CN114872034A - Mechanical arm driving structure, arm type robot and driving method - Google Patents
Mechanical arm driving structure, arm type robot and driving method Download PDFInfo
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- CN114872034A CN114872034A CN202210682955.4A CN202210682955A CN114872034A CN 114872034 A CN114872034 A CN 114872034A CN 202210682955 A CN202210682955 A CN 202210682955A CN 114872034 A CN114872034 A CN 114872034A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The embodiment of the application discloses a mechanical arm driving structure, an arm type robot and a driving method, relates to the technical field of robots, and solves the problems that in the related technology, the mechanical arm is complex in man-machine cooperation implementation mode, high in cost and the like. The mechanical arm driving structure comprises a driving part, a transmission mechanism, a monitoring unit and a control unit, wherein the transmission mechanism is connected between the driving part and the mechanical arm in a transmission manner and is used for transmitting the driving force of the driving part to the mechanical arm and transmitting the external force applied to the mechanical arm to the driving part; the monitoring unit is arranged on the driving piece and used for acquiring working parameters of the driving piece, and the working parameters change along with external force; the control unit is electrically connected with the driving piece and the monitoring unit and is used for controlling the driving state of the driving piece according to the working parameters. The mechanical arm driving structure is used for driving a mechanical arm to move.
Description
Technical Field
The embodiment of the application relates to but is not limited to the field of robots, in particular to a mechanical arm driving structure, an arm type robot and a driving method.
Background
The arm type robot is a programmable bionic machine with functions similar to those of human arms, and is widely applied to the fields of industrial manufacturing, medical treatment, aerospace, entertainment services and the like.
In the related technology, a six-dimensional force sensor is arranged on a base or an execution end of an arm type robot to realize man-machine cooperation, when the mechanical arm contacts a human body or an obstacle, the force sensor collects the stress of the mechanical arm and transmits the stress to a controller for analysis, and then the controller controls the mechanical arm to stop moving according to the analysis result.
According to the man-machine cooperation scheme, the force sensor needs to be arranged, the stress is analyzed, the implementation mode is complex, and the cost is high due to the arrangement of the force sensor.
Disclosure of Invention
According to the mechanical arm driving structure, the arm type robot and the driving method, whether the mechanical arm collides or not is judged in a mode of collecting working parameters of the driving piece, the man-machine cooperation mode is more convenient, a special force feedback sensor does not need to be arranged, and therefore cost is reduced.
In a first aspect, an embodiment of the present application provides a mechanical arm driving structure, which includes a driving part, a transmission mechanism, a monitoring unit, and a control unit, where the transmission mechanism is connected between the driving part and the mechanical arm in a transmission manner, and is used to transmit a driving force of the driving part to the mechanical arm and transmit an external force applied to the mechanical arm to the driving part; the monitoring unit is arranged on the driving piece and used for acquiring working parameters of the driving piece, and the working parameters change along with external force; the control unit is electrically connected with the driving piece and the monitoring unit and is used for controlling the driving state of the driving piece according to the working parameters.
In the mechanical arm driving structure provided by the embodiment of the application, the driving force is provided by the driving part, the transmission mechanism is arranged between the driving part and the mechanical arm and can transmit the driving force generated by the driving part to the mechanical arm so as to drive the mechanical arm to move, when the mechanical arm collides with a human body or an obstacle, the human body or the obstacle applies an external force to the mechanical arm, the transmission mechanism can also transmit the external force from the mechanical arm to the driving part, in addition, the driving part is provided with the monitoring unit and the control unit which are electrically connected together, the monitoring unit can acquire working parameters of the driving part, the working parameters change along with the external force, when the transmission mechanism transmits the external force to the driving part, the working parameters of the driving part correspondingly change, the monitoring unit transmits the acquired working parameters to the control unit, and the control unit can judge whether the mechanical arm is subjected to the external force according to the working parameters, also whether the arm collides human body or barrier, the control unit is electric connection in the driving piece simultaneously, when the control unit judges the arm to collide according to operating parameter, the control driving piece changes the drive state, for example, the drive power output of pause driving piece, avoid the further interact of arm and human body or barrier, thereby protect human body and arm, compare with the scheme that installation force feedback sensor realized man-machine cooperation among the correlation technique on the arm, the arm drive structure of this application, judge whether the arm collides through the mode of gathering driving piece operating parameter, it is more convenient to realize the mode of man-machine cooperation, and need not to set up dedicated force feedback sensor, thereby the cost is reduced.
In one possible implementation of the present application, the driving state includes an enabled state and a disabled state; when the driving piece is in an enabling state, the output end of the driving piece can drive the mechanical arm to move; when the driving piece is in the disabled state, the output end of the driving piece can move along with the mechanical arm.
In one possible implementation manner of the present application, the working parameter and the external force are positively correlated, and the control unit stores a preset parameter; when the working parameter is higher than the preset parameter, the control unit controls the driving piece to be switched to the disabled state.
In one possible implementation of the present application, the driving member is a stepping motor, and the operating parameter is an operating current of the stepping motor.
In a possible implementation manner of the application, the robot further comprises a position recording module, and when the driving piece is switched to the disabled state, the position recording module is used for recording position parameters of the robot arm.
In a possible implementation manner of the application, the transmission mechanism comprises a first transmission piece, a second transmission piece and a third transmission piece which are sequentially connected in a transmission manner, the first transmission piece is fixedly connected to the output end of the driving piece, and the third transmission piece is used for fixedly connecting the mechanical arm.
In one possible embodiment of the application, the transmission ratio of the first transmission element to the second transmission element does not exceed 5: 1.
In a possible implementation manner of the present application, the transmission mechanism is a synchronous belt mechanism, the first transmission member and the third transmission member are both provided with a belt wheel, the second transmission member is a synchronous belt, the second transmission member is sleeved on the first transmission member and the third transmission member, and a radial dimension of the first transmission member is smaller than a radial dimension of the third transmission member.
In one possible implementation manner of the present application, the transmission mechanism further includes a tension wheel, and the tension wheel abuts against the synchronous belt to tension the synchronous belt.
In a second aspect, an embodiment of the present application provides an arm type robot, including a base, a plurality of arms and the arm driving structure of any one of the first aspect, the plurality of arms are sequentially and rotatably connected to form an arm group, and the arm of the arm group near one end of the base is rotatably connected to the base, and the plurality of arm driving structures and the plurality of arms are arranged in a one-to-one correspondence.
The arm type robot that this application embodiment provided, owing to the arm drive structure including the first aspect, consequently have the same technological effect, judge whether the arm bumps through the mode of gathering driving piece working parameter promptly, realize that the mode of man-machine cooperation is more convenient, and need not to set up dedicated force feedback sensor to the cost is reduced.
In a possible implementation manner of the present application, the robot further includes an intelligent module, the mechanical arm driving structure is electrically connected to the intelligent module, and the intelligent module is configured to: controlling a driving part to drive the mechanical arm to move through a transmission mechanism; monitoring an operating parameter of the drive member; and controlling the driving state of the driving piece according to the working parameters.
In a third aspect, an embodiment of the present application provides a method for driving a robot arm, which mainly includes the following steps: controlling a driving part to drive the mechanical arm to move through a transmission mechanism; monitoring an operating parameter of the drive member; judging whether the mechanical arm has collision or not according to the working parameters; and controlling the driving state of the driving piece according to the judgment result.
The mechanical arm driving method provided by the embodiment of the application can be used for the arm type robot in the second aspect, and therefore the same technical effect is achieved, namely whether the mechanical arm collides is judged in a mode of collecting working parameters of the driving piece, the man-machine cooperation mode is more convenient to achieve, a special force feedback sensor is not required to be arranged, and therefore the cost is reduced.
In one possible implementation of the present application, the driving state includes an enabled state and a disabled state; when the driving piece is in an enabling state, the output end of the driving piece can drive the mechanical arm to move; when the driving piece is in the disabled state, the output end of the driving piece can move along with the mechanical arm.
In one possible implementation manner of the present application, in the step of determining whether there is a collision of the robot arm according to the working parameter, the robot arm driving method includes: and comparing the working parameters with preset parameters to judge whether the mechanical arm has collision.
In a possible implementation manner of the present application, in the step of comparing the working parameter with a preset parameter to determine whether there is a collision in the mechanical arm, the mechanical arm driving method includes: and when the working parameters are larger than the preset parameters, judging that the mechanical arm has collision.
In one possible implementation manner of the present application, in the step of controlling the driving state of the driving member according to the operating parameter, the robot arm driving method includes: and when the mechanical arm is judged to have collision, controlling the driving piece to be switched to the disabled state.
In one possible implementation manner of the present application, after the step of controlling the driving member to switch to the disabled state, the robot arm driving method includes: judging whether the collision of the mechanical arm is finished or not; and controlling the driving state of the driving piece according to whether the collision is finished.
In one possible implementation manner of the present application, in the step of controlling the driving state of the driving member according to whether the collision is finished, the robot arm driving method includes: and when the collision is over, controlling the driving piece to be switched to an enabling state.
In one possible implementation manner of the present application, a robot arm driving method includes: recording position parameters of the mechanical arm before the driving piece is switched to the disabled state; after the drive is switched to the enabled state, the robot arm is moved to the position recorded by the position parameter.
In one possible implementation manner of the present application, in the step of monitoring the operating parameter of the driving member, the robot arm driving method includes: the drive is continuously monitored to obtain continuous operating parameters.
In one possible implementation manner of the present application, before the step of comparing the working parameter with the preset parameter, the method for driving the robot arm includes: the value of the preset parameter is determined according to the performance parameter of the driving piece.
Drawings
Fig. 1 is a schematic structural diagram of an arm robot provided in an embodiment of the present application;
fig. 2 is a partial cutaway view of an arm robot provided in an embodiment of the present application at a first viewing angle;
fig. 3 is a partial cutaway view of an arm robot provided in the embodiment of the present application at a second viewing angle;
FIG. 4 is a flowchart illustrating the main steps of a method for driving a robot according to an embodiment of the present disclosure;
fig. 5 is a flowchart of a step of determining whether a collision exists in a robot arm in the robot arm driving method according to the embodiment of the present application;
fig. 6 is a flowchart illustrating a step of controlling a driving element to switch to an disabled state in the method for driving a robot arm according to the embodiment of the present disclosure;
FIG. 7 is a flowchart illustrating a step of controlling the driving member to switch to the enabled state in the method for driving the robot arm according to the embodiment of the present application;
fig. 8 is a flowchart illustrating steps involved in a method for driving a robot arm according to an embodiment of the present disclosure.
Reference numerals:
1-a base; 2-a large arm member; 3-a forearm member; 4-a large arm drive structure; 41-big arm driving motor; 42-big arm transmission mechanism; 421-big arm driving pulley; 422-big arm driven belt wheel; 423-big arm rotating shaft; 424-big arm synchronous belt; 425-big arm tension wheel; 5-a forearm drive configuration; 51-forearm drive motor; 52-small arm transmission mechanism; 521-a small arm driving pulley; 522-forearm driven pulley; 523-small arm rotating shaft; 524-small arm synchronous belt; 525-small arm tension wheel; 6-an intelligent module; 7-an actuator.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless otherwise specified.
In addition, in the embodiments of the present application, directional terms such as "upper", "lower", "left", and "right" are defined with respect to the schematically-placed orientation of components in the drawings, and it is to be understood that these directional terms are relative concepts, which are used for descriptive and clarifying purposes, and may be changed accordingly according to changes in the orientation in which the components are placed in the drawings.
In the embodiments of the present application, unless otherwise explicitly specified or limited, the term "connected" is to be understood broadly, for example, "connected" may be a fixed connection, a detachable connection, or an integral body; may be directly connected or indirectly connected through an intermediate.
In the embodiments of the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
The embodiment of the application provides an arm type robot, which is a programmable bionic machine with functions similar to those of human arms and is widely applied to the fields of industrial manufacturing, medical treatment, aerospace, entertainment service and the like, for example, in the industry, a mechanical arm can be used for assembly line production, assembly, spraying and the like; the fire-fighting robot can replace manpower to carry out rescue in a high-risk environment and the like; assisting disabled persons to grab required articles in medical treatment; the toy is used for man-machine chess playing, bionic toys and the like in entertainment life.
Referring to fig. 1, the arm robot provided by the embodiment of the present application includes a base 1, a plurality of mechanical arms and a plurality of mechanical arm driving structures, wherein the plurality of mechanical arms are sequentially and rotatably connected to form a mechanical arm group, the mechanical arm group near one end of the base 1 is rotatably connected to the base 1, and the plurality of mechanical arm driving structures and the plurality of mechanical arms are arranged in a one-to-one correspondence manner.
It should be noted that, the present application does not limit the degree of freedom of the arm type robot, and referring to fig. 2 and 3, in a possible implementation manner of the present application, the robot arm is a two-degree-of-freedom arm type robot, the two robot arms are a base 1 and two robot arms, the two robot arms are a large arm member 2 and a small arm member 3, respectively, a first end of the large arm member 2 is rotatably connected to the base 1, a second end of the large arm member 2 is rotatably connected to a first end of the small arm member 3, and a second end of the small arm member 3 is a free end for mounting an actuator 7, such as a gripper, a suction cup, and the like.
Correspondingly, two sets of mechanical arm driving structures are provided, and referring to fig. 2 and 3, the two sets of mechanical arm driving structures are a large arm driving structure 4 and a small arm driving structure 5 respectively, wherein the large arm driving structure 4 is arranged between the large arm component 2 and the base 1 and is used for driving the large arm component 2 to move, and the small arm driving structure 5 is arranged between the small arm component 3 and the large arm component 2 and is used for driving the small arm component 3 to move.
In a possible implementation manner of the present application, the robot further includes an intelligent module 6, the robot driving structure is electrically coupled to the intelligent module 6, and the intelligent module 6 is configured to: a driving piece in the mechanical arm driving structure is controlled to drive the mechanical arm to move through a transmission mechanism; monitoring an operating parameter of the drive member; and controlling the driving state of the driving piece according to the working parameters. Whether the mechanical arm collides is judged by the intelligent module 6 in a mode of collecting working parameters of the driving piece, the mode of realizing man-machine cooperation is more convenient, and a special force feedback sensor is not required to be arranged, so that the cost is reduced, and the intelligent module 6 can also be used for planning the motion path of the mechanical arm, controlling the motion speed and the like.
The application does not limit working parameters and driving state, optionally, in a possible implementation mode of the application, the working parameters are related to the stress state of the mechanical arm, and can be used for judging whether the mechanical arm collides, when the intelligent module 6 judges that the mechanical arm collides with a human body or an obstacle, the working state of the driving part is changed, for example, the driving force output of the driving part is suspended, and therefore the human body and the mechanical arm are protected.
In addition, the embodiment of the present application provides a mechanical arm driving structure, referring to fig. 2 and 3, the mechanical arm driving structure includes driving parts, a transmission mechanism, a monitoring unit and a control unit, the driving parts are a large arm driving motor 41 and a small arm driving motor 51 shown in fig. 2 and 3, the transmission parts are a large arm transmission mechanism 42 and a small arm transmission mechanism 52 shown in fig. 2 and 3, the monitoring unit and the control unit are integrated in the intelligent module 6, and the transmission mechanism is in transmission connection between the driving parts and the mechanical arm, and is used for transmitting the driving force of the driving parts to the mechanical arm and transmitting the external force applied to the mechanical arm to the driving parts; the monitoring unit in the intelligent module 6 is arranged on the driving piece, and the monitoring unit in the intelligent module 6 is used for acquiring working parameters of the driving piece, and the working parameters change along with external force; the control unit in the intelligent module 6 is electrically connected to the driving element and the monitoring unit in the intelligent module 6, and the control unit in the intelligent module 6 is used for controlling the driving state of the driving element according to the working parameter, and for convenience of description, the large arm driving structure 4 is taken as an example for description.
According to the large arm driving structure 4 provided by the embodiment of the application, the large arm driving motor 41 provides driving force, the large arm transmission mechanism 42 is arranged between the large arm driving motor 41 and the large arm member 2, the large arm transmission mechanism 42 can transmit the driving force generated by the large arm driving motor 41 to the large arm member 2 so as to drive the large arm member 2 to move, when the large arm member 2 collides with a human body or an obstacle, the human body or the obstacle can apply an external force to the large arm member 2, and the large arm transmission mechanism 42 can also transmit the external force from the large arm member 2 to the large arm driving motor 41.
In addition, the monitoring unit and the control unit integrated in the intelligent module 6 are disposed on the boom driving motor 41, the monitoring unit in the intelligent module 6 can collect the working parameters of the boom driving motor 41, the working parameters change along with the above external force, when the boom transmission mechanism 42 transmits the external force to the boom driving motor 41, the working parameters of the boom driving motor 41 change correspondingly, the monitoring unit in the intelligent module 6 transmits the collected working parameters to the control unit in the intelligent module 6, the control unit in the intelligent module 6 can determine whether the boom member 2 is subjected to the external force according to the working parameters, that is, whether the boom member 2 collides with a human body or an obstacle, the control unit in the intelligent module 6 is electrically connected to the boom driving motor 41 at the same time, when the control unit in the intelligent module 6 determines that the boom member 2 collides according to the working parameters, the large arm drive motor 41 is controlled to change the drive state, for example, to suspend the output of the drive force, to avoid further interaction of the large arm member 2 and the human body or an obstacle, thereby protecting the human body and the large arm member 2.
Compared with the scheme that the force feedback sensor is mounted on the large arm component 2 to achieve man-machine cooperation in the related art, the large arm component 2 driving structure judges whether the large arm component 2 collides or not in a mode of collecting working parameters of the large arm driving motor 41, the man-machine cooperation mode is more convenient to achieve, the dedicated force feedback sensor does not need to be arranged, and therefore cost is reduced.
In one possible implementation of the present application, the driving state includes an enabled state and a disabled state; when the driving member is in an enabling state, i.e. a normal output state of the driving member, taking the large arm driving motor 41 as an example, the enabling state is a state of rotating the output shaft and driving the transmission mechanism to move under the electromagnetic action, and the output end of the driving member can drive the mechanical arm to move; when the driving piece is in the disabled state, that is, the driving piece is no longer in the state of applying force to the output end of the driving piece, for example, under the conditions that the large arm driving motor 41 is turned off and the braking device is turned off, the motor rotor can rotate freely, so that the output end of the driving piece can move along with the mechanical arm, the external force applied to the mechanical arm by a human body or a barrier can drive the mechanical arm to move freely, so that the mechanical arm avoids the human body or the barrier, the human body is protected, meanwhile, the output shaft of the driving piece moves freely along with the mechanical arm, the external force is also removed, and the possibility of stress damage of the mechanical arm is reduced.
The application does not limit the working parameters, the working parameters are different according to the types of the driving pieces and can be different parameters such as voltage, current, torque and the like, and the working parameters and the external force can be positively correlated or negatively correlated.
In a possible implementation manner of the present application, the working parameter and the external force are positively correlated, and a preset parameter is stored in the control unit in the intelligent module 6; when working parameters are higher than preset parameters, the control unit in the intelligent module 6 judges that the mechanical arm collides with a human body and the like, the control unit in the intelligent module 6 controls the driving piece to be switched to a disabled state, the mechanical arm avoids the human body and the like in time, external force is removed through free movement of the output end of the driving piece, and the human body and the mechanical arm are protected.
It should be noted that the present application does not limit the type of the driving member, and in a possible implementation manner of the present application, the driving member outputs a linear driving force, and the driving member may be a hydraulic cylinder, an electric telescopic rod, or the like; in another possible implementation manner of the present application, the driving member outputs a rotation torque, and the driving member may be an angle cylinder, a motor, or the like, where the motor may be a servo motor, a stepping motor, or the like.
In a possible implementation of this application, the driving piece is step motor, step motor's rotational speed is lower, consequently required drive mechanism drive ratio is also lower, make drive mechanism's backward driving force better, the external force that receives when colliding the arm promptly more easily transmits the driving piece, in addition, when external force exceeded step motor's holding torque, step motor can step out and skid, thereby unload external force, step motor self and drive mechanism etc. have been protected.
Illustratively, in an alternative implementation of the present application, the holding torque of the stepping motor for driving the large arm member 2 of the robot arm is 0.3N · m, the length dimension of the large arm member 2 of the robot arm is 0.28m, the length dimension of the small arm member 3 is 0.215m, the small arm member 3 is folded with respect to the large arm member 2, and moves along with the large arm component 2, the interaction force generated by the collision of the mechanical arm and the human body is the largest at the moment, it is found by calculation that the acting force is 5N, that is, when the acting force at the time of collision exceeds 5N, the stepping motor for driving the large arm member 2 will slip out of step, the external force is removed, according to the safety standard in relevant regulations, the collision force between the mechanical arm and the human body cannot be larger than 150N, the maximum acting force generated when the mechanical arm is contacted with the human body is 5N, and the maximum acting force is far smaller than the value specified by the safety standard, so that the safety in the human-computer interaction process is greatly improved.
Correspondingly, the working current of the stepping motor can be selected as a working parameter, when the mechanical arm collides with a human body, the output of the motor is blocked, the working parameter of the motor, namely the working current, can rise, when the working current exceeds a preset value stored in a control unit in the intelligent module 6, the control unit in the intelligent module 6 judges that the mechanical arm collides with the human body and the like, the control unit in the intelligent module 6 controls the driving piece to be switched to a disabled state, the mechanical arm avoids the human body and the like in time, and the motor output shaft can move freely to remove external force so as to protect the human body and the mechanical arm.
Because the driving piece can not carry on spacingly to the arm after getting into the disability state, the free motion of arm can lead to the orbit of arm in disorder this moment, under the driving piece resumes the enable state, is difficult to make the arm continue to move to the target location, in a possible implementation of this application, still includes the position record module, when the driving piece switches into the disability state, the position record module is used for taking notes the position parameter of arm.
The form of the position recording module is not limited, for example, the position recording module records the relative position coordinates of the mechanical arm; for another example, the position recording module captures a current picture of the mechanical arm, and obtains the position of the mechanical arm through picture recognition, optionally, in a possible implementation manner of the present application, the position recording module includes an encoder, the encoder is integrated in the driving part, such as a stepping motor, and can conveniently obtain the position information of the mechanical arm, and after the external force is removed, the driving part restores the driving part to the previous position according to the position information obtained by the encoder, so that the mechanical arm continues to move to the target position.
The present application is not limited to the transmission mechanism, and the transmission mechanism may be a gear mechanism, a worm gear, a chain transmission mechanism, a belt transmission mechanism, or the like.
In a possible implementation manner of the application, the transmission mechanism includes a first transmission member, a second transmission member and a third transmission member which are sequentially connected in a transmission manner, the first transmission member is fixedly connected to an output end of the driving member, and the third transmission member is used for fixedly connecting the mechanical arm.
In a possible implementation manner of the application, the transmission ratio of the first transmission piece and the second transmission piece is not more than 5:1, the reverse driving capability of the transmission rod mechanism is better due to the smaller transmission force, and the transmission mechanism is more beneficial to transmitting the external force received by the mechanical arm in collision to the driving piece.
In a possible implementation of this application, drive mechanism is hold-in range mechanism, and belt drive's type has multiple form, divide into friction belt drive and hold-in range drive according to the difference of transmission principle, and friction belt drive relies on the friction between area and the band pulley to carry out the transmission, and the hold-in range then sets up the meshing tooth on area and the band pulley, carries out the transmission through the tooth meshing between them, and therefore hold-in range drive has higher precision.
In a possible implementation manner of the present application, a synchronous belt transmission is selected as the transmission mechanism, a first transmission member and a third transmission member in the transmission mechanism both have pulleys, a second transmission member is a synchronous belt, the second transmission member is sleeved on the first transmission member and the third transmission member, and a radial dimension of the first transmission member is smaller than a radial dimension of the third transmission member.
Referring to fig. 2 and 3, in one possible implementation of the present application, the robot arm has a large arm member 2 and a small arm member 3, and two sets of robot arm driving structures are correspondingly provided, wherein the large arm driving structure 4 is provided between the large arm member 2 and the base 1 for driving the large arm member 2 to move, and the small arm driving structure 5 is provided between the small arm member 3 and the large arm member 2 for driving the small arm member 3 to move.
Specifically, the large arm driving structure 4 includes a large arm driving motor 41 and a large arm transmission mechanism 42, the large arm transmission mechanism 42 includes a large arm driving pulley 421, a large arm driven pulley 422, a large arm rotating shaft 423 and a large arm synchronous belt 424, wherein the radial dimension of the large arm driving pulley 421 is smaller than the radial dimension of the large arm driven pulley 422, the large arm driving motor 41 is fixed on the base 1, the large arm driving pulley 421 is fixed on the output shaft of the large arm driving motor 41, the large arm driven pulley 422 is fixed on the large arm rotating shaft 423, one end of the large arm rotating shaft 423 is rotatably connected with the base 1 through a bearing, the other end of the large arm rotating shaft 423 is fixedly connected to the first end of the large arm member 2, one end of the large arm synchronous belt 424 is sleeved on the large arm driving pulley 421, the other end is sleeved on the large arm driven pulley 422, the large arm driving motor 41 drives the large arm driving pulley to rotate, the large arm driving pulley 421 drives the large arm driven pulley 422 to rotate through the large arm synchronous belt 424, the large arm driven pulley 422 rotates the large arm member 2 through the large arm rotating shaft 423 to move the second end of the large arm member 2 to a different position.
The small arm driving structure 5 comprises a small arm driving motor 51 and a small arm transmission mechanism 52, the small arm transmission mechanism 52 comprises a small arm driving pulley 521, a small arm driven pulley 522, a small arm rotating shaft 523 and a small arm synchronous belt 524, wherein the radial dimension of the small arm driving pulley 521 is smaller than that of the small arm driven pulley 522, the small arm driving motor 51 is fixed on the first end of the large arm member 2, the small arm driving pulley 521 is fixed on the output shaft of the small arm driving motor 51, the small arm driven pulley 522 is fixed on the small arm rotating shaft 523, one end of the small arm rotating shaft 523 is rotatably connected with the large arm member 2 through a bearing and the like, the other end of the small arm rotating shaft 523 is fixedly connected to the first end of the small arm member 3, one end of the small arm synchronous belt 524 is sleeved on the small arm driving pulley 521, the other end is sleeved on the small arm driven pulley 522, the small arm driving motor 51 drives the small arm driving pulley 521 to rotate, the arm driving pulley 521 drives the arm driven pulley 522 to rotate through the arm timing belt 524, and the arm driven pulley 522 drives the arm member 3 to rotate through the arm rotating shaft 523, so that the second end of the arm member 3 moves to different positions.
When the large arm rotating shaft 423 and the small arm rotating shaft 523 are used as rotating shafts, the large arm member 2 and the base 1 are rotatably connected through the large arm rotating shaft 423, the small arm member 3 and the large arm member 2 are rotatably connected through the small arm rotating shaft 523, and the large arm rotating shaft 423 and the small arm rotating shaft 523 bear both torque and bending moment; when the large arm rotation shaft 423 and the small arm rotation shaft 523 are used as the transmission shafts, the large arm member 2 and the base 1 are rotatably connected by a bearing or the like, the large arm member 2 is directly supported by the base 1, the small arm member 3 and the large arm member 2 are rotatably connected by a bearing or the like, the small arm member 3 is directly supported by the large arm member 2, and the small arm rotation shaft 523 and the large arm rotation shaft 423 are subjected to only torque.
It should be noted that the present application does not limit the structure of the base 1, the large arm member 2 and the small arm member 3, for example, the large arm member 2 is a shell structure, the small arm driving structure 5 is disposed in the shell of the large arm member 2, and the small arm member 3 is also a shell structure, which can reduce the weight of the robot arm, reduce the required driving power, and protect other internal components.
In addition, this application does not do the restriction to the overall arrangement of big arm drive structure 4 and forearm drive structure 5, and is optional, in this application a possible implementation, big arm driving motor 41 sets up in base 1 and is close to big arm component 2 one side, and big arm driving motor 41's output shaft runs through base 1 downwards, and big arm driving pulley 421 and big arm hold-in range 424 all set up in base 1 and keep away from big arm driving motor 41's one side, and the output shaft of forearm driving motor 51 then sets up with big arm pivot 423 is coaxial, and forearm driving motor 51 sets up in big arm component 2 and keeps away from base 1's one side.
Because the hold-in range is flexible structure, can be elongated in the use and warp, can appear skidding the condition influence arm precision such as can appear in the transmission in-process, in a possible implementation of this application, drive mechanism still includes the take-up pulley, and the take-up pulley supports and leans on the hold-in range to with the hold-in range tensioning, ensure hold-in range normal drive, reduce the appearance of the phenomenon of skidding.
Referring to fig. 2 and 3, the large arm drive mechanism 42 includes a large arm tension pulley 425, the large arm tension pulley 425 is disposed on the edge of the large arm synchronous belt 424, there are two large arm tension pulleys 425, the two large arm tension pulleys 425 press both sides of the large arm synchronous belt 424 toward the middle, the small arm drive mechanism 52 includes a small arm tension pulley 525, the small arm tension pulley 525 is disposed on the edge of the small arm synchronous belt 524, and the small arm tension pulley 525 is disposed at a position where the small arm synchronous belt 524 is close to the small arm driven wheel.
In addition, an embodiment of the present application provides a method for driving a robot arm, which includes, with reference to fig. 4, the following steps:
s1: controlling a driving part to drive the mechanical arm to move through a transmission mechanism;
s2: monitoring an operating parameter of the drive member;
s3: judging whether the mechanical arm has collision or not according to the working parameters;
s4: and controlling the driving state of the driving piece according to the judgment result.
In one possible implementation of the present application, the driving state includes an enabled state and a disabled state; when the driving piece is in an enabling state, the output end of the driving piece can drive the mechanical arm to move; when the driving piece is in the disabled state, the output end of the driving piece can move along with the mechanical arm.
Referring to fig. 5, in one possible implementation manner of the present application, in step S3 of determining whether there is a collision of the robot arm according to the operating parameters, the robot arm driving method includes the steps of: and comparing the working parameters with preset parameters to judge whether the mechanical arm has collision.
In one possible implementation manner of the present application, in step S3 of comparing the working parameter with a preset parameter to determine whether there is a collision of the robot arm, the robot arm driving method includes: and when the working parameters are larger than the preset parameters, judging that the mechanical arm has collision.
Referring to fig. 5, in one possible implementation manner of the present application, in the step S4 of controlling the driving state of the driving pieces according to the determination result, the robot arm driving method includes: and when the mechanical arm is judged to have collision, controlling the driving piece to be switched to the disabled state. The output end of the driving piece can move along with the mechanical arm, so that the human body and the mechanical arm are protected.
Referring to fig. 6, in one possible implementation manner of the present application, after the step S4 of controlling the driving member to be switched to the disabled state, the robot arm driving method includes:
s5: judging whether the collision of the mechanical arm is finished or not;
s6: and controlling the driving state of the driving piece according to whether the collision is finished or not.
Optionally, in a possible implementation manner of the present application, components such as a camera are further provided, the camera is started after the driving member is switched to the disabled state, the camera transmits the relevant image of the mechanical arm to the control unit in real time, and the control unit analyzes the process sequence to determine whether the collision object is separated from the mechanical arm and whether the mechanical arm collides again after the mechanical arm resumes moving; in another possible implementation manner of the application, the driving part is a stepping motor, the control unit is a feedback system of the motor, the working parameter is a locked-rotor torque of the motor, the preset parameter is a holding torque of the motor, when the locked-rotor torque is larger than the holding torque, the stepping motor is out of step and slips to enter an energy-losing state, when the locked-rotor torque is smaller than the holding torque, the feedback system of the stepping motor judges that the collision of the mechanical arm is finished, and the stepping motor recovers the output of the driving force.
Referring to fig. 7, in one possible implementation of the present application, in step S6 of controlling the driving state of the driving pieces according to whether the collision is over, the robot arm driving method includes: and when the collision is over, controlling the driving piece to be switched to an enabling state.
Referring to fig. 8, in one possible implementation of the present application, a robot arm driving method includes: before the driver is switched to the disabled state step S4:
s7: recording position parameters of the mechanical arm;
after the driver switching to the enabled state step S6:
s8: and driving the mechanical arm to move to the position recorded by the position parameter.
In one possible implementation manner of the present application, in the step S2 of monitoring the operating parameters of the driving member, the robot arm driving method includes: the drive is continuously monitored to obtain continuous operating parameters.
Referring to fig. 8, in a possible implementation manner of the present application, before the step of comparing the operating parameter with the preset parameter S3, the method includes:
s0: the value of the preset parameter is determined according to the performance parameter of the driving piece.
The embodiment of the application provides a mechanical arm driving structure, mechanical arm and driving method, whether the mechanical arm collides is judged through the mode of gathering driving piece working parameters, when the control unit judges that the mechanical arm collides, the control driving piece gets into the incapability state, the mechanical arm is in time dodged to the human body, and make motor output shaft free motion unload external force, protect human body and mechanical arm, the security is improved, and this mode of man-machine cooperation is more easily realized, need not to set up dedicated force feedback sensor, thereby the cost is reduced.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all the equivalent structures or equivalent processes that can be directly or indirectly applied to other related technical fields by using the contents of the specification and the drawings of the present application are also included in the scope of the present application.
Claims (21)
1. A robot arm driving structure, comprising:
a drive member;
the transmission mechanism is in transmission connection between the driving piece and the mechanical arm and is used for transmitting the driving force of the driving piece to the mechanical arm and transmitting the external force applied to the mechanical arm to the driving piece;
the monitoring unit is arranged on the driving piece and used for acquiring working parameters of the driving piece, and the working parameters change along with the external force;
and the control unit is electrically connected with the driving piece and the monitoring unit and is used for controlling the driving state of the driving piece according to the working parameters.
2. The robot arm driving structure according to claim 1, wherein the driving state includes an enabled state and a disabled state;
when the driving piece is in an enabling state, the output end of the driving piece can drive the mechanical arm to move;
when the driving piece is in the disabled state, the output end of the driving piece can move along with the mechanical arm.
3. The robot arm driving structure according to claim 2, wherein the operating parameter and the external force are positively correlated, and a preset parameter is stored in the control unit;
and when the working parameter is higher than the preset parameter, the control unit controls the driving piece to be switched to the disabled state.
4. The mechanical arm driving structure as claimed in claim 3, wherein the driving member is a stepping motor, and the operating parameter is an operating current of the stepping motor.
5. The mechanical arm driving structure according to claim 3, further comprising a position recording module for recording a position parameter of the mechanical arm when the driving member is switched to the disabled state.
6. The mechanical arm driving structure as claimed in any one of claims 1 to 5, wherein the transmission mechanism comprises a first transmission member, a second transmission member and a third transmission member which are sequentially connected in a transmission manner, the first transmission member is fixedly connected to the output end of the driving member, and the third transmission member is fixedly connected with the mechanical arm.
7. The robot arm driving structure according to claim 6, wherein a transmission ratio of the first transmission member and the second transmission member does not exceed 5: 1.
8. The mechanical arm driving structure as claimed in claim 7, wherein the transmission mechanism is a synchronous belt mechanism, the first transmission member and the third transmission member are both belt wheels, the second transmission member is a synchronous belt, the second transmission member is sleeved on the first transmission member and the third transmission member, and a radial dimension of the first transmission member is smaller than a radial dimension of the third transmission member.
9. The mechanical arm driving structure according to claim 8, wherein the transmission mechanism further comprises a tension pulley that abuts against the timing belt to tension the timing belt.
10. An arm robot, comprising:
a base;
the mechanical arms are sequentially and rotatably connected to form a mechanical arm group, and the mechanical arms at one end, close to the base, of the mechanical arm group are rotatably connected to the base;
the robot arm driving structure according to any one of claims 1 to 9, wherein the number of the robot arm driving structures is plural, and the plural robot arm driving structures and the plural robot arms are provided in one-to-one correspondence.
11. The arm robot of claim 10, further comprising an intelligent module, wherein the robotic arm drive structure is electrically coupled to the intelligent module, and wherein the intelligent module is configured to:
controlling a driving part to drive the mechanical arm to move through a transmission mechanism;
monitoring an operating parameter of the drive member;
and controlling the driving state of the driving piece according to the working parameters.
12. A mechanical arm driving method is characterized by mainly comprising the following steps:
controlling a driving part to drive the mechanical arm to move through a transmission mechanism;
monitoring an operating parameter of the drive member;
judging whether the mechanical arm has collision according to the working parameters;
and controlling the driving state of the driving piece according to the judgment result.
13. The robot arm driving method according to claim 12, wherein the driving state includes an enabled state and a disabled state;
when the driving piece is in the enabling state, the output end of the driving piece can drive the mechanical arm to move;
when the driving piece is in the disabled state, the output end of the driving piece can move along with the mechanical arm.
14. The robot arm driving method according to claim 13, wherein the step of determining whether the robot arm has a collision based on the operating parameter includes:
and comparing the working parameters with preset parameters to judge whether the mechanical arm has collision or not.
15. The method for driving a robot arm according to claim 14, wherein the step of comparing the magnitude of the operating parameter with the magnitude of the preset parameter to determine whether the robot arm has a collision comprises:
and when the working parameters are larger than the preset parameters, judging that the mechanical arm has collision.
16. The method of claim 15, wherein the step of controlling the driving state of the driving member according to the operating parameter comprises:
and when the mechanical arm is judged to have collision, controlling the driving piece to be switched to the disabled state.
17. The method of claim 16, comprising, after the step of controlling the drive member to switch to the disabled state:
judging whether the collision of the mechanical arm is finished or not;
and controlling the driving state of the driving piece according to whether the collision is finished or not.
18. The robot arm driving method according to claim 17, comprising, in the step of controlling the driving state of the driving member in accordance with whether the collision is over, the step of:
and when the collision is finished, controlling the driving piece to be switched to the enabling state.
19. The robot arm driving method according to claim 18, comprising:
recording position parameters of the mechanical arm before controlling the driving part to be switched to the disabled state;
and after the driving piece is controlled to be switched to the enabling state, the mechanical arm is driven to move to the position recorded by the position parameter.
20. The method of claim 12, wherein the step of monitoring the operating parameters of the drive member comprises:
the drive member is continuously monitored to obtain a continuous said operating parameter.
21. The method of claim 14, wherein before the step of comparing the magnitude of the operating parameter with the predetermined parameter, the method comprises:
and determining the value of the preset parameter according to the performance parameter of the driving piece.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210682955.4A CN114872034A (en) | 2022-06-16 | 2022-06-16 | Mechanical arm driving structure, arm type robot and driving method |
| PCT/CN2023/100632 WO2023241685A1 (en) | 2022-06-16 | 2023-06-16 | Mechanical arm driving structure, arm-type robot, driving method, storage medium, and computer program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210682955.4A CN114872034A (en) | 2022-06-16 | 2022-06-16 | Mechanical arm driving structure, arm type robot and driving method |
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| CN114872034A true CN114872034A (en) | 2022-08-09 |
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| CN202210682955.4A Pending CN114872034A (en) | 2022-06-16 | 2022-06-16 | Mechanical arm driving structure, arm type robot and driving method |
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| WO (1) | WO2023241685A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023241685A1 (en) * | 2022-06-16 | 2023-12-21 | 上海商汤智能科技有限公司 | Mechanical arm driving structure, arm-type robot, driving method, storage medium, and computer program product |
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| WO2023241685A1 (en) | 2023-12-21 |
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