CN209850925U - Robot arm and robot - Google Patents
Robot arm and robot Download PDFInfo
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- CN209850925U CN209850925U CN201920063802.5U CN201920063802U CN209850925U CN 209850925 U CN209850925 U CN 209850925U CN 201920063802 U CN201920063802 U CN 201920063802U CN 209850925 U CN209850925 U CN 209850925U
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Abstract
The embodiment of the utility model discloses robot arm and robot. Wherein, this robot arm includes: the arm body is arranged on the other side of the separation cover plate, and the driving device comprises a motor driver and a motor; the motor driver is connected with the motor and used for driving the motor to work; the output shaft of the motor penetrates through the separation cover plate, is fixedly connected with the arm body and is used for driving the arm body to rotate. The technical scheme of the embodiment of the utility model, through the work of motor drive direct drive motor to it is rotatory to drive the robot arm, and does not adopt the steering wheel drive that small volume is unstable, has solved the limited problem of the rotation moment of torsion that adopts the steering wheel drive of small volume to cause, has increased the rotatory moment of torsion of arm, has improved the rotation flexibility of robot arm, has reduced the rotatory instability of drive arm.
Description
Technical Field
The embodiment of the utility model provides a relate to intelligent robot field, especially relate to a robot arm and robot.
Background
With the development and progress of electronic technology, various intelligent robots have been rapidly popularized in daily life of people, and the arm movement of the robot is an important part of robot design.
At present, the robot arm joint driving at the present stage basically adopts a steering engine driving mode, the motion of the robot arm joint is controlled through a control module, a driving circuit and a motor which are inherent in a steering engine system, and the robot structure has certain limitation due to the fact that the steering engine with large torque is large in size, so that the steering engine with small size is generally adopted in the prior art.
When the robot arm is driven by a small-size steering engine, the rotation torque of the robot arm is limited, so that the rotation range of the robot arm is limited, and the robot arm is easy to damage due to the fact that the system is unstable when the robot arm is driven by the steering engine.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a robot arm and robot increases the rotatory moment of torsion size of arm, improves robot arm's rotation flexibility, reduces the instability of drive arm motion.
In a first aspect, an embodiment of the present invention provides a robot arm, which includes: the arm body is arranged on the other side of the separation cover plate, and the driving device comprises a motor driver and a motor;
the motor driver is connected with the motor and used for driving the motor to work;
the output shaft of the motor penetrates through the separation cover plate, is fixedly connected with the arm body and is used for driving the arm body to rotate.
Further, the driving device further includes: the angle sensor is connected with the first gear, an output shaft of the motor is connected with the second gear, and the first gear is meshed with the second gear;
the angle sensor is used for measuring the rotating angle of the motor.
Further, the driving device further includes: the motor mechanical reset point is fixedly arranged on the output shaft of the motor;
and the mechanical reset point position of the motor is used for indicating the zero-degree position of the motor.
Further, the robot arm further includes: the obstacle avoidance sensor is arranged on the arm body;
and the obstacle avoidance sensor is used for detecting obstacles in the surrounding environment of the arm body.
Further, the obstacle avoidance sensor comprises at least one of: ultrasonic sensors, electronic skin sensors, and infrared sensors.
In a second aspect, an embodiment of the present invention provides a robot, including: the robot comprises a robot body, a controller, a left robot arm and a right robot arm, wherein the left robot arm and the right robot arm are composed of the robot arms provided by any embodiment of the utility model;
the separating cover plates in the left robot arm and the right robot arm are body side cover plates at the corresponding positions of the robot body, and the driving devices in the left robot arm and the right robot arm are arranged in the robot body;
and the controller is respectively connected with the motor drivers in the left arm and the right arm of the robot and is used for controlling the motor drivers to drive the associated motors to work.
Further, the left arm of the robot and the right arm of the robot share a dual-drive motor driver;
the dual-drive motor driver includes: the dual-channel H-bridge driver, the first H-bridge circuit and the second H-bridge circuit;
the first passageway output of binary channels H bridge driver with the input of first H bridge circuit links to each other, the second passageway output of binary channels H bridge driver with the input of second H bridge circuit links to each other, the output of first H bridge circuit with motor in the left arm of robot links to each other, the output of second H bridge circuit with motor in the right arm of robot links to each other.
Further, the controller is connected with the obstacle avoidance sensors in the left arm and the right arm of the robot respectively, and is connected with the angle sensors in the left arm and the right arm of the robot respectively through a data acquisition card.
Further, the robot further comprises: and the power supply module is respectively connected with the controller, the first H-bridge circuit and the second H-bridge circuit.
Further, the robot further comprises: and the upper computer is connected with the controller and used for sending the operation instruction of the user to the controller.
The embodiment of the utility model provides a pair of robot arm and robot, through the work of motor drive direct drive motor to it is rotatory to drive robot arm, and does not adopt the unstable steering wheel drive of little volume, has solved the limited problem of the rotatory moment of torsion that adopts the steering wheel drive of little volume to cause, has increased the rotatory moment of torsion of arm, has improved robot arm's rotation flexibility, has reduced the rotatory instability of drive arm.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic structural diagram of a robot arm according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is the embodiment of the present invention provides a schematic structural diagram of a robot arm, and the robot arm provided in this embodiment is applicable to any intelligent robot. Referring to fig. 1, the robot arm 100 may specifically include: the arm assembly comprises a driving device 110, an arm body 120 and a separating cover 130, wherein the driving device 110 is disposed on one side of the separating cover 130, and the arm body 120 is disposed on the other side of the separating cover 130, optionally, the driving device 110 may further include a motor driver 111 and a motor 112.
Specifically, the motor driver 111 is connected to the motor 112 for driving the motor to operate. When the motor driver 111 drives the motor 112 to operate, the direction, speed and torque of the rotation of the motor 112 can be controlled by the received pulse control signal. Meanwhile, the motor driver 111 may include various types, such as a stepping motor driver, a dc servo driver, and an ac servo driver, to provide a turning direction and a speed at which the motor operates. Further, an output shaft of the motor 112 penetrates through the separating cover 130 and is fixedly connected to the arm body 120 for driving the arm body 120 to rotate. The separating cover 130 is made of a material suitable for a robot designed to separate the driving device 110 from the arm body 120, and the size of the driving device 110 is not limited by the structure of the arm body 120, so that the torque of the motor driving the arm to rotate is increased.
Further, the driving device 110 may further include an angle sensor 113, a first gear 114, and a second gear 115. The angle sensor 113 is connected to the first gear 114, the output shaft of the motor 112 is connected to the second gear 115, and the first gear 114 is engaged with the second gear 115, so that when the motor 112 rotates, the output shaft of the motor 112 drives the second gear 115 to rotate, and the engaged first gear 114 rotates along with the second gear, so that the angle sensor 113 measures the rotation angle of the first gear 114, that is, the rotation angle of the motor 112, and the output shaft of the motor 112 is fixedly connected to the arm body 120, that is, the rotation angle of the arm body 120 driven by the motor 112 is measured. Specifically, the angle sensor 113 has a shaft, which is used in cooperation with the first gear 114, and counts the number of rotations of the first gear 114 to calculate the angle of rotation.
Further, the driving device 110 may further include a electromechanical reset point, which is fixedly disposed on the motor 112 and is used for indicating a zero-degree position of the motor 112. It should be noted that the electromechanical reset point in this embodiment is to solve the problem that the angle sensor 113 cannot determine the absolute initial position of the rotation of the motor 112, and when the motor 112 drives the arm body 120 to rotate to the electromechanical reset point, the angle sensor 113 can calculate the relative position of the rotation of the motor 112 according to the position of the point and the acquired angle, so as to determine the accurate position of the arm body 120, and reduce the rotation error.
Further, the robot arm 100 may further include an obstacle avoidance sensor 121 disposed on the arm body 120, where the obstacle avoidance sensor 121 is configured to detect an obstacle in an environment around the arm body 120. Specifically, the obstacle avoidance sensor 121 may include one or more sensors, and is disposed on an outer side surface opposite to the partition cover 130, or may be a front surface and a rear surface facing the robot. The obstacle avoidance sensor 121 may include at least one of the following: ultrasonic sensors, electronic skin sensors, and infrared sensors. Specifically, the ultrasonic sensor and the infrared sensor may be disposed on both front and rear side surfaces of the arm body 120 facing the robot direction, and the electronic skin sensor may be disposed on an outer side surface of the arm body 120 opposite to the partition cover 130, for example, at a position of an elbow joint of the arm body 120. Optionally, the obstacle avoidance sensor 121 may also be an infrared sensor or an obstacle detection device designed according to an infrared transceiving principle. The obstacle avoidance sensor 121 in this embodiment can make the robot arm in the motion process, judge whether there is an obstacle around the arm body in real time, avoid colliding around obstacle or people in the motion, improve the safety and the practicality of the robot arm in the motion process, and through installing the electronic skin sensor on the arm body of the robot, prevent the robot arm from moving when someone touches, expand the interaction and the perception ability of the robot, make the robot can feel someone is touching the arm, and then can call this scene to make corresponding response, make the robot more intelligent.
The working principle of the robot arm 100 will be further explained as follows:
specifically, the motor driver 111 drives the motor 112 to operate according to the received pulse control signal, and controls the direction, speed, and torque of rotation of the motor 112. The motor 112 drives the arm body 120 and the second gear 115 to rotate correspondingly through an output shaft of the motor, the second gear 115 drives the meshed first gear 114 to rotate, and the angle sensor 113 measures the rotating angle of the motor 112 in real time according to a mechanical reset point of the motor fixedly arranged on the output shaft of the motor 112 in the rotating process of the first gear 114; meanwhile, the obstacle avoidance sensor 121 disposed on the arm body 120 detects whether there is an obstacle in the environment around the arm body 120 in real time in the process that the motor 112 drives the arm body 120 to rotate, so as to avoid colliding with surrounding obstacles or people in the process of movement, and improve the safety and practicability of the robot arm in the process of movement.
The robot arm provided by the embodiment directly drives the motor to work through the motor driver, so that the robot arm is driven to rotate, the problem that the rotating torque is limited due to the fact that the small-size steering engine is adopted for driving is solved without adopting small-size unstable steering engine driving, the rotating torque of the arm is increased, the rotating flexibility of the robot arm is improved, and the instability of the rotation of the driving arm is reduced.
Example two
Fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention. Referring to fig. 2, the robot provided in the second embodiment may include: the robot body 200, the controller 210, and the left robot arm 220 and the right robot arm 230 formed of the robot arms provided in any of the above embodiments.
Here, the partition plates in the left and right robot arms 220 and 230 may be body-side plates at positions corresponding to the robot body 200, and the driving devices in the left and right robot arms 220 and 230 may be disposed inside the robot body 200. Specifically, the robot left arm 220 and the robot right arm 230 may share a dual-drive motor driver; as shown in fig. 2, the dual drive motor driver may include: a dual channel H-bridge driver 201, a first H-bridge circuit 202, and a second H-bridge circuit 203. The dual-channel H-bridge driver 201 can switch on a corresponding motor control circuit composed of the H-bridge circuit and the motor through the received pulse control signal, so as to drive the motor to work. It should be noted that the H-bridge circuit is a typical dc motor control circuit, and a control circuit is formed by 4 triodes and a motor, and two triodes in the H-bridge circuit, which are connected to the motor, are controlled to be conducted according to a pulse control signal received by the dual-channel H-bridge driver 201, so as to correspondingly control the rotation direction and speed of the motor. Further, a first channel output end of the dual-channel H-bridge driver 201 is connected with an input end of the first H-bridge circuit 202, a second channel output end of the dual-channel H-bridge driver 201 is connected with an input end of the second H-bridge circuit 203, an output end of the first H-bridge circuit 202 is connected with a motor in the left robot arm 220, and an output end of the second H-bridge circuit 203 is connected with a motor in the right robot arm 230, so that the motors in the left robot arm 220 and the right robot arm 230 are correspondingly controlled to rotate correspondingly through the corresponding first channel and the corresponding second channel in the dual-channel H-bridge driver 201.
Further, the controller 210 in the robot is connected to the motor drivers in the left robot arm 220 and the right robot arm 230, respectively, for controlling the motor drivers to drive the associated motors to work. The controller 210 may control the motor driver through a Pulse Width Modulation (PWM) signal, so as to control the speed and direction of the driving motor. Specifically, two paths of signals are usually generated when controlling the speed and direction of the motor, including a high-low level signal for controlling the direction of the motor and a PWM speed-adjusting signal for controlling the speed of the motor. Optionally, the controller 210 is connected to the dual-channel H-bridge driver 201 shared by the left robot arm 220 and the right robot arm 230, and controls the conduction state of the corresponding first H-bridge circuit 202 or second H-bridge circuit 203 through the first channel or second channel of the dual-channel H-bridge driver 201 according to the pulse control signal, so as to drive the associated motor to operate.
Further, the controller 210 may be connected to obstacle avoidance sensors in the robot left arm 220 and the robot right arm 230, respectively, and generate corresponding pulse control signals according to the detected obstacles in the surrounding environment, so as to control the corresponding motion state of the robot arm. Illustratively, when the obstacle avoidance sensor on the left arm 220 of the robot detects that the surrounding environment has an obstacle in the movement process of the left arm 220 of the robot, a corresponding pulse control signal is generated, and the first H-bridge circuit 202 is controlled to be disconnected through the first channel in the dual-channel H-bridge driver 201, so that the motor in the left arm 220 of the robot is driven to stop moving, the left arm 220 of the robot is prevented from colliding with the obstacle in the movement process, and the safety and the practicability of the movement of the robot are improved. It should be noted that, when there are multiple obstacle avoidance sensors on the left arm 220 of the robot, the obstacle avoidance sensors are respectively connected to the controller 210, and meanwhile, whether an obstacle exists in the environment around the robot arm is detected.
Optionally, the controller 210 may also be connected to the angle sensors in the left robot arm 220 and the right robot arm 230 respectively through the data acquisition card 204. When the robot is powered on for use for the first time or a user operates the robot to reset the mechanical reset point of the motor, the controller 210 may record the mechanical reset point of the motor on the output shaft of the motor in the left arm 220 and the right arm 230 of the robot respectively, and store the recorded positions. Specifically, the controller 210 generates two signals according to the received set angle of the motor rotation, respectively controls the rotation direction and speed of the motor, and acquires the motor rotation angle read by the angle sensor in real time through the data acquisition card 204, and acquires the relative position of the motor rotation in real time according to the recorded mechanical reset point position of the motor, and the controller 210 determines whether the arm reaches the set angle according to the acquired relative position, and controls the motor to perform corresponding work according to the difference of the relative position. In this embodiment, the data acquisition card 204 may be an AD data acquisition card, which converts the angle analog quantity measured by the angle sensor into a corresponding digital quantity, and sends the digital quantity to the controller 210, and the controller 210 performs corresponding processing. Illustratively, in the motor rotation process, the data acquisition card 204 acquires the rotation angle of at least one motor in the robot arm read by the angle sensor in real time, converts the rotation angle into digital angle information and sends the digital angle information to the controller 210, and the controller 210 determines the relative rotation angle according to the received angle information and the recorded mechanical reset point position of the motor, so as to judge whether the current position reaches a set angle value, and if not, generates two corresponding control signals to control the corresponding motor to continue to work; and if the preset angle is reached, generating a stop signal of the corresponding motor and controlling the corresponding motor to stop rotating.
Further, the robot may further include a power module 240, which is respectively connected to the controller 210, the first H-bridge circuit 202, and the second H-bridge circuit 203, and configured to supply power to each functional module in the operation of the robot. The power module 240 may include a Direct Current/Direct Current (DC/DC) power source 241 and a Low Dropout Regulator (LDO) power source 242, where the DC/DC power source 241 is implemented by using a switching power supply, and can implement multiple voltage outputs, and implement one voltage output in this embodiment; the LDO power source 242 adjusts the voltage output by the DC/DC power source 241 to a voltage range suitable for the robot to work, and has a long working time and high working efficiency. Specifically, the DC/DC power source 241 is respectively connected to the first H-bridge circuit 202, the second H-bridge circuit 203, and the LDO power source 242 is further connected to the controller 210.
Further, the robot may further include an upper computer 250 connected to the controller 210, and configured to send an operation instruction of the user to the controller 210.
The working principle of the robot is further explained as follows:
specifically, when the robot does not work, if a user needs to control the robot to move, the user firstly sends an operation instruction to the robot through the upper computer 250, wherein the operation instruction may include a set angle for rotating an arm of the robot, and when receiving the operation instruction, the controller 210 judges whether the left arm or the right arm of the robot moves and the direction and angle of the arm movement, and generates a corresponding control signal, wherein the control signal includes a path of high and low level signal for controlling the rotation direction of the motor and a path of PWM speed regulation signal for controlling the rotation speed of the motor; the controller 210 sends the generated two signals to the dual-channel H-bridge driver 201, and controls the conduction state of the corresponding first H-bridge circuit 202 or second H-bridge circuit 203 through the first channel and/or second channel according to the control signal, so as to drive the associated motors in the left robot arm 220 and/or right robot arm 230 to work, and thus drive the corresponding left robot arm 220 and/or right robot arm 230 to rotate. In the rotation process of the robot arm, the angle sensor in the robot left arm 220 and/or the robot right arm 230 acquires the rotation angle of the motor in real time, so that the data acquisition card acquires the real-time angle and sends the real-time angle to the controller 210, the real-time relative position of the motor driving the arm to rotate is determined according to the mechanical reset point position of the motor, a corresponding control signal is generated and sent to the dual-channel H-bridge driver 201 to control the rotation direction and speed of the motor in the corresponding robot left arm 220 and/or the robot right arm 230 until the set rotation angle of the arm in the operation instruction is reached, and the controller 210 controls the corresponding motor to stop rotating. Meanwhile, in the rotation process of the robot arm, the obstacle avoidance sensors on the left robot arm 220 and/or the right robot arm 230 also detect whether obstacles exist in the surrounding environment in real time, when the obstacles exist in the surrounding environment, corresponding pulse control signals can be generated, the first H-bridge circuit 202 is controlled to be disconnected through the first channel in the dual-channel H-bridge driver 201 and/or the second H-bridge circuit 203 is controlled to be disconnected through the second channel, so that the motors in the left robot arm 220 and/or the right robot arm 230 are driven to stop moving, the robot arm is prevented from colliding with the obstacles in the moving process, and the safety and the practicability of the robot movement are improved.
According to the robot provided by the embodiment, the motor is directly driven by the motor driver to work, so that the arm of the robot is driven to rotate, and the steering engine with small volume and unstable drive is not adopted, so that the problem that the rotation torque is limited due to the small-volume steering engine drive is solved, the rotation torque of the arm is increased, the rotation flexibility of the arm of the robot is improved, and the instability of the rotation of the arm is reduced; the obstacle avoidance sensor is installed on the robot arm, so that the safety and the practicability of the robot movement are improved, the interaction and the sensing capacity of the robot are expanded, the robot can sense that someone touches the arm, and then the scene can be called to make a corresponding response, so that the robot is more intelligent.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A robotic arm, comprising: the arm body is arranged on the other side of the separation cover plate, and the driving device comprises a motor driver and a motor;
the motor driver is connected with the motor and used for driving the motor to work;
the output shaft of the motor penetrates through the separation cover plate, is fixedly connected with the arm body and is used for driving the arm body to rotate.
2. A robot arm as claimed in claim 1, characterized in that the drive means further comprise: the angle sensor is connected with the first gear, an output shaft of the motor is connected with the second gear, and the first gear is meshed with the second gear;
the angle sensor is used for measuring the rotating angle of the motor.
3. A robot arm as claimed in claim 2, characterized in that the drive means further comprise: a motor mechanical reset point location fixedly disposed above the motor;
and the mechanical reset point position of the motor is used for indicating the zero-degree position of the motor.
4. A robot arm as claimed in any of claims 1 to 3, further comprising: the obstacle avoidance sensor is arranged on the arm body;
and the obstacle avoidance sensor is used for detecting obstacles in the surrounding environment of the arm body.
5. A robot arm as claimed in claim 4, wherein the obstacle avoidance sensor comprises at least one of: ultrasonic sensors, electronic skin sensors, and infrared sensors.
6. A robot, comprising: a robot body, a controller, and a left robot arm and a right robot arm composed of the robot arm according to any one of claims 1 to 5;
the separating cover plates in the left robot arm and the right robot arm are body side cover plates at the corresponding positions of the robot body, and the driving devices in the left robot arm and the right robot arm are arranged in the robot body;
and the controller is respectively connected with the motor drivers in the left arm and the right arm of the robot and is used for controlling the motor drivers to drive the associated motors to work.
7. The robot of claim 6, wherein the left robot arm and the right robot arm share dual-drive motor drives;
the dual-drive motor driver includes: the dual-channel H-bridge driver, the first H-bridge circuit and the second H-bridge circuit;
the first passageway output of binary channels H bridge driver with the input of first H bridge circuit links to each other, the second passageway output of binary channels H bridge driver with the input of second H bridge circuit links to each other, the output of first H bridge circuit with motor in the left arm of robot links to each other, the output of second H bridge circuit with motor in the right arm of robot links to each other.
8. The robot of claim 6, wherein the controller is further connected to the obstacle avoidance sensors in the left arm and the right arm respectively, and is connected to the angle sensors in the left arm and the right arm respectively through a data acquisition card.
9. The robot of claim 7, further comprising: and the power supply module is respectively connected with the controller, the first H-bridge circuit and the second H-bridge circuit.
10. The robot of claim 6, further comprising: and the upper computer is connected with the controller and used for sending the operation instruction of the user to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920063802.5U CN209850925U (en) | 2019-01-15 | 2019-01-15 | Robot arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920063802.5U CN209850925U (en) | 2019-01-15 | 2019-01-15 | Robot arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209850925U true CN209850925U (en) | 2019-12-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920063802.5U Active CN209850925U (en) | 2019-01-15 | 2019-01-15 | Robot arm and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209850925U (en) |
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2019
- 2019-01-15 CN CN201920063802.5U patent/CN209850925U/en active Active
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