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A service robot arm structure and joint angle correction method

A robot arm and service-oriented technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to automatically correct the zero position

Active Publication Date: 2021-05-04
CHENGDU HEIHEZI ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a service robot arm structure and joint angle correction method to solve the problem in the prior art that the service robot arm joints cannot automatically correct the zero position, and realize that the arm can be automatically reset every time. The purpose of a zero calibration

Method used

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  • A service robot arm structure and joint angle correction method
  • A service robot arm structure and joint angle correction method
  • A service robot arm structure and joint angle correction method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Such as Figure 1 to Figure 5 A kind of service robot arm structure shown, comprises the shoulder joint 1, shoulder arm 2, elbow joint 3, elbow arm 4 that are connected in sequence, and described shoulder joint 1, elbow joint 3 are all controlled by stepper motor 6, reducer 7 Drive to move, one end of the output shaft of the stepping motor 6 is connected to the reducer 7, and the other end of the output shaft of the stepping motor 6 is connected to the angle detection device 8, and the angle detection device 8 includes a direct connection with the output of the stepping motor 6. Shaft-connected reduction mechanism and an angle sensor for detecting the rotation angle of the reduction mechanism, the reduction ratio of the reduction mechanism is equal to the reduction ratio of the reduction gear 7; it also includes a rotation angle sensor for detecting the corresponding joint Carry out the end angle sensor; Also comprise control module, described control module is connecte...

Embodiment 2

[0036] Such as Figure 6 The method for correcting the angle at the joint includes the following steps: (a) enabling the angle sensor at the generating end and the angle sensor at the executing end to work at the same time; (b) when the angle sensor at the executing end detects that the corresponding joint returns to zero, the control module obtains the angle sensor at the generating end. Detection data of the angle sensor: if the angle detected by the angle sensor at the generating end is also at zero, no action will be taken; if the angle detected by the angle sensor at the generating end is not at zero, the current angle of the angle sensor at the generating end will be calibrated as zero.

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Abstract

The invention discloses a service robot arm structure and a joint angle correction method. The signal fed back by the angle sensor at the generating end is used as the basis for control and feedback in the working process. After the control module receives the user's instruction, it controls the stepper motor to perform Action, stop until the angle signal fed back by the end angle sensor is consistent with the user's command. When the joint is reset, the zero position correction is performed based on the signal fed back by the angle sensor at the execution end. After the angle sensor at the execution end detects that the joint has been completely reset, it sends a signal to the control module, and the control module then controls the angle sensor at the generation end. When the position is zero, perform zero correction. The arm can automatically perform a zero calibration every time it resets, so as to solve the problem that the service robot arm joints cannot automatically correct the zero position in the prior art, and achieve the purpose of automatically performing a zero calibration every time the arm resets .

Description

technical field [0001] The invention relates to the field of service robots, in particular to a service robot arm structure and a joint angle correction method. Background technique [0002] A service robot is a semi-autonomous or fully autonomous robot that can complete services that are beneficial to human health, but does not include equipment engaged in production. Service robots have a wide range of applications, mainly engaged in maintenance, repair, transportation, cleaning, security, rescue, monitoring, display and other work. Service robots can be divided into professional field service robots and personal and household service robots. For a service robot, its structural shape should be as close as possible to the human body. Therefore, the joint structure similar to the human body should also be set on the service robot, so that this type of joint structure can imitate the joints of the human body to rotate. In the prior art, for the monitoring of the joint rota...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/08B25J15/00
CPCB25J9/0006B25J9/1692B25J13/088B25J15/0009
Inventor 施友岚张哲
Owner CHENGDU HEIHEZI ELECTRONICS TECH CO LTD