TWM461525U - Driving device of humanoid robotic arm - Google Patents

Description

Imitation human robot arm drive

This creation is a driving device for a human-like robotic arm, especially a device with a plurality of joint elements and a pneumatic actuator, and with a mechanism of feedback compensation, to form a movement and controller capable of performing multiple degrees of freedom.

According to the development of industrial mechanization and automation, in order to greatly reduce labor costs and reduce human work in a dangerous environment, the main purpose is to imitate human limb movements through various types of mechanical arms to complete such as clamping, processing, classification, etc. The demand for work, and in response to the diverse and complex industrial manufacturing methods, the technological development of the robot arm must continue to advance toward the goal of high precision.

In recent years, it has cooperated with the research and development of pneumatic technology. It is widely used in various fields for pneumatic manipulators. It is a robot arm with good flexibility. Because the pneumatic manipulator is not only simple in structure, but also has a large power/weight ratio. It has the advantages of excellent flexibility and its application in the fields of bionic robots, bionics and service robots.

The pneumatic mechanical arm is provided with pneumatic muscles, and the pneumatic muscle (Pneumatic Muscle, PM) is a tensile type pneumatic actuator, which is a combination of modern pneumatic technology and robot technology, biomimetic technology and medical technology. Moreover, compared with the driving mode of the conventional pneumatic cylinder, the pneumatic muscle is not only light in weight, large in output force and cylinder diameter ratio, but also excellent in flexibility, and is also safe and convenient in use.

However, the joint structure of human limbs is very fine, and the actions and functions that can be achieved are extremely dexterous and complex. For the structure of the conventional robot arm, the goal of multi-degree of freedom rotation cannot be achieved, resulting in complete automation and high precision. The development of the technology is limited; the barometric muscles have a high degree of nonlinearity and time-varying, coupled with the compressibility of the gas, resulting in an uncontrollable loss of pneumatic muscles in practical applications, which in turn causes barometric muscles. The scope of application and promotion are limited.

In view of this, the creator specifically aims at the structure of the conventional robotic arm and develops the key technical application of the pneumatic muscle system, with a better creation to solve the above problems, and after continuous trial and modification, The advent of creation has been used to promote the development of pneumatic servo control technology and to expand the application of pneumatic muscle actuators.

The reason is that the subject to be solved by this creation is based on the structure of the conventional mechanical arm, which has a way of not meeting the movements of human limbs, meaning that there is no loss of multi-degree of freedom rotation. Moreover, the current pressure applied to the robot arm Muscles create problems that are difficult to control in actual operation, which in turn affects the application and promotion of related technologies.

In order to achieve the above object, the creator of the present invention provides a driving device for a human-like robotic arm, comprising: a first joint component, respectively coupled to a second joint component and a third joint component at opposite ends thereof, and A connecting shaft and at least an actuating element are pivoted between the first joint element and the second joint element and the third joint element, and the axial direction of the first joint element pivotally connecting the connecting shaft and the actuating element is perpendicular to The second joint element and the third joint element are pivoted; and a pneumatic supply unit is connected to the actuating element through a servo valve, and the servo valve controls the air supply unit to be supplied to the actuating element The air pressure value causes the actuating element to be telescopically displaced by the change of the air pressure, and synchronously drives the first joint element, the second joint element, and the third joint element to move and rotate.

According to the driving device of the human-like robot arm, there is further included a control unit, one end of which is coupled to the first joint element, the second joint element, the third joint element and the air pressure supply unit, and the other end is coupled with a The pressure sensing element is electrically connected, and the pressure sensing element senses the air pressure value of the air pressure supply unit.

According to the driving device of the human-like robot arm, there is further included a control unit, one end of which is coupled to the first joint element, the second joint element, the third joint element and the air pressure supply unit, and the other end is coupled with a The displacement sensing element is electrically connected, and the displacement sensing element senses a displacement amount and an angular rotation amount of the first joint element, the second joint element, and the third joint element.

According to the driving device of the human-like robot arm, the control unit is further electrically connected to a displacement sensing component, and the displacement sensing component senses the first joint component and the second joint. The angular rotation amount of the component and the third joint component, and the control unit is pre-set with the displacement target value and the angle target value, and the control unit receives and analyzes the air pressure value, the displacement amount, and the angular rotation amount, and the obtained The error of the displacement amount, the angular rotation amount, the displacement target value, and the angle target value are used to feedback compensation and control the motion trajectories of the first joint element, the second joint element, and the third joint element.

According to the driving device of the human-like robot arm described above, the actuating element is plural, and the actuating element is provided on the connecting shaft.

According to the driving device of the human-like robot arm, the second joint component is mounted on a base, and the third joint component is further provided with a clamping component.

The driving device of the human-like robot arm according to the above, wherein the actuating element is a pneumatic muscle, and the actuating element comprises at least one steel cable and is connected to the first joint element by the steel cable respectively a second joint element and a third joint element.

According to the driving device of the human-like robot arm, the bottom of the base is further provided with at least one stand or a roller.

With the above arrangement, compared with the prior art, the present invention mainly uses the actuating element to drive the first joint element, the second joint element and the third joint element to act, and set the clip on the third joint element. Holding the component, the creation can perform a plurality of degrees of freedom movement, that is, the clamping element is gripped corresponding to an object, and the operating range of the muscle of the animal is determined by the stretching range, reaction time and force of the actuating element. Very similarly, the pressure value, the displacement amount and the angular rotation amount are transmitted to the control unit through the setting of the pressure sensing element and the displacement sensing element, so as to achieve the mechanism of continuous feedback compensation and control the The movement trajectory of the first joint element, the second joint element and the third joint element has the advantages of multiple degrees of freedom of movement, good trajectory control and efficiency, and can greatly improve the precision of the clamping, processing or sorting operation. degree.

[this creation]

1‧‧‧First joint component

2‧‧‧Second joint component

3‧‧‧ Third joint component

31‧‧‧Clamping elements

4‧‧‧Connected shaft

5‧‧‧Actuating element

51‧‧‧Steel cable

52‧‧‧Air supply unit

53‧‧‧ Servo valve

6‧‧‧Base

61‧‧‧Power unit

7‧‧‧Control unit

8‧‧‧ Pressure sensing components

9‧‧‧ Displacement sensing components

Figure 1 is a block diagram of the creation.

Figure 2 is a schematic view of the three-dimensional appearance of the creation.

Figure 3 is a front view of the creation.

Figure 4 is a schematic diagram of the creation of one of the front views.

Figure 5 is a schematic diagram of another actuating state of the present creation in side view.

With regard to the technical means of our creators, several preferred embodiments are described in detail below in conjunction with the drawings, which provide a deep understanding and recognition of the creation.

Please refer to Figures 1 to 4, which is a driving device for a human-like robot arm, comprising: a first joint component 1 connected to a second joint component at opposite ends thereof 2 and a third joint element 3, and a connecting shaft 4 and at least an actuating element 5 are pivoted between the first joint element 1 and the second joint element 2 and the third joint element 3, and the actuating elements A 5 series ring is disposed on the connecting shaft 4, the actuating member 5 is a pneumatic muscle, and the actuating member 5 includes at least one steel cable 51, and is connected to the first joint member 1 by the steel cable 51, respectively. The second joint element 2 and the third joint element 3, the axial direction of the first joint element 1 pivotally connecting the connecting shaft 4 and the actuating element 5 is perpendicular to the second joint element 2 and the third joint element 3 The second joint component 2 is mounted on a base 6, and the base 6 is provided with a power unit 61. The power unit 61 is a stepping motor as a power source of the present invention. The bottom of the base 6 is further provided with at least one stand or roller, and the third joint element 3 is further provided with a clamping member 31, which is a pneumatic jaw, which is the air pressure in this embodiment. The jaws are of the type DHDG-W-80, 85mm, DHAS-GF-B15-85-9 provided by Festo; one pneumatic supply unit 52 a servo valve 53 is connected to the actuating member 5, and the servo valve 53 controls the air pressure value of the air supply unit 52 to be supplied to the actuating member 5, so that the actuating member 5 is telescopically displaced by the air pressure. And synchronously driving the first joint element 1, the second joint element 2 and the third joint element 3 to move and rotate; and a control unit 7 having one end coupled to the first joint element 1 and the second joint element 2 The third joint element 3 and the air pressure supply unit 52 are electrically connected to a pressure sensing element 8 and a displacement sensing element 9, and the pressure sensing element 8 senses the air pressure value of the air pressure supply unit 52. The sensing element 9 senses the displacement amount and the angular rotation amount of the first joint element 1, the second joint element 2, and the third joint element 3, and the control unit 7 pre-sets the displacement target value and the angle target value. The control unit 7 receives and analyzes the air pressure value, the displacement amount, and the angular rotation amount, and learns the error of the displacement amount, the angular rotation amount, the displacement target value, and the angle target value, thereby returning compensation and controlling the first joint. Element 1, second joint Member 2 and the third joint member 3 of the motion trajectory.

Regarding the actuating state of the present creation, please refer to FIG. 4 again, the actuating elements 5 respectively receive the air pressure values sent by the air pressure supply unit 52, and exhibit different telescopic displacements, and synchronously drive the The first joint element 1 is rotated to the right. During the operation, the clamping element 31 is required to grasp an item correspondingly, and the control unit 7 analyzes and calculates the air pressure value, the displacement amount and the angular rotation amount. Obtaining the error of the displacement amount, the angular rotation amount, the displacement target value, and the angle target value, that is, obtaining the variation amount of the error by performing an operation, thereby replenishing and compensating the air pressure value, the displacement amount, and the angular rotation amount, so that the The third joint element 3 is driven to a precise position to complete the high-precision clamping work. Moreover, as shown in Fig. 5, the actuation state is different from the aforementioned actuation state, and the actuation elements 5 are also received separately. The air pressure value sent by the air pressure supply unit 52 is in a different telescopic displacement, and the second joint element 2 is pivoted forward as shown in the figure, so as to achieve accurate grasping of the object by the clamping element 31. Work, complex For the former reason, the control unit 7 controls the movement trajectory of the first joint element 1, the second joint element 2 and the third joint element 3 by feedback mechanism, in summary, the first The joint element 1, the second joint element 2, and the third joint element 3 are respectively movable in different directions, and the second joint element 2 and the third joint are simultaneously rotated while the first joint element 1 of the embodiment is rotated to the right. The component 3 can also be rotated forward, that is, it has an operation state in which a plurality of degrees of freedom are performed; the third joint component 3 can be assembled with different clamping or processing components according to different working requirements, that is, the third joint The element 3 is not limited to the provision of the clamping element 31, and is specifically described.

It is apparent from the above description and arrangement that the creation is performed by the first joint element 1, the second joint element 2 and the third joint element 3, and through the pressure sensing element 8 and the displacement sensing element 9, respectively Detecting the air pressure supply unit 52, the first joint element 1, the second joint element 2, and the third joint element 3, and transmitting the air pressure value, the displacement amount, and the angular rotation amount to the control unit 7, and analyzing and calculating the same After the error between the preset displacement target value and the angle target value, the compensation can be feedback and the movement track of the creation can be precisely controlled, and the structure is simple, light, and reactive. Fast, excellent output/self-weight ratio, and no pollution, and the actuating element 5 is flexible without damage to the object, and its expansion range, reaction time, force and length are all related to the operation of the animal muscle. The method is very similar, in order to achieve the smooth movement of the same animal joints. Further, the creation system can configure different clamping or machining components according to the work requirements, and can perform multiple degrees of freedom movement and high motion trajectory. The effect of control, which means to greatly improve the accuracy of the clamping, processing or classification operations.

Looking at the above, the technical means exposed in this creation is not only unprecedented, but also achieves the intended purpose and effect, so it is both novel and progressive. It is a new type of patent law that is called the whole. In terms of structure, it has indeed met the statutory requirements of the Patent Law and has filed a new type of patent application in accordance with the law.

However, the above descriptions are only preferred embodiments of the present invention, and should not be used as a limitation to the scope of implementation of the creation, that is, the equivalent changes and modifications made by the applicant in accordance with the scope of the patent application and the contents of the specification should still be Belonging to the scope covered by this creation patent.

1‧‧‧First joint component

2‧‧‧Second joint component

3‧‧‧ Third joint component

31‧‧‧Clamping elements

4‧‧‧Connected shaft

5‧‧‧Actuating element

6‧‧‧Base

61‧‧‧Power unit

Claims (9)

A driving device for a human-like robot arm, comprising: a first joint component, respectively coupled to a second joint component and a third joint component at opposite ends thereof, and the first joint component and the second joint component, A connecting shaft and at least an actuating element are pivoted between the third joint elements, and the axial joint of the first joint element pivotally connecting the connecting shaft and the actuating element is perpendicular to the second joint element and the third joint element And an air supply unit connected to the actuating element via a servo valve, the servo valve controlling a gas pressure value of the air supply unit to the actuating element, and causing the actuating element to be subjected to air pressure The displacement is in a telescopic displacement and synchronously drives the first joint element, the second joint element, and the third joint element to move and rotate. The driving device of the human-like robot arm according to claim 1, further comprising a control unit, one end of which is coupled to the first joint element, the second joint element, the third joint element, and the air pressure supply unit, and The end is electrically connected to a pressure sensing element, and the pressure sensing element senses the air pressure value of the air pressure supply unit. The driving device of the human-like robot arm according to claim 1, further comprising a control unit, one end of which is coupled to the first joint element, the second joint element, the third joint element, and the air pressure supply unit, and The end is electrically connected to a displacement sensing element, and the displacement sensing element senses a displacement amount and an angular rotation amount of the first joint element, the second joint element, and the third joint element. A driving device for a human-like robot arm as described in claim 2, The other end of the control unit is further electrically connected to a displacement sensing component, and the displacement sensing component senses an angular rotation of the first joint element, the second joint element, and the third joint element. The control unit is pre-set with a displacement target value and an angle target value, and the control unit receives and analyzes the air pressure value, the displacement amount, and the angular rotation amount, and knows the displacement amount, the angular rotation amount, the displacement target value, and the angle target. The error of the value is used to feedback compensation and control the motion trajectory of the first joint element, the second joint element and the third joint element. The driving device for a human-like robot arm according to any one of claims 1 to 4, wherein the actuating member is plural, and the actuating member is provided on the connecting shaft. The driving device of the human-like robot arm according to any one of claims 1 to 4, wherein the second joint component is mounted on a base, and the third joint component is further provided with a clamping element. The driving device of the human-like robot arm according to any one of claims 1 to 4, wherein the actuating element is a pneumatic muscle, and the actuating element comprises at least one steel cable and respectively borrows The wire joint is connected to the first joint element, the second joint element and the third joint element. The driving device of the human-like robot arm according to claim 6, wherein the bottom of the base is further provided with at least one stand. The driving device of the human-like robot arm according to claim 6, wherein the bottom of the base is further provided with at least one roller.