CN209533385U - The continuous humanoid robot of parallel connection, continuous type mechanical arm in parallel - Google Patents
The continuous humanoid robot of parallel connection, continuous type mechanical arm in parallel Download PDFInfo
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- CN209533385U CN209533385U CN201822091932.8U CN201822091932U CN209533385U CN 209533385 U CN209533385 U CN 209533385U CN 201822091932 U CN201822091932 U CN 201822091932U CN 209533385 U CN209533385 U CN 209533385U
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Abstract
The utility model discloses a kind of continuous humanoid robots of parallel connection, including mechanical arm and control unit；Mechanical arm includes an end rigid platfor, two pieces of flexible boards connecting respectively with each one end of end rigid platfor, two driving parts connecting respectively with each flexible board far from one end of end rigid platfor, each driving part includes the screw rod slide unit mould group for having the servo motor of encoder and constituting with ball-screw and the slide unit being sheathed on ball-screw, ball-screw institute with state servo motor and connect, slide unit is connect with flexible board；Control unit is connect with each servo motor, control unit calculates respective flexible plate with kinematics model according to the target position of the movement of acquisition and needs mobile distance, and then corresponding servo motor rotation is controlled to drive the mobile required distance of corresponding flexible board, so that end rigid platfor reaches target position.The invention also discloses a kind of continuous type mechanical arms in parallel.Its structure is simple, and load is high, easily controllable.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of continuous humanoid robots in parallel, continuous type in parallel
Mechanical arm.
Background technique
Robot technology is the technology of a multi-crossed disciplines, is related to Machine Design, computer, sensor, automatic control
Multiple subjects such as system, human-computer interaction, bionics.Since the 60's of 20th century, by nearly rapid development in 60 years,
Oneself becomes the important component of high-end equipment for industrial robot and automatic production line outfit, and industrial robot is wide
It is general to be applied to automobile and auto parts and components manufacturing industry, mechanical processing industry, electric industry, rubber and plastics industry, food
The fields such as industry, logistics, manufacturing industry.
Conventional industrial robot is mostly made of rigid link and joint, the operational capacity under complicated unstructured environment
It is poor, and when carrying out human-computer interaction work, security performance is lower.In recent years, it is based on bionics principle, people imitate trunk
The animal organs such as son, octopus tentacle have devised it is some can flexible curved continuous humanoid robot, can effectively overcome it is traditional just
Some disadvantages existing for property robot.
There are many research achievements in sequential machine people field both at home and abroad at present.Such as the OctArm of Clemson university is mechanical
Arm, the continuous humanoid robot of the concentric tube of Vanderbilt university, 3.0 He of Fei Situo (Festo) company Bionic tripod
Bionic Handling Assistant robot etc..These robots are not usually required to traditional movement or cradle head,
Pose required for making robot obtain us using the large deformation that flexible link, flexible pipe, atmospheric pressure cavity or hydraulic cavities generate.So
And there are still following points by the sequential machine people of the prior art: load is low, and structure is complicated, moves and is difficult to control in space.
Utility model content
It is mechanical that the utility model provides a kind of humanoid robot in parallel continuous, continuous type in parallel to solve above-mentioned technical problem
Arm, structure is simple, and load is high, and the movement in space is easily controllable.
In order to solve the above technical problems, the utility model provides a kind of continuous type mechanical arm in parallel, comprising: end rigidity
Platform；Two pieces of flexible boards being connect respectively with each one end of the end rigid platfor；And it is remote with each flexible board respectively
Two driving parts of one end connection from the end rigid platfor；Accordingly the flexible board moves for each driving part driving
It is dynamic, using movement and the deformation of the corresponding flexible board so that the end rigid platfor reaches target position.
In order to solve the above technical problems, the utility model also provides a kind of continuous humanoid robot of parallel connection, comprising: mechanical arm and
Control unit；The mechanical arm includes an end rigid platfor, connect respectively with each one end of the end rigid platfor two
Block flexible board and two driving parts being connect respectively with each flexible board far from one end of the end rigid platfor,
Each driving part includes that a servo motor and one with encoder has ball-screw and is sheathed on the ball wire
The screw rod slide unit mould group that slide unit on thick stick is constituted, the ball-screw institute with state servo motor and connect, the slide unit with it is described soft
Property plate connection；The control unit is connect with each servo motor, and the control unit is according to the target position of the movement of acquisition
It sets and calculates the distance that the corresponding flexible board needs movement with kinematics model, and then the corresponding servo motor of control turns
Distance required for the dynamic corresponding flexible board movement with driving, so that the end rigid platfor reaches target position.
Further, the continuous humanoid robot in parallel includes measurement feedback system, and the measurement feedback system includes one
It is a to be set to the gyroscope that the posture information of the end rigid platfor is detected on the end rigid platfor, the gyroscope
It is connect with the control unit, the control unit is in the corresponding servo motor rotation of control to drive the corresponding flexible board
Among the process of distance required for mobile or later, the corresponding servo is controlled according to the posture information of gyroscope feedback
Motor is rotated to correct the deviation of the posture of the end rigid platfor.
Further, the measurement feedback system is respectively arranged at each screw rod slide unit mould group far from described including two
One end of flexible board to detect the proximity sensor that returns to zero whether the corresponding slide unit is in initial position, it is each it is described return to zero it is close
Sensor is connect with the control unit, and the control unit is in the corresponding servo motor rotation of control to drive corresponding institute
Before stating the mobile required distance of flexible board, watched according to each signal control for returning to zero proximity sensor feedback is accordingly described
Motor is taken to rotate so that the corresponding slide unit returns to initial position.
Further, the measurement feedback system is respectively arranged at each screw rod slide unit mould group described in including two
One end of flexible board is to detect the limit the proximity sensor whether corresponding slide unit reaches maximum stroke movement, each limit
Proximity sensor is connect with the control unit, the signal that the control unit is fed back according to each limit proximity sensor
When the corresponding slide unit reaches at maximum stroke movement, controls the corresponding servo motor and stop operating.
Further, the measurement feedback system includes two push-and-pull force snesors, a push-and-pull force snesor connection
Between a flexible board and a corresponding slide unit, another push-and-pull force snesor be connected to another flexible board with
Between corresponding another slide unit, each push-and-pull force snesor is connected to the control unit to detect the corresponding flexibility
The stress condition of plate.
Further, respectively pass through a clamping and fixing body respectively between the corresponding flexible board and the push-and-pull force snesor
Connection, the clamping and fixing body include the first clamping plate, the second clamping plate being oppositely arranged with first clamping plate, setting
It is clamped in the connection sleeve on first clamping plate and the wing bolt being set on second clamping plate, described first
It is connected by pin between plate and second clamping plate and between first clamping plate and the connection sleeve, institute
Flexible board is stated to be held between first clamping plate and second clamping plate simultaneously far from one end of the end rigid platfor
It is fixedly clamped by screwing the wing bolt, the connection sleeve is connect with the push-and-pull force snesor by being threadedly engaged.
Further, the mechanical arm includes the mounting plate structure being set on the frame by frame and two pieces of parallel intervals
At installation frame, each screw rod slide unit Mo Zu is installed in respectively on the different mounting plates, and the screw rod slide unit mould group is remote
One end from the flexible board is provided with motor attachment, and the servo motor is installed on the motor attachment.
Further, on the frame, correspondence is rotationally installed at least two pairs above each mounting plate respectively
The idler wheel of support and guiding role is played, each flexible board passes through the accordingly gap the idler wheel and can slide in gap
It is dynamic.
Further, the control unit includes power control cabinet and master control industrial personal computer；The power control cabinet at least with the servo
Motor is connected with the master control industrial personal computer, for providing electric energy；The master control industrial personal computer is for providing the interaction of user and system
Platform is responsible for robot kinematics and dynamics calculation, Motion trajectory, system maintenance, the preservation of data processing and display
Function, the master control industrial personal computer embed programmable multi-axis controller, the master control industrial personal computer and the programmable multi-axis controller
Between communicated by pci bus, the programmable multi-axis controller connect with the servo motor, is used for according to the master control work
Control machine calculates the control command generated and controls the servo motor.
The continuous humanoid robot of the parallel connection of the utility model, continuous type mechanical arm in parallel, have the following beneficial effects:
(1) the utility model makes mechanical arm have plane three using flexible board as the support of mechanical arm and moving component
Freedom degree planar flexibly can stretch and be bent.Compared with conventional rigid robot, this machinery arm configuration is simple, quality
Gently, at low cost, human-computer interaction is safer, and the performance moved under non-structure environment is more preferable, with existing flexible link, flexible pipe,
The sequential machine people of the drivings such as atmospheric pressure cavity, hydraulic cavities compares, the load that can not only be born due to flexible board parallel-connection structure itself
It is larger, and due to its non-deformed direction have the characteristics that it is very big rigid, can using this feature non-deformed direction bear it is bigger
Load, therefore the load that flexible board parallel-connection structure is able to bear is bigger, and stability is more preferable when movement；
(2) the utility model uses closed loop control method, has measurement feedback system, can effectively improve the fortune of robot
Dynamic precision reduces the pose deviation of robot end's rigid platfor, and control module is an open module, can be further
Other feedbacks such as vision are added；
(3) the utility model does not have the movement of conventional industrial robot and cradle head and a connecting rod, simple in structure, outside
Shape size is amplified and is reduced according to demand；End rigid platfor area is larger, can carry a plurality of types of ends and execute
Device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model continuous humanoid robot in parallel.
Fig. 2 is schematic diagram when mechanical arm is in bending working condition in the continuous humanoid robot of parallel connection as shown in Figure 1.
Fig. 3 is that mechanical arm is in schematic diagram when initially returning to zero state in the continuous humanoid robot of parallel connection as shown in Figure 1.
Fig. 4 is the structural schematic diagram of screw rod slide unit mould group in continuous type mechanical arm in parallel as shown in Figure 2.
Fig. 5 is the clamping and fixing body schematic diagram of flexible board in continuous type mechanical arm in parallel as shown in Figure 2.
Fig. 6 is the structural schematic diagram of installation frame in continuous type mechanical arm in parallel as shown in Figure 2.
Fig. 7 is the structural schematic diagram of roller group in continuous type mechanical arm in parallel as shown in Figure 2.
Fig. 8 is the flow chart of the control method of the utility model continuous humanoid robot in parallel.
Specific embodiment
The utility model is described in detail with embodiment with reference to the accompanying drawing.
The utility model provides a kind of continuous humanoid robot of parallel connection.It carries out in conjunction with Fig. 1 to Fig. 4 refering to the parallel connection continuous type
Robot includes continuous type mechanical arm II in parallel and controls the control unit I that the mechanical arm II is moved to target position.
As shown in Fig. 2, the parallel connection continuous type mechanical arm II includes 1, two piece of flexible board 3 of an end rigid platfor and two
Driving part, wherein the end rigid platfor 1 is non-deformable, which can deform.Specifically, a flexible board
3 one end is connect with one end of end rigid platfor 1, the other end is connect with a driving part, and another flexible board (not indicating)
One end connect with the other end of end rigid platfor 1, the other end is connect with another driving part.Wherein, each driving part by
Control driving respective flexible plate 3 is mobile, using movement and the deformation of respective flexible plate 3 so that end rigid platfor 1 reaches target
Position.Connection between flexible board 3 and end rigid platfor 1 is preferably solid using such as bolt and nut connection of detachably connected mode
It is fixed.
In one embodiment, as shown in figure 4, each driving part includes servo motor 11 and screw rod slide unit mould group
10.The servo motor 11 is often with the encoder (not shown) having for precision ranging.The screw rod slide unit mould group 10 include bracket 22,
The ball-screw 23 being rotationally connected on bracket 22 and the slide unit 24 being sheathed on ball-screw 23, ball-screw 23 and servo electricity
Machine 11 connects, and slide unit 24 is connect with flexible board 3 far from one end of end rigid platfor 1, and the rotation of servo motor 11 drives ball wire
Thick stick 23 rotates, and slide unit 24 converts the rotation of ball-screw 23 to and moves in a straight line band in turn along 23 length direction of ball-screw
Dynamic flexible board 3 is mobile.The sliding rail 26 parallel with ball-screw 23 can be usually set on bracket 22, and slide unit 24 also further leads to
Cross and be such as arranged mode and be installed on sliding rail 26, can be moved in a straight line along ball-screw 23 with to limit slide unit 24 only without
It rotates around ball-screw 23.
Further, control unit I is connect with each servo motor 11, and according to the target position of the movement of acquisition with fortune
Dynamic model calculates respective flexible plate 3 and needs mobile distance, and then is accurately controlled according to the detecting distance of encoder feedback
The corresponding rotation of servo motor 11 utilizes the movement and change of respective flexible plate 3 to drive the mobile required distance of corresponding flexible board 3
Shape is so that end rigid platfor 1 reaches target position.
In a preferred embodiment, in conjunction with Fig. 1 and Fig. 2 refering to continuous humanoid robot in parallel includes measurement feedback system III.
The measurement feedback system III includes a gyroscope 2 connecting with control unit I.The gyroscope 2 passes through such as bolt locking side
Formula is installed on end rigid platfor 1, to detect the posture information of end rigid platfor 1.Control unit I is accordingly watched in control
Among the process that the rotation of motor 11 is taken to drive the mobile required distance of corresponding flexible board 3 or later, fed back according to gyroscope 2
Posture information control the rotation of corresponding servo motor 11 to correct the deviation of the posture of end rigid platfor 1.That is, for end
The amendment of the deviation of the posture of rigid platfor 1 real-time perfoming can be corrected in its moving process, or can also be corresponding soft
Property the distance required for mobile of plate 3 after (generally had arrived at target position at this time) and be modified again.For example, it transports
Dynamic target position can obtain corresponding targeted attitude information by kinematics model calculating, and control unit I can compare target appearance
Simultaneously control letter for correcting pose deviation is calculated in posture information that state information and gyroscope 2 are fed back when there are deviation
Number, control unit I controls the corresponding rotation of servo motor 11 according to the control signal to rectify a deviation.Wherein, which can
To be the parameter of 1 motion profile final position state of end rigid platfor, it is each to be also possible to 1 motion profile of end rigid platfor
Result under point location status.
Preferably, the measurement feedback system III further includes two and returns to zero with what control unit I was connect with continued reference to Fig. 2
Proximity sensor 9.This two return to zero proximity sensor 9 and are respectively arranged at each 10 one end far from flexible board 3 of screw rod slide unit mould group,
To detect whether corresponding slide unit 24 is in initial position, and then judge that mechanical arm II is whole whether in initial position accordingly.
Control unit I is before controlling the corresponding rotation of servo motor 11 to drive the mobile required distance of corresponding flexible board 3, according to each
The signal for returning to zero the feedback of proximity sensor 9 controls corresponding servo motor 11 and rotates so that corresponding slide unit 24 returns to initial position,
Even if mechanical arm II is whole to return to initial position (state of mechanical arm II as shown in Figure 3), it can be used for the first of robot in this way
Beginningization facilitates subsequent movement mechanical arm II to reach target position.
Preferably, the measurement feedback system III further includes two limits connecting with control unit I with continued reference to Fig. 2
Proximity sensor 6.Two limit proximity sensors 6 are respectively arranged at each screw rod slide unit mould group 10 close to one end of flexible board 3,
To detect whether corresponding slide unit 24 reaches maximum stroke movement.The letter that control unit I is fed back according to each limit proximity sensor 6
Number corresponding slide unit 24 reach maximum stroke movement at when, control corresponding servo motor 11 and stop operating, and then ensure robot
It can safely and reliably run.
In other embodiments, with continued reference to Fig. 2, the measurement feedback system III can also include two and control unit
The push-and-pull force snesor 8 of I connection.Wherein, a push-and-pull force snesor 8 is connected to a flexible board 3 and corresponding screw rod slide unit mould group
Between 10 slide unit 24, another push-and-pull force snesor 8 is connected to the cunning of another flexible board 3 with corresponding another screw rod slide unit mould group 10
Between platform 24, each stress condition for pushing and pulling force snesor 8 to detect respective flexible plate 3.
In a preferred embodiment, in conjunction with Fig. 2 and Fig. 5 refering between respective flexible plate 3 and push-and-pull force snesor 8 respectively
It is respectively connected by a clamping and fixing body 7, and then easy disassembly flexible board 3.Specifically, the clamping and fixing body 7 includes first
Clamping plate 19, the second clamping plate 17 being oppositely arranged with the first clamping plate 19, the connection sleeve being set on the first clamping plate 19
21 and the wing bolt 18 that is set on the second clamping plate 17.For example, the first clamping plate 19 and the second clamping plate 17 it
Between and the first clamping plate 19 and connection sleeve 21 between can be connected by pin 20, flexible board 3 is rigidly flat far from end
One end of platform 1 is held between the first clamping plate 19 and the second clamping plate 17 and is fixedly clamped by screwing wing bolt 18, even
Female connector cylinder 21 is connect with push-and-pull force snesor 8 by being threadedly engaged.Pushing and pulling can also be by such as between force snesor 8 and slide unit 24
It is threadedly engaged or the modes such as screw connection connects.
In one embodiment, in conjunction with Fig. 2 and Fig. 6 refering to mechanical arm II includes an installation frame 4.The installation frame 4
It is made of the mounting plate 15 that frame 14 and two pieces of parallel intervals are set on frame 14.Each screw rod slide unit mould group 10 is respectively by such as
The mode of bolt and nut locking is installed on different mounting plates 15, is specially fixed on the bracket 22 of each screw rod slide unit mould group 10
On different mounting plates 15.Each 10 one end far from flexible board 3 of screw rod slide unit mould group is provided with motor attachment 25, and servo motor 11 is pacified
Loaded on motor attachment 25, specifically, the motor attachment 25 is mounted or formed on the bracket 22 of screw rod slide unit mould group 10.Its
In, frame 14 can often use the reliable aluminum alloy frame 14 of lightweight, and mounting plate 15 can also use the reliable aluminium alloy of lightweight
Mounting plate 15.
Further, in conjunction with Fig. 6 and Fig. 7 refering to, on frame 14, correspondence rotationally filled above each mounting plate 15 respectively
It being clamped equipped at least two, the roller group 5 of support and guiding role, each roller group 5 has a pair of (i.e. two) idler wheel 16,
Gap of each flexible board 3 across idler wheel 16 in respective roller group 5 can simultaneously be slided in gap.
Above-mentioned control unit I includes power control cabinet 12 and master control industrial personal computer 13.Power control cabinet 12 at least with servo motor 11 and
Master control industrial personal computer 13 connects, and for providing electric energy, and power control cabinet 12 is also with the defencive function of emergency power off.Master control industrial personal computer
13 are used to provide the interaction platform (target position including such as input motion) of user and system, are responsible for robot kinematics and move
Mechanics Calculation, Motion trajectory, system maintenance, the preservation processing of data and display function, master control industrial personal computer 13 is embedded to be compiled
Journey multi-axis controller is communicated between master control industrial personal computer 13 and programmable multi-axis controller by pci bus, programmable multi-axle control
Device connect with servo motor 11, for according to master control industrial personal computer 13 calculate the result (control command) generated to servo motor 11 into
Row control.
The utility model also provides a kind of continuous type mechanical arm in parallel as described in any of the above-described embodiment.For the machine
The description of tool arm, specifically incorporated by reference to above refering to no longer being repeated one by one herein.
The utility model also provides a kind of control method of continuous humanoid robot in parallel.Referring to Fig. 8, the control method packet
Include following steps:
Step S11 obtains the target position of movement.
Step S12, calculating mechanical arm according to target position and kinematics model when reaching target position, it is corresponding soft
Property plate need mobile distance.
Step S13 controls corresponding servo motor in mechanical arm and rotates to drive the mobile required distance of respective flexible plate.
Among step S13 or after step s 13, namely in control mechanical arm corresponding servo motor rotation to drive
Required for dynamic respective flexible plate is mobile apart from the step of among or later, further includes:
Step S14 is rotated by corresponding servo motor in the attitude signal control mechanical arm of gyroscope feedback to correct end
Hold the deviation of the posture of rigid platfor.
May insure that mechanical arm is specially that the end rigid platfor of mechanical arm can reach suitable posture in this way, avoid or
Reduce the deviation of end rigid platfor pose.In this way, the movement and amendment of mechanical arm realize closed-loop control.
In addition, before step S13, namely in control mechanical arm, corresponding servo motor is rotated to drive respective flexible plate
Required for mobile apart from the step of before, further includes:
Step S10 makes to slide by servo motor rotation corresponding in the signal controlling machine tool arm for returning to zero proximity sensor feedback
Platform returns to initial position.
Namely the step is used for the initialization of robot, so that mechanical arm is returned to initial position, facilitates subsequent to machinery
The control of the movement of arm.
In other embodiments, specifically in step s 13, further includes: detect corresponding slide unit by limit proximity sensor
The maximum stroke movement for whether being more than stops operating if it does, then controlling corresponding servo motor in mechanical arm.And then ensure machine
Device people can be safely operated.
Compared with prior art, having the advantages that substantive distinguishing features following prominent and significant:
(1) the utility model has mechanical arm II flat using flexible board as the support of mechanical arm II and moving component
Face Three Degree Of Freedom planar flexibly can stretch and be bent.Compared with conventional rigid robot, the II structure letter of this mechanical arm
Single, light weight is at low cost, and human-computer interaction is safer, and the performance moved under non-structure environment is more preferable, with existing flexible link,
The sequential machine people of the drivings such as flexible pipe, atmospheric pressure cavity, hydraulic cavities compares, since flexible board parallel-connection structure itself can not only be born
Load it is larger, and since its non-deformed direction has the characteristics that very big rigid, can be held in non-deformed direction using this feature
By bigger load, therefore the load that flexible board parallel-connection structure is able to bear is bigger, and stability is more preferable when movement；
(2) the utility model uses closed loop control method, has measurement feedback system III, can effectively improve robot
Kinematic accuracy reduces the pose deviation of robot end's rigid platfor 1, and control unit I is an open module, can be into
Other feedbacks such as vision are added in one step；
(3) the utility model does not have the movement of conventional industrial robot and cradle head and a connecting rod, simple in structure, outside
Shape size is amplified and is reduced according to demand；And rigid platfor 1 area in end is larger, can carry a plurality of types of ends
Actuator.
The above is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all benefits
The equivalent structure or equivalent flow shift made by the utility model specification and accompanying drawing content, is applied directly or indirectly in it
His relevant technical field, is also included in the patent protection scope of the utility model.
Claims (10)
1. a kind of parallel connection continuous type mechanical arm characterized by comprising
One end rigid platfor；
Two pieces of flexible boards being connect respectively with each one end of the end rigid platfor；
And two driving parts being connect respectively with each flexible board far from one end of the end rigid platfor；
Accordingly the flexible board is mobile for each driving part driving, using the movement and deformation of the corresponding flexible board so that institute
It states end rigid platfor and reaches target position.
2. a kind of continuous humanoid robot of parallel connection characterized by comprising
Mechanical arm and control unit；
Two pieces of flexibilities that the mechanical arm includes an end rigid platfor, is connect respectively with each one end of the end rigid platfor
Plate and two driving parts being connect respectively with each flexible board far from one end of the end rigid platfor, it is each described
Driving part includes that a servo motor and one with encoder has ball-screw and is sheathed on the ball-screw
The screw rod slide unit mould group that slide unit is constituted, ball-screw institute with state servo motor and connect, the slide unit and flexible board company
It connects；
The control unit is connect with each servo motor, and the control unit is used according to the target position of the movement of acquisition
Kinematics model calculates the corresponding flexible board and needs mobile distance, and then controls the corresponding servo motor rotation to drive
Distance required for the dynamic corresponding flexible board is mobile, so that the end rigid platfor reaches target position.
3. the continuous humanoid robot of parallel connection according to claim 2, it is characterised in that:
The continuous humanoid robot in parallel includes measurement feedback system, and the measurement feedback system includes one and is set to the end
The gyroscope of the posture information of the end rigid platfor, the gyroscope and the control unit are detected on the rigid platfor of end
Connection, the control unit the corresponding servo motor rotation of control with required for driving the corresponding flexible board mobile away from
From process among or later, rotated according to the corresponding servo motor of posture information control of gyroscope feedback to correct
The deviation of the posture of the end rigid platfor.
4. the continuous humanoid robot of parallel connection according to claim 3, it is characterised in that:
The measurement feedback system includes two and is respectively arranged at each described one end of screw rod slide unit mould group far from the flexible board
It is each described to return to zero proximity sensor and institute to detect the proximity sensor that returns to zero whether the corresponding slide unit is in initial position
Control unit connection is stated, the control unit is in the corresponding servo motor rotation of control to drive the corresponding flexible board mobile
Before required distance, according to each corresponding servo motor rotation of signal control for returning to zero proximity sensor feedback with
The corresponding slide unit is set to return to initial position.
5. the continuous humanoid robot of parallel connection according to claim 3, it is characterised in that:
The measurement feedback system includes two and is respectively arranged at each screw rod slide unit mould group close to one end of the flexible board
To detect the limit the proximity sensor whether corresponding slide unit reaches maximum stroke movement, each limit proximity sensor is equal
It is connect with the control unit, the signal that the control unit is fed back according to each limit proximity sensor is in the corresponding cunning
When platform is reached at maximum stroke movement, controls the corresponding servo motor and stop operating.
6. the continuous humanoid robot of parallel connection according to claim 3, it is characterised in that:
The measurement feedback system includes two push-and-pull force snesors, and a push-and-pull force snesor is connected to a flexible board
Between a corresponding slide unit, another push-and-pull force snesor is connected to another flexible board and corresponding another cunning
Between platform, each push-and-pull force snesor is connected to the control unit to detect the stress condition of the corresponding flexible board.
7. the continuous humanoid robot of parallel connection according to claim 6, it is characterised in that:
It is respectively connected respectively by a clamping and fixing body between the corresponding flexible board and the push-and-pull force snesor, the clamping
Fixed mechanism includes the first clamping plate, the second clamping plate being oppositely arranged with first clamping plate, is set to first folder
Tightly the connection sleeve on plate and the wing bolt being set on second clamping plate, first clamping plate and described second
It is connected by pin between clamping plate and between first clamping plate and the connection sleeve, the flexible board is separate
One end of the end rigid platfor is held between first clamping plate and second clamping plate and described by screwing
Wing bolt is fixedly clamped, and the connection sleeve is connect with the push-and-pull force snesor by being threadedly engaged.
8. the continuous humanoid robot of parallel connection according to claim 2, it is characterised in that:
The mechanical arm includes the installation frame being made of the mounting plate that frame and two pieces of parallel intervals are set on the frame,
Each screw rod slide unit Mo Zu is installed in respectively on the different mounting plates, and the screw rod slide unit mould group is far from the flexible board
One end is provided with motor attachment, and the servo motor is installed on the motor attachment.
9. the continuous humanoid robot of parallel connection according to claim 8, it is characterised in that:
On the frame, corresponds to rotationally to be installed at least two pairs above each mounting plate respectively and play support and be oriented to and make
Idler wheel, gap of each flexible board across the corresponding idler wheel can simultaneously be slided in gap.
10. the continuous humanoid robot of parallel connection according to claim 2, it is characterised in that:
The control unit includes power control cabinet and master control industrial personal computer；
The power control cabinet is at least connect with the servo motor and the master control industrial personal computer, for providing electric energy；
The master control industrial personal computer be used to provide the interaction platform of user and system, be responsible for robot kinematics and dynamics calculation,
Motion trajectory, system maintenance, the preservation processing of data and display function, the master control industrial personal computer embed programmable multi-axle control
Device processed is communicated between the master control industrial personal computer and the programmable multi-axis controller by pci bus, the programmable multi-axle control
Device processed is connect, for calculating the control command generated to the servo motor according to the master control industrial personal computer with the servo motor
It is controlled.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454631A (en) * | 2018-12-13 | 2019-03-12 | 深圳职业技术学院 | Continuous humanoid robot and its mechanical arm, control method in parallel |
| CN117208333A (en) * | 2023-11-07 | 2023-12-12 | 山东新华医疗器械股份有限公司 | Control method of multi-arm cooperative packing robot |
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2018
- 2018-12-13 CN CN201822091932.8U patent/CN209533385U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454631A (en) * | 2018-12-13 | 2019-03-12 | 深圳职业技术学院 | Continuous humanoid robot and its mechanical arm, control method in parallel |
| CN109454631B (en) * | 2018-12-13 | 2023-11-14 | 深圳职业技术学院 | Parallel continuous robot, mechanical arm thereof and control method |
| CN117208333A (en) * | 2023-11-07 | 2023-12-12 | 山东新华医疗器械股份有限公司 | Control method of multi-arm cooperative packing robot |
| CN117208333B (en) * | 2023-11-07 | 2024-01-23 | 山东新华医疗器械股份有限公司 | Control method of multi-arm cooperative packing robot |
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