CN112847377A - Drive control method for robot joint - Google Patents
Drive control method for robot joint Download PDFInfo
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- CN112847377A CN112847377A CN202110179944.XA CN202110179944A CN112847377A CN 112847377 A CN112847377 A CN 112847377A CN 202110179944 A CN202110179944 A CN 202110179944A CN 112847377 A CN112847377 A CN 112847377A
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- oil cylinder
- joint
- shoulder
- mounting plate
- servo motor
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 16
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a drive control method of a robot joint, wherein each group of servo motor mechanisms drives an input oil cylinder and an output oil cylinder, the input oil cylinder and the output oil cylinder are connected in series through oil pipes, two ends of the output oil cylinder are respectively connected with components of the joint, and the servo motor mechanisms accurately control the action of the input oil cylinder, so that the output oil cylinder is driven to act on the joint to make accurate motion. The invention has simple and compact structure and easy installation; the servo motor drives the ball screw to accurately control the traction oil cylinder, the piston of the input oil cylinder is ejected out corresponding to the output oil cylinder when pressed in, the action of the input oil cylinder drives the output oil cylinder to act on the accurate movement of the joint, an additional oiling pump is not needed, each shoulder joint can realize the accurate movement of multiple degrees of freedom only through the control of two groups of servo motor mechanisms, each elbow joint can realize the accurate movement of large moment through one group of servo control, the occupied space and the weight of the elbow joint on the joint and the mechanical arm are greatly reduced, and the end load capacity is increased.
Description
Technical Field
The invention relates to a drive control method of a robot joint, and belongs to the technical field of robots.
Background
The joints of the existing robot are mostly driven and controlled by motors, speed reducers or synchronous belts, and the like, and the motors, the speed reducers and other components are arranged on the joints or arms.
In addition, hydraulic transmission control is adopted in joints of a few robots, and the hydraulic control has the biggest problems of inaccuracy and insufficient freedom degree.
The robot is more flexible, accurate in executing action and strong in load capacity, and needs to be innovated continuously because the prior art cannot complete the operation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a driving control method of a robot joint, a servo hydraulic driving structure is adopted, the robot is controlled to finish accurate action under the condition of large load at the tail end, and the occupied space and the weight on the joint and a mechanical arm are greatly reduced.
In order to achieve the technical purpose, the invention adopts the technical scheme that: a drive control method for robot joints is characterized in that each group of servo motor mechanisms drives an input oil cylinder and an output oil cylinder, the input oil cylinder and the output oil cylinders are connected in series through oil pipes, two ends of each output oil cylinder are respectively connected with components of a joint, and the servo motor mechanisms accurately control the actions of the input oil cylinders so as to drive the output oil cylinders to act on the joints to make accurate motion.
Furthermore, the servo motor mechanism comprises a servo motor, the servo motor is connected with a ball screw through a coupler, a screw nut and a traction plate are installed on the ball screw, and an input piston rod of the input oil cylinder is connected with the traction plate.
Furthermore, the servo motors of each group of servo motor mechanisms are all installed through the motor fixing plate and are located on the same side of the motor fixing plate.
Furthermore, a lower mounting plate and an upper mounting plate are arranged on the coupler, a screw bearing seat is arranged on the lower mounting plate and the upper mounting plate, a ball screw is located between the lower mounting plate and the upper mounting plate, and an input oil cylinder is arranged on the upper mounting plate.
Furthermore, a plurality of guide posts are arranged between the lower mounting plate and the upper mounting plate, one mounting lug of the traction plate is sleeved on one adjacent guide post, and the other symmetrical mounting lug on the traction plate is provided with an input piston rod.
Furthermore, the mounting lug of the traction plate is mounted on the guide post through a linear bearing.
Furthermore, the joint comprises ball heads at two ends of the output oil cylinder and a ball head seat for mounting the ball heads.
Furthermore, the upper mounting plate is connected with the body frame, the shoulder joint comprises a shoulder shaft which is rotationally connected with the body frame, a shoulder head frame which is hinged with the shoulder shaft, and a shoulder joint output oil cylinder, one end of the shoulder head output oil cylinder is connected with a ball head seat of the shoulder head frame, and the other end of the shoulder joint output oil cylinder is connected with the ball head seat on the upper mounting plate or the lower mounting plate; each shoulder joint only needs two groups of input oil cylinders controlled by the servo motor mechanisms to drive output oil cylinders arranged at different angles respectively, and multi-degree-of-freedom accurate movement is achieved.
Furthermore, a shoulder motor is arranged in the shoulder frame, the shoulder frame is pivotally connected with the large arm frame through the shoulder motor, a small arm output oil cylinder is arranged in the large arm frame, the lower end of the large arm frame is hinged with the small arm frame through a small arm output oil cylinder piston rod, and each elbow joint drives the small arm output oil cylinder through an input oil cylinder controlled by a group of servo motor mechanisms, so that large-torque accurate motion is realized.
The beneficial technical effects of the invention are as follows: the structure is simple and compact, and the installation in the robot body is easy; the servo motor drives the ball screw to accurately control the traction oil cylinder, the piston of the input oil cylinder is ejected out corresponding to the output oil cylinder when pressed in, the action of the input oil cylinder drives the output oil cylinder to act on the accurate movement of the joint, an additional oiling pump is not needed, each shoulder joint can realize the accurate movement of multiple degrees of freedom only through the control of two groups of servo motor mechanisms, each elbow joint can realize the accurate movement of large moment through one group of servo control, the occupied space and the weight of the elbow joint on the joint and the mechanical arm are greatly reduced, and the end load capacity is increased.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a partial sectional structure diagram of the present invention.
In the figure: 1. the hydraulic control system comprises a servo motor, 2, a motor fixing plate, 3, a coupler, 4, a screw bearing seat, 5, a lower mounting plate, 6, a guide pillar, 7, a screw nut, 8, a traction plate, 9, a ball screw, 10, a linear bearing, 11, a ball head seat, 12, an upper mounting plate, 13, a small arm frame, 14, a machine body frame, 15, a large arm frame, 16, a ball head, 17, a motor, 18, a shoulder head frame, 19, an oil pipe, 20, a shoulder shaft, 201, an input piston rod, 202, an input oil cylinder, 211, a shoulder joint output piston rod, 212, a shoulder joint output oil cylinder, 221, a small arm output piston rod, 222 and a small arm output oil cylinder.
Detailed Description
Example 1
A drive control method for robot joints is characterized in that each group of servo motor mechanisms drives an input oil cylinder and an output oil cylinder, the input oil cylinder and the output oil cylinders are connected in series through oil pipes 19, two ends of each output oil cylinder are respectively connected with components of a joint, and the servo motor mechanisms accurately control the action of the input oil cylinders so as to drive the output oil cylinders to act on the joints to make accurate motion.
Example 2
As shown in fig. 1, as a specific structural design of embodiment 1, the servo motor mechanism includes a servo motor 1, the servo motor 1 is connected to a ball screw 9 through a coupling 3, a lead screw nut 7 and a traction plate 8 are mounted on the ball screw 9, and an input piston rod 201 of an input cylinder 202 is connected to the traction plate 8.
As an optimized design, the servo motors 1 of each group of servo motor mechanisms are all installed through the motor fixing plate 2 and are located on the same side of the motor fixing plate 2.
As an optimized design, the coupling 3 is provided with a lower mounting plate 5 and an upper mounting plate 12, the screw bearing block 4 is mounted on the lower mounting plate 5 and the upper mounting plate 12, the ball screw 9 is located between the lower mounting plate 5 and the upper mounting plate 12, and the input oil cylinder 202 is arranged on the upper mounting plate 12.
As an optimized design, a plurality of guide posts 6 are further arranged between the lower mounting plate 5 and the upper mounting plate 12, one mounting lug of the traction plate 8 is sleeved on one adjacent guide post 6, and the other symmetrical mounting lug on the traction plate 8 is provided with the input piston rod 201.
As an optimized design, the mounting lugs of the traction plate 8 are mounted on the guide posts 6 through linear bearings 10.
Example 3
As a further design of the structure of the embodiment 2, the structural components of the joint comprise ball heads at two ends of an output oil cylinder and a ball head seat 11 for mounting a ball head 16.
As an optimized design, the upper mounting plate 12 is connected with the fuselage frame 14, the shoulder joint comprises a shoulder shaft 20 rotationally connected with the fuselage frame 14, a shoulder frame 18 hinged with the shoulder shaft 20, and a shoulder joint output oil cylinder 212, one end of which is connected with a ball socket of the shoulder frame 18, and the other end of which is connected with the ball socket 11 on the upper mounting plate 12 or the lower mounting plate 5; each shoulder joint only needs two groups of input oil cylinders controlled by the servo motor mechanisms to drive output oil cylinders arranged at different angles respectively, and multi-degree-of-freedom accurate movement is achieved.
As an optimized design, a shoulder motor 17 is arranged in a shoulder frame 18, the shoulder frame 18 is pivotally connected with a large arm frame 15 through the shoulder motor 17, a small arm output oil cylinder 222 is arranged in the large arm frame 15, the lower end of the large arm frame 15 is hinged with a small arm frame 13 through a small arm output piston rod 221, and each elbow joint drives the small arm output oil cylinder 222 through an input oil cylinder controlled by a group of servo motor mechanisms, so that large-moment accurate motion is realized.
The invention provides a servo hydraulic driven robot structure and a control method, which comprises a plurality of servo motors, couplers, ball screws, guide columns, a motor fixing plate, an input oil cylinder, output oil cylinders, an upper plate, a lower plate, a machine body, a ball head, a shoulder head frame, a shoulder shaft, a large arm and a small arm, wherein the motor fixing plate is used for connecting and fixing the servo motors, the servo motors drive the ball screws to pull driven oil cylinders, one input oil cylinder is connected with one output oil cylinder in series through oil pipes, two ends of the output oil cylinder are respectively connected with two parts forming a joint, when a piston of the input oil cylinder is pressed in, the output oil cylinder is ejected out correspondingly, the servo motors and the ball screws accurately control the action of the input oil cylinder so as to drive the output oil cylinders to act on the accurate movement of the joint, each servo motor drives a group of input and output oil cylinders, the oil, each shoulder joint can realize multi-degree-of-freedom accurate motion only by driving two groups of output oil cylinders arranged at a certain angle through two groups of servo-controlled input oil cylinders, each elbow joint can realize large-torque accurate motion by driving one group of output oil cylinders through one group of servo-controlled input oil cylinders, occupied space and weight of the joints and the mechanical arm are greatly reduced, and the load capacity of the tail end is improved.
Claims (9)
1. A method for controlling the drive of a robot joint, comprising: each group of servo motor mechanisms drives an input oil cylinder and an output oil cylinder, the input oil cylinder and the output oil cylinder are connected in series through oil pipes, two ends of the output oil cylinder are respectively connected with components of a joint, and the servo motor mechanisms accurately control the action of the input oil cylinder, so that the output oil cylinder is driven to act on the joint to make accurate movement.
2. The drive control method of a robot joint according to claim 1, characterized in that: the servo motor mechanism comprises a servo motor, the servo motor is connected with a ball screw through a coupler, a screw nut and a traction plate are installed on the ball screw, and an input piston rod of an input oil cylinder is connected with the traction plate.
3. The drive control method of a robot joint according to claim 2, characterized in that: the servo motors of each group of servo motor mechanisms are all installed through the motor fixing plate and are located on the same side of the motor fixing plate.
4. The drive control method of a robot joint according to claim 2, characterized in that: the novel hydraulic coupler is characterized in that a lower mounting plate and an upper mounting plate are arranged on the coupler, a screw bearing seat is mounted on the lower mounting plate and the upper mounting plate, a ball screw is located between the lower mounting plate and the upper mounting plate, and an input oil cylinder is arranged on the upper mounting plate.
5. The drive control method of a robot joint according to claim 3, characterized in that: a plurality of guide posts are further arranged between the lower mounting plate and the upper mounting plate, one mounting lug of the traction plate is sleeved on one adjacent guide post, and the other symmetrical mounting lug on the traction plate is provided with an input piston rod.
6. The drive control method of a robot joint according to claim 5, characterized in that: and the mounting lug of the traction plate is mounted on the guide post through a linear bearing.
7. The drive control method of a robot joint according to claim 1, characterized in that: the joint comprises ball heads at two ends of the output oil cylinder and a ball head seat for mounting the ball heads.
8. The drive control method of a robot joint according to claim 4, characterized in that: the upper mounting plate is connected with the body frame, the shoulder joint comprises a shoulder shaft rotationally connected with the body frame, a shoulder head frame hinged with the shoulder shaft, and a shoulder joint output oil cylinder, one end of the shoulder head frame is connected with a ball head seat of the shoulder head frame, and the other end of the shoulder joint output oil cylinder is connected with the ball head seat on the upper mounting plate or the lower mounting plate; each shoulder joint only needs two groups of input oil cylinders controlled by the servo motor mechanisms to drive output oil cylinders arranged at different angles respectively, and multi-degree-of-freedom accurate movement is achieved.
9. The drive control method of a robot joint according to claim 8, characterized in that: the shoulder head frame is internally provided with a shoulder head motor and is pivotally connected with a large arm frame through the shoulder head motor, a small arm output oil cylinder is arranged in the large arm frame, the lower end of the large arm frame is hinged with the small arm frame through a small arm output oil cylinder piston rod, and each elbow joint drives the small arm output oil cylinder through an input oil cylinder controlled by a group of servo motor mechanisms, so that large-torque accurate motion is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179944.XA CN112847377A (en) | 2021-02-08 | 2021-02-08 | Drive control method for robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179944.XA CN112847377A (en) | 2021-02-08 | 2021-02-08 | Drive control method for robot joint |
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| Publication Number | Publication Date |
|---|---|
| CN112847377A true CN112847377A (en) | 2021-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110179944.XA Pending CN112847377A (en) | 2021-02-08 | 2021-02-08 | Drive control method for robot joint |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101811525A (en) * | 2010-04-23 | 2010-08-25 | 山东大学 | Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device |
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| WO2012126378A1 (en) * | 2011-03-23 | 2012-09-27 | 宁夏银川大河数控机床有限公司 | Reciprocating servo control device for mainshaft of honing machine |
| CN104864061A (en) * | 2015-04-02 | 2015-08-26 | 青岛理工大学 | Electrohydraulic hybrid drive lead screw transmission system and control method thereof |
| CN110228545A (en) * | 2019-05-16 | 2019-09-13 | 深圳市优必选科技有限公司 | A kind of linear joint and leg biped robot |
| CN111906815A (en) * | 2020-08-19 | 2020-11-10 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Execution joint integrated structure for exoskeleton robot joint |
-
2021
- 2021-02-08 CN CN202110179944.XA patent/CN112847377A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101811525A (en) * | 2010-04-23 | 2010-08-25 | 山东大学 | Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device |
| WO2012126378A1 (en) * | 2011-03-23 | 2012-09-27 | 宁夏银川大河数控机床有限公司 | Reciprocating servo control device for mainshaft of honing machine |
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| CN104864061A (en) * | 2015-04-02 | 2015-08-26 | 青岛理工大学 | Electrohydraulic hybrid drive lead screw transmission system and control method thereof |
| CN110228545A (en) * | 2019-05-16 | 2019-09-13 | 深圳市优必选科技有限公司 | A kind of linear joint and leg biped robot |
| CN111906815A (en) * | 2020-08-19 | 2020-11-10 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Execution joint integrated structure for exoskeleton robot joint |
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