Control system of robot leg stay wire structure
A control system and robot technology, applied in the direction of program control manipulators, manipulators, motor vehicles, etc., can solve the problems of difficult to hold the legs, difficult to control the legs, poor flexibility, etc., to achieve fast calculation speed, simple structure, The effect of increasing flexibility
Inactive Publication Date: 2018-03-16
深圳市行者机器人技术有限公司
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Problems solved by technology
It inputs electrical signals, and outputs linear and angular displacements, but before the driving device works, the legs are difficult to control, the running range of the legs is difficult to support, and the movement is relatively large, so the pull wires of the robot legs Structural control is particularly important, but the current control system is less flexible and has deficiencies, which cannot meet the needs of development
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[0015] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.
[0016] see figure 1 , a control system for a robot leg cable structure, including a leg joint of the robot, the leg shutdown includes a thigh joint and a calf joint, a knee shaft is arranged between the thigh joint and the calf joint, the thigh joint, the calf joint, and the knee shaft The interior of the shank is penetrated by a pull wire, one end of the pull wire is installed with a feedback adjustment controller 120, the other end of the pull wire is provided with a running range sensor 110, the bottom of the calf is provided with a sole, and the bottom of the foot is provided with a gravity sensor 130, and the feedback adjustment controller 120. The operating amplitude sensor 110 and the gravity sensor 130 are all connected to the single-chi...
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The invention discloses a control system of a robot leg stay wire structure. The control system comprises robot leg joints; each leg joint comprises a thigh joint and a shank joint; a knee rotating shaft is arranged between each thigh joint and the corresponding shank joint; the interiors of each thigh joint, the corresponding shank joint and the corresponding knee rotating shaft are communicatedthrough a stay wire; a feedback adjusting controller is installed at one end of each stay wire; a running amplitude sensor is arranged at the other end of each stay wire; a foot support is arranged atthe bottom of each shank joint; a gravity sensor is arranged at the bottom of each foot support; each feedback adjustment controller, the corresponding running amplitude sensor and the correspondinggravity sensor are all connected with a single-chip controller through a signal transmission controller; a motor control inductor coordinating the joint overturning is arranged in each single-chip controller; and the position and joint angle position of a robot can be operated in the controller, the operating speed is high, the leg running flexibility of the robot is improved, design is novel, andthe control system is a very good innovation scheme.
Description
technical field [0001] The invention relates to the field of intelligent robot control, in particular to a control system for a robot leg cable structure. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs. The robot arm generally adopts a space open-chain linkage mechanism, in which the kinematic pairs (revolving pairs or moving pairs) are often called joints, and the number of joints is usually the number of degrees of freedom of the robot. According to different joint configuration types and motion coordinate forms, robot actuators can be divided into rectangular coordinates, cylindrical coordinates, polar coordinates and joint coordinates. For anthropomorphic considerations, the r...
Claims
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IPC IPC(8): B25J9/16B62D57/032B25J17/02
CPCB25J9/16B25J17/02B62D57/032
Inventor 杨洋
Owner 深圳市行者机器人技术有限公司