is described in detail in a kind of design example based on this programme：The present embodiment makes
Microcontroller 3 is the STM8S103FU6 microcontrollers of STMicw Electronics, which has SPI interface all the way and 12 tunnel general purpose I/Os to connect
Mouth (removes outside SPI interface), therefore the chip can at most support the information collection of 12 Hall sensors 2.The design example uses
Hall sensor 2 be a full polar form hall effect sensor HAL145 based on mixed signal CMOS technology, the magnetic used
7 size diameter 4mm of steel, thickness 2mm.
As shown in fig. 6, a kind of open annulus circuit board schematic diagram.Each Hall sensor 2 can be understood as absolute zero
One binary coding position of level detecting apparatus, the number of Hall sensor 2 indicate the digit of the binary coder, annular electro
Curved interval between two Hall sensors 2 near side of road plate 1 is exactly the detection range of the absolute zero position detection device.
Such as Fig. 6, A1, B1, C1, D1, E1, F1, G1 totally 7 Hall sensors are placed on same circumferential position, wherein
The interval angles of B1, C1, D1, E1, F1 Hall sensor 2 are 15 °, and the angle between A1 and B1, F1 and G1 is 30 °.Each suddenly
The output signal of your sensor 2 only has " 0 " and " 1 " two states, therefore this 7 sensors can indicate one 7 binary systems
Number, if using A1 sensors as highest order, G1 is as lowest order, then the first of magnet steel 7 is not detected in absolute zero position detection device
Beginning output state is " 1111111 "；If the Hall sensor 2 of the positions C1 detects the position of magnet steel 7, absolute zero position inspection
The output state for surveying device is " 1101111 ", that is, detects that the binary number that the Hall sensor 2 of 7 position of magnet steel represents can be by
" 1 " saltus step is " 0 ".
As shown in fig. 7, another open annulus circuit board schematic diagram, it placed that totally 10 suddenly on same circumferential position
That sensor 2, the interval angles of wherein A2, B2, C2, D2, E2 Hall sensor 2 are 15 °, F2, G2, H2, I2, J2 hall sensing
The interval angles of device 2 are 15 °, and the interval angles of E1 and F1 are 30 °.If A2 sensors as highest order, J1 as lowest order, that
The initial output state that magnet is not detected in absolute zero position detection device is " 1111111111 "；If the Hall of the positions D2 passes
Sensor 2 detects the position of magnet steel 7, then the output state of absolute zero position detection device is " 1110111111 ", that is, detects
The binary number that the Hall sensor of 7 position of magnet steel represents can be " 0 " by " 1 " saltus step.
As shown in figure 8, a kind of closed annulus circuit board schematic diagram, placed totally 12 on closed circle circumferential position
The interval angles of 2,12 Hall sensors 2 of Hall sensor are 30 °.If A3 sensors as highest order, J2 as lowest order,
The initial output state that so magnet is not detected in absolute zero position detection device is " 111111111111 "；If the positions D3 are suddenly
Your sensor 2 detects the position of magnet steel 7, then the output state of absolute zero position detection device is " 111011111111 ", i.e.,
Detect that binary number that the Hall sensor 2 of 7 position of magnet steel represents can be by " 1 " saltus step as " 0 ".
In another embodiment of the application, a kind of robot, the passes such as waist joint, the shoulder joint of the robot are additionally provided
Section position is equipped with above-mentioned apparatus, can carry out more accurately absolute zero position detection and positioning.
For the specific implementation principle and the relevant technologies effect of absolute zero position detection device, no longer repeated herein.
As shown in figure 9, a certain position O between C and D is the zero-bit set when installation, when location of C detects magnet steel 7,
System has been known that the mark position C determined at this time, begins to use incremental encoder to measure 11 positions at this time, motor is just
It can be accurately positioned according to the precision of incremental encoder 11 used, search out initially set zero-bit O.
As shown in Figure 10, which includes the following steps：
Step S101, the I/O interface of the microcontroller detect the level state of the Hall sensor；
The level state by I/O interface is sent to the microcontroller and in institute by step S102, the Hall sensor
It states and preserves the level state in microcontroller；
Step S103 is instructed according to the joint control that the motor driving plate receives by first in the level state
Level state is sent to the motor driving plate；
Step S104 completes absolute zero position detection by the motor driving plate and incremental encoder cooperation.
As shown in figure 11, the level state that the I/O interface of the microcontroller detects the Hall sensor includes following step
Suddenly：
Step S201 detects the position relationship of the Hall sensor and the magnet steel；
Step S202, if detecting the Hall sensor with the position of the magnet steel in default test position, institute
State the first level state that I/O interface detects the Hall sensor；
Step S203, if detecting the Hall sensor with the position of the magnet steel not in default test position,
The I/O interface detects the second electrical level state of the Hall sensor.
As shown in figure 12, the joint control instruction received according to the motor driving plate will be in the level state
The first level state be sent to the motor driving plate and include the following steps：
Step S301, the motor driving plate instruct according to the joint control and are sent to chip selection signal and clock signal
The microcontroller；
First level state is sent to the motor by SPI interface and driven by step S302, the microcontroller.
As shown in figure 13, after the power is turned on, microcontroller 3 is internal to SPI, I/O interface and timer etc. for absolute zero position detection device
Resource carries out initial configuration, and the I/O interface of access Hall sensor 2 is to detect its level state always, and be stored in monolithic
In machine, when motor driving plate 4 is needed using this status information, chip selection signal SPI_NSS and clock signal SPI_ is just sent
CLK, at this time microcontroller 3 status information of detection can be sent into the past by SPI_MISO pins.Motor driving plate 4 can
To coordinate motor incremental encoder 11 to find preset absolute zero position according to the location information of absolute zero position detection device.
It can be seen from the above description that the application realizes following technique effect：It is used alone shown in this example absolutely
If zero detector, positioning accuracy will be very low, and highest only has 15 ° of accuracy of detection in detection range.And increment
11 motor of formula encoder can only determine that the relative position that motor 5 rotates, the two are used cooperatively, can be achieved with having complementary functions, can
It enough determines absolute position, and very high precision (consistent with the precision of incremental encoder motor) can be reached.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. the absolute zero position detection device for robot, which is characterized in that the joint part of the robot includes：Motor drives
Movable plate, motor reducer and motor, the motor driving plate is for controlling the motor rotation, and the motor reducer is for controlling
Make the decelerating through motor；The joint part further includes：Magnet steel and joint output shaft, the magnet steel are set to the joint output
On axis, the joint output shaft is connected with the motor reducer, and described device includes：Circuit board, Hall sensor and monolithic
Machine,
The circuit board is arranged on the motor reducer, and hall sensing is provided in each predetermined angle of the circuit board
Device, the motion state data for detecting the magnet steel；
The microcontroller is connect with the Hall sensor by I/O interface, the motion state data for receiving the magnet steel；
The microcontroller is connect with the motor driving plate by SPI interface, for by the movement shape of the magnet steel received
State data are sent to the motor driving plate.
2. absolute zero position detection device according to claim 1, which is characterized in that also wrap at the joint of robot position
It includes：Incremental encoder, the incremental encoder are connect with the motor, the relative position for determining the motor rotation.
3. absolute zero position detection device according to claim 1, which is characterized in that the microcontroller is detected by I/O interface
The level state of the Hall sensor.
4. absolute zero position detection device according to claim 1, which is characterized in that the microcontroller is captured by I/O interface
The level state of the Hall sensor robot is sent to by SPI interface after the level state of the Hall sensor to close
The motor driving plate of section.
5. absolute zero position detection device according to claim 1, which is characterized in that the magnet steel is by being set to the pass
Section output shaft support is fixed.
6. absolute zero position detection device according to claim 1, which is characterized in that the shape of the circuit board be with it is described
The closed circle or open annulus that motor reducer shape matches.
7. a kind of robot, which is characterized in that include the absolute zero position detection device as described in claim 1 to 6.
8. a kind of absolute zero position detection method for robot, which is characterized in that in any one of such as claim 1 to 5
Operation is executed in the device, the described method comprises the following steps：
The I/O interface of the microcontroller detects the level state of the Hall sensor；
The level state is sent to the microcontroller by I/O interface and is protected in the microcontroller by the Hall sensor
Deposit the level state；It is instructed the low level in the level state according to the joint control that the motor driving plate receives
State is sent to the motor driving plate；
Absolute zero position detection is completed by the motor driving plate and incremental encoder cooperation.
9. absolute zero position detection method according to claim 6, which is characterized in that the I/O interface of the microcontroller detects institute
The level state for stating Hall sensor includes：
Detect the position relationship of the Hall sensor and the magnet steel；
If detecting the Hall sensor with the position of the magnet steel in default test position, the I/O interface detects institute
State the first level state of Hall sensor；
If detecting the Hall sensor with the position of the magnet steel not in default test position, the I/O interface detection
The second electrical level state of the Hall sensor.
10. absolute zero position detection method according to claim 6, which is characterized in that received according to the motor driving plate
To joint control instruction the first level state in the level state be sent to the motor driving plate include：
The motor driving plate instructs according to the joint control chip selection signal and clock signal being sent to the microcontroller；
First level state is sent to the motor driving plate by the microcontroller by SPI interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810304682.3A CN108481365A (en) | 2018-04-04 | 2018-04-04 | For the absolute zero position detection device and detection method of robot, robot |
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| CN201810304682.3A CN108481365A (en) | 2018-04-04 | 2018-04-04 | For the absolute zero position detection device and detection method of robot, robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799168A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Low-cost joint module |
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| CN107263526A (en) * | 2017-06-05 | 2017-10-20 | 上海交通大学 | A kind of multifunctional light quantification service joint of robot module |
| CN107650142A (en) * | 2017-07-12 | 2018-02-02 | 哈尔滨工大特种机器人有限公司 | A kind of servo drive system being applied in joint of mechanical arm |
| CN208084385U (en) * | 2018-04-04 | 2018-11-13 | 北京钢铁侠科技有限公司 | For robot absolute zero position detection device and be connected with the robot of the device |
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| CN113799168A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Low-cost joint module |
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