CN112405516A - Servo system of robot with multi-joint ultra-redundant flexible mechanical arm structure - Google Patents

Abstract

The invention discloses a servo system of a robot with a multi-joint ultra-redundancy flexible mechanical arm structure, which comprises a driving base, a driving motor set, a driving screw rod, a sliding block and a rope guide sheet, wherein the driving motor set is fixed on a motor mounting seat, the driving motor set adopts an arrangement mode of an inner ring and an outer ring, 12 driving motors are arranged on the inner ring, 24 driving motors are arranged on the outer ring, every three motors are in one group, a first nut seat and a second nut seat are respectively fixed at two ends of the driving screw rod, one end of the driving screw rod is in transmission connection with an output shaft of the driving motor, and the sliding block is arranged outside the driving screw rod and is in sliding connection with the driving screw rod.

Description

Servo system of robot with multi-joint ultra-redundant flexible mechanical arm structure

Technical Field

The invention relates to the technical field of robot servo control systems, in particular to a servo system of a robot with a multi-joint ultra-redundant flexible mechanical arm structure.

Background

According to the requirement of rapid guarantee of the surface of a carrier-based aircraft of a future aircraft carrier, it is particularly necessary to research a high-end equipment robot system for rapid and intelligent refueling, charging and other operations. The research focuses on providing a flexible robot principle model machine with an automatic charging function, and the model machine is required to have the functions of lifting movement, vision capture of a charging socket, insertion of a charging plug into the socket by a multi-joint flexible mechanical arm and the like.

The manufacturing strategy of high-end equipment is accelerated, and new requirements are provided for robots with special operation tasks. The pre-developed light intelligent execution mechanism platform has the characteristics of small working load, high flexibility, easiness in operation, real-time visual feedback and the like, can realize the aviation plug charging function in a space with the transverse distance between the center of the robot and the charging socket being 0.6 m and the ground height of the charging socket being 1.2 m by a principle model machine, and meets the requirements of small trembling and shaking in the working process, no contact force change after the butt joint action is finished and the like.

Based on the technical scheme, the light intelligent executing mechanism platform has the special requirements of high flexibility, small vibration in the motion process and the like, tends to be designed and constructed in a mode of 'multi-joint super-redundant mechanical arm + linear lifting mechanism', the mechanical arm adopts a rope-driven multi-joint super-redundant snake-shaped mechanical configuration, the linear lifting mechanism adopts a ball screw linear guide rail sliding table mechanical structure with a balance weight, and finally the aviation plug charging task in a given operation space is realized.

At present, the servo control system of the robot with the multi-joint ultra-redundant flexible mechanical arm structure has low control efficiency, so that improvement is needed.

Disclosure of Invention

The invention aims to provide a servo system of a robot with a multi-joint ultra-redundant flexible mechanical arm structure, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the servo system of the robot with the multi-joint ultra-redundant flexible mechanical arm structure comprises a driving base, a driving motor set, a driving screw rod, a sliding block and a rope guide piece, wherein the driving motor set is fixed on a motor mounting seat, a first nut seat and a second nut seat are respectively fixed at two ends of the driving screw rod, the servo system further comprises a speed reduction motor, an output shaft of the speed reduction motor is in transmission connection with one end of the driving screw rod, the output shaft of the driving motor is in transmission connection with the speed reduction motor, the sliding block is installed outside the driving screw rod and is in sliding connection with the driving screw rod.

Preferably, the servo of the robot of many joints super redundant flexible mechanical arm structure that this application provided, wherein, install the rope guide piece on the sliding block, the rope guide piece is connected with wire rope.

Preferably, the servo of the robot of many joints super redundant flexible mechanical arm structure that this application provided, wherein, drive pedestal mounting is in motor mount pad below, just be connected through many spliced poles between drive pedestal and the motor mount pad, install sensor, Epos drive connecting plate on the drive pedestal respectively, sensor and Epos drive connecting plate are connected with driving motor respectively, Epos drive connecting plate connects outside motion control ware respectively, motion control ware is connected with power and PC computer respectively.

Preferably, the servo system of the robot with the multi-joint super-redundancy flexible mechanical arm structure provided by the application is characterized in that the driving motor set adopts an arrangement mode of an inner ring and an outer ring, wherein 12 driving motors are installed on the inner ring, 24 driving motors are installed on the outer ring, and every three driving motors are a group, so that 12 groups of driving units are provided in total.

Preferably, the servo system of the robot with the multi-joint ultra-redundant flexible mechanical arm structure is provided, wherein the model of the driving motor is EC-max22 AV.

Preferably, the application provides a servo system of a robot with a multi-joint ultra-redundant flexible mechanical arm structure, wherein the use method comprises the following steps:

A. when the robot needs to be controlled, the PC computer sends out a control instruction;

B. the motion controller receives the control command and then sends a decoding signal, and the motion controller controls the driving motor to work;

C. the driving motor drives the speed reducer to work;

D. the speed reducer drives the screw rod to rotate, and the driving screw rod drives the sliding block to slide along the driving screw rod;

E. the sliding block pulls the steel wire rope, and then changes the arm joint angle and the arm body position.

Compared with the prior art, the invention has the beneficial effects that: the robot control system has the advantages of simple working principle, compact structure, small occupied area and good driving stability, and can improve the control efficiency of the robot; in addition, the driving motor group adopts an arrangement mode of inner and outer rings, wherein 12 driving motors are arranged on the inner ring, 24 driving motors are arranged on the outer ring, and every three driving motors form a group, so that 12 groups of driving units are formed.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the motor mount of the present invention;

FIG. 3 is a schematic diagram of the connection of the present invention;

in the figure: the device comprises a driving base 1, a driving screw rod 2, a sliding block 3, a rope guide sheet 4, a motor mounting seat 5, a first nut seat 6, a second nut seat 7, a speed reducing motor 8, a driving motor 9, a rope guide sheet 10, a connecting column 11, a sensor 12, an Epos driving connecting plate 13, a motion controller 14, a power supply 15 and a PC (personal computer) 16.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-3, the present invention provides a technical solution: the servo system of the robot with the multi-joint ultra-redundant flexible mechanical arm structure comprises a driving base 1, a driving motor 9, a driving screw rod 2, a sliding block 3 and a rope guide sheet 4, wherein the driving motor 9 is fixed on a motor mounting seat 5, a first nut seat 6 and a second nut seat 7 are respectively fixed at two ends of the driving screw rod 2, the servo system further comprises a speed reducing motor 8, an output shaft of the speed reducing motor 8 is in transmission connection with one end of the driving screw rod 2, an output shaft of the driving motor 9 is in transmission connection with the speed reducing motor 8, and the sliding block 3 is installed outside the driving screw rod 2 and is in sliding connection with the driving screw rod 2; the sliding block 3 is provided with a rope guiding sheet 10, and the rope guiding sheet 10 is connected with a steel wire rope.

In the invention, the driving motors 9 adopt an arrangement mode of inner and outer rings, wherein 12 driving motors are arranged on the inner ring, 24 driving motors are arranged on the outer ring, and every three driving motors form a group, and 12 groups of driving units are counted; the drive motor 9 is of the type EC-max22 AV.

In the invention, a driving base 1 is arranged below a motor mounting seat 5, the driving base 1 is connected with the motor mounting seat 5 through a plurality of connecting columns 11, a sensor 12 and an Epos driving connecting plate 13 are respectively arranged on the driving base 1, the sensor 12 and the Epos driving connecting plate 13 are respectively connected with a driving motor 9, the sensor 12 and the Epos driving connecting plate 13 are respectively connected with an external motion controller 14, and the motion controller 14 is respectively connected with a power supply 15 and a PC 16.

According to the invention, when the diameters of the driving motor and the speed reducer are 22mm, the motors are arranged in a double-layer mode, the size of the driving part nut and the sliding bearing can be controlled to be made of igus self-lubricating materials within the diameter of 250mm, the strength is met, the weight is light, the size is small, and the space of the driving part can be reduced.

P_{Electric machine}＝2π*M_L*N；N＝V/p

ML is the torque (unit NM) required by the rotation of the screw rod; n is the screw rod rotation speed (unit rpm); v, the moving speed of the screw rod;

if the speed reducer is selected, the output efficiency eta speed reducer of the speed reducer needs to be considered:

p motor 2 pi ML N/eta speed reducer

The screw rod rotates the required moment of torsion: ML FL p/(2 pi eta drive)

FL is load tension (unit N); p is lead (in mm); eta transmission is the transmission efficiency of the screw rod.

First, the required maximum motor power is estimated:

the maximum tension FL of the designed load is 400N, the maximum speed of the designed steel wire rope is 0.025m/s, the lead p is 12mm, and the transmission efficiency eta transmission of the 4-head screw of the igus screw nut is 0.55;

the screw rod rotates the required moment of torsion: ML FL p/(2 pi η transmission) 1.39 NM;

preliminarily estimating the required maximum power of the motor, wherein the P motor is 2 pi ML N/eta reducer is 30.5W;

(reduction ratio preliminary selection 104, reduction efficiency eta reducer is 0.59)

The maximum power of the motor required by preliminary calculation is 30.5W, and the rope driving force and the driving speed of 12 joints are considered to be different (according to the data measured by experiments, the maximum pulling force of the rope driving of the joints is 400N at the beginning and is reduced to 10N towards the tail end in sequence;

the joint is divided into three parts, namely a starting 4-joint part, a middle 4-joint part and a tail end 4-joint part, the load tension of the three parts is respectively 400N, 300N and 200N, and the design speed is respectively 0.01m/s, 0.015m/s and 0.025 m/s;

respectively checking whether the torque and the rotating speed of the three parts meet the requirements;

EC-max22, brushless, 25W motor, rated speed 10500rpm, rated torque 23.2mNm

Initial section 4: v is 0.01m/s, FL is 400N, the speed reduction ratio is 157, the motor provides the torque of 2.15NM, the required torque of the screw rod is 1.39NM, and the safety factor is 1.51; the actual use speed of the motor is 7850rpm, and the use ratio of the rotation speed is 0.75; the motor meets the working condition.

Section 4 in the middle: v is 0.015m/s, FL is 300N, the reduction ratio is 109, the motor provides the torque of 1.49NM, the required torque of the screw rod is 1.042NM, the safety factor is 1.40; the actual use speed of the motor is 8175rpm, and the use ratio of the rotation speed is 0.78; the motor meets the working condition.

4 sections at the tail end: v is 0.025m/s, FL is 200N, the reduction ratio is 72, the motor provides the torque of 0.99NM, the torque required by the screw rod is 0.695NM, and the safety factor is 1.39; the actual use speed of the motor is 9000rpm, and the use ratio of the rotation speed is 0.86; the motor meets the working condition.

The working principle is as follows: the using method of the invention comprises the following steps:

A. when the robot needs to be controlled, the PC computer sends out a control instruction;

B. the motion controller receives the control command and then sends a decoding signal, and the motion controller controls the driving motor to work;

C. the driving motor drives the speed reducer to work;

D. the speed reducer drives the screw rod to rotate, and the driving screw rod drives the sliding block to slide along the driving screw rod;

E. the sliding block pulls the steel wire rope, and then changes the arm joint angle and the arm body position.

In conclusion, the robot control system has the advantages of simple working principle, compact structure, small occupied area, good driving stability and capability of improving the control efficiency of the robot; in addition, the driving motor group adopts an arrangement mode of inner and outer rings, wherein 12 driving motors are arranged on the inner ring, 24 driving motors are arranged on the outer ring, and every three driving motors form a group, so that 12 groups of driving units are formed.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (6)

1. Servo of robot of many joints super redundant flexible mechanical arm structure, its characterized in that: including driving base (1), driving motor (9), drive lead screw (2), sliding block (3) and rope guide piece, driving motor (9) are fixed in on motor mount pad (5), first nut seat (6) and second nut seat (7) are fixed respectively at drive lead screw (2) both ends, still include gear motor (8), gear motor (8) output shaft is connected with drive lead screw (2) one end transmission, just the output shaft and the gear motor (8) transmission of driving motor (9) are connected, sliding block (3) install in drive lead screw (2) outside, and with drive lead screw (2) sliding connection.

2. The servo system of a robot of a multi-joint ultra-redundant flexible robot arm structure of claim 1, characterized in that: the sliding block (3) is provided with a rope guide sheet (10), and the rope guide sheet (10) is connected with a steel wire rope.

3. The servo system of a robot of a multi-joint ultra-redundant flexible robot arm structure of claim 1, characterized in that: drive base (1) is installed in motor mount pad (5) below, just be connected through many spliced poles (11) between drive base (1) and motor mount pad (5), install sensor (12), Epos drive connecting plate (13) on drive base (1) respectively, sensor (12) and Epos drive connecting plate (13) are connected with driving motor (9) respectively, outside motion control ware (14) is connected respectively to sensor (12), Epos drive connecting plate (13), motion control ware (14) are connected with power (15) and PC computer (16) respectively.

4. The servo system of a robot of a multi-joint ultra-redundant flexible robot arm structure of claim 1, characterized in that: the driving motors (9) adopt an arrangement mode of inner and outer rings, wherein 12 driving motors are installed on the inner ring, 24 driving motors are installed on the outer ring, and every three driving motors form a group, so that 12 groups of driving units are provided.

5. The servo system of a robot of a multi-joint ultra-redundant flexible robot arm structure of claim 1, characterized in that: the type of the driving motor (9) is EC-max22 AV.

6. The use method of the servo system of the robot for realizing the multi-joint ultra-redundant flexible mechanical arm structure according to claim 1 is characterized in that: the using method comprises the following steps:

A. when the robot needs to be controlled, the PC computer sends out a control instruction;

B. the motion controller receives the control command and then sends a decoding signal, and the motion controller controls the driving motor to work;

C. the driving motor drives the speed reducer to work;

D. the speed reducer drives the screw rod to rotate, and the driving screw rod drives the sliding block to slide along the driving screw rod;

E. the sliding block pulls the steel wire rope, and then changes the arm joint angle and the arm body position.

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