Bionic joint based on electromagnetic coupling parallel mechanism and control method

Abstract

The invention relates to the technical field of bionic robots, in particular to a bionic joint based on an electromagnetic coupling parallel mechanism and a control method.The bionic joint comprises a bionic unit, and the bionic unit comprises a moving assembly, a fixed assembly arranged on one side of the moving assembly and a connecting assembly arranged on the inner side of the moving assembly; and the control unit comprises a control assembly connected with the moving assembly. The operation mechanical arm has the beneficial effects that the universal joint pulled by the electromagnet serves as a partition between the operation mechanical arm and other operation and maintenance equipment parts, and therefore the part, making contact with electrical equipment, of the front end and electronic equipment of the robot at the rear end are insulated and isolated. Therefore, the safety of the electrical equipment in the operation and maintenance process can be improved, insulation protection is achieved by avoiding contact, the device is more suitable for operation and maintenance work in a high-voltage environment, meanwhile, the universal joints are flexible enough, and the operation and maintenance work efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to a bionic joint based on an electromagnetic coupling parallel mechanism and a control method thereof. Background Art

[0002] Electricity plays a vital role in today's national economic and social development, and it has an important impact on the development of the entire society. Building a safe defense fortress for the power system has become an issue that needs to be urgently addressed. Strengthening daily maintenance of the power system and timely repairing when a fault occurs are the main measures to solve this issue. At present, live working tasks are mainly completed by manual means, which are very dangerous and easily lead to personal injury accidents. In order to prevent the occurrence of personal injury accidents during live working, improve the safety factor of live working and improve the efficiency of live working, it is of great research value and urgent practical significance to use humanoid robots to replace manual work to complete live working tasks. As a special robot, most live working robots currently use traditional metal robotic arms to perform live operations by insulating and isolating the base of the robotic arm. They have the disadvantages of high insulation cost and heavy weight of the robot. Summary of the invention

[0003] In view of the above problems or problems existing in the prior art, the present invention is proposed.

[0004] Therefore, the purpose of the present invention is to provide a bionic joint and control method based on an electromagnetic coupling parallel mechanism, which can realize efficient inspection in hidden spaces of cable tunnels, improve device flexibility, and ensure the safety of live working.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: a bionic joint and control method based on an electromagnetic coupling parallel mechanism, which comprises a bionic unit, including a moving component, a fixed component arranged on one side of the moving component, and a connecting component arranged on the inner side of the moving component;

[0006] The control unit includes a control component connected to the moving component.

[0007] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the moving component includes a moving platform, four groups of first electromagnet assembly ports opened on the moving platform, and a first bearing connection port opened on the moving platform.

[0008] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, four groups of electromagnet assembly ports are symmetrically distributed on the mobile platform.

[0009] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the fixed component includes a base arranged on one side of the mobile platform, four groups of second electromagnet assembly ports opened on the base, and a second bearing connection port opened on the base.

[0010] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the second electromagnet assembly port and the second bearing connection port are located opposite to the first electromagnet assembly port and the first bearing connection port.

[0011] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the connecting component includes a flexible insulating connecting piece connected to the mobile platform and the base at the same time, a linear bearing arranged on the inner side of the first bearing connecting port, and a universal joint with one end fixedly connected to the center of the base and the other end engaged with the linear bearing.

[0012] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the control component includes a current controller and an electromagnet connected to the current controller.

[0013] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the current controller controls the magnetic force of the electromagnet, and an iron core is provided inside the electromagnet.

[0014] As a preferred solution of the bionic joint and control method based on the electromagnetic coupling parallel mechanism of the present invention, the flexible insulating connector is surrounded by the outer side of the universal joint and driven by four electromagnets between the bases.

[0015] In order to solve the above technical problems, the present invention also provides the following technical solutions: a control method of a bionic joint based on an electromagnetic coupling parallel mechanism, comprising inputting a signal through an external controller to make a driver emit a driving current, and driving the magnitude of the magnetic force between magnets to change;

[0016] The mobile platform is pulled by magnetic force to make the mobile platform turn;

[0017] The flexible insulator connector is bent by turning the mobile platform, thereby driving the robot arm joint to turn.

[0018] Beneficial effects of the present invention: The present invention uses the universal joint pulled by the electromagnet as a partition between the operating robot arm and other parts of the operation and maintenance equipment, so that the front part in contact with the electrical equipment and the rear part of the robot's own electronic equipment are insulated and isolated. This can improve the safety of the electrical equipment operation and maintenance process, achieve insulation protection by avoiding contact, and be more suitable for operation and maintenance operations in high-voltage environments. At the same time, the universal joint is flexible enough to improve the efficiency of operation and maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0020] Figure 1 It is a flow chart of the control method of the bionic joint based on the electromagnetic coupling parallel mechanism.

[0021] Figure 2 It is a schematic diagram of the overall structure of the bionic joint and control method based on the electromagnetic coupling parallel mechanism.

[0022] Figure 3 This is a structural schematic diagram from another angle of the bionic joint and control method based on the electromagnetic coupling parallel mechanism. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0026] Example 1

[0027] Reference Figure 2-3 , which is the first embodiment of the present invention, provides a bionic joint and a control method based on an electromagnetic coupling parallel mechanism, which can realize efficient inspection in hidden spaces of cable tunnels, improve device flexibility, and ensure the safety of live operations.

[0028] Specifically, the bionic unit 100 includes a moving component 101, a fixed component 102 disposed on one side of the moving component 101, and a connecting component 103 disposed on the inner side of the moving component 101;

[0029] The control unit includes a control component 200 connected to the moving component 101 .

[0030] Furthermore, the moving assembly 101 includes a moving platform 101a, four sets of first electromagnet assembly openings 101b opened on the moving platform 101a, and a first bearing connection opening 101c opened on the moving platform 101a.

[0031] It should be noted that the mobile platform 101a is the upper structure of the bionic joint and can move in multiple directions under the magnetic force of the electromagnet 201b.

[0032] Furthermore, four groups of assembly openings of the electromagnets 201b are symmetrically distributed on the mobile platform 101a.

[0033] Furthermore, the fixing assembly 102 includes a base 102a disposed on one side of the moving platform 101a, four sets of second electromagnet assembly openings 102b opened on the base 102a, and a second bearing connection opening 101c opened on the base 102a.

[0034] It should be noted that the base 102a is fixed on the platform and serves as the bottom structure of the bionic joint to provide stability.

[0035] Furthermore, the second electromagnet assembly opening 102b and the second bearing connection opening 101c are located opposite to the first electromagnet assembly opening 101b and the first bearing connection opening 101c.

[0036] Furthermore, the connecting component 103 includes a flexible insulating connector 103a connected to the mobile platform 101a and the base 102a at the same time, a linear bearing 103b arranged on the inner side of the first bearing connecting port 101c, and a universal joint 103c having one end fixedly connected to the center of the base 102a and the other end engaged with the linear bearing 103b.

[0037] It should be noted that the flexible insulating connector 103a is made of Agilus30 rubber material, which has good insulation performance and flexibility, allowing relative movement between the mobile platform 101a and the base 102a while ensuring electrical insulation; the universal joint 103c is made of ceramic bearings and polytetrafluoroethylene material, allowing multi-angle rotation, so that the bionic joint can achieve complex movements.

[0038] Furthermore, the control component 200 includes a current controller 201 a and an electromagnet 201 b connected to the current controller 201 a.

[0039] Furthermore, the current controller 201a controls the magnetic force of the electromagnet 201b, and an iron core is provided inside the electromagnet 201b.

[0040] It should be noted that the iron core uses electromagnetic soft iron as the material, which has the characteristics of high saturation magnetic induction intensity, low coercive force and high maximum magnetic permeability.

[0041] Furthermore, the flexible insulating connector 103a is surrounded by the outer side of the universal joint 103c and driven by four electromagnets (201b) between the base 102a, wherein a pair of electromagnets (201b) are fixed to the mobile platform 101a in pairs at the upper end, and a pair of electromagnets 201b are fixed to the base 102a in pairs from the lower end for driving.

[0042] In summary, the present invention uses the universal joint pulled by the electromagnet (201b) as a partition between the operating robot arm and other parts of the operation and maintenance equipment, so that the front end part in contact with the electrical equipment and the rear end of the robot's own electronic equipment are insulated and isolated. This can improve the safety of the electrical equipment operation and maintenance process, achieve insulation protection by avoiding contact, and be more suitable for operation and maintenance operations in a high-voltage environment. At the same time, the universal joint is flexible enough to improve the efficiency of the operation and maintenance operation.

[0043] Example 2

[0044] like Figure 1 As shown, it is the second embodiment of the present invention, which provides a control method of a bionic joint based on an electromagnetic coupling parallel mechanism, which can realize efficient inspection in hidden spaces of cable tunnels, improve device flexibility, and ensure the safety of live working.

[0045] Specifically, an external controller inputs a signal to cause the driver to emit a driving current, thereby changing the magnitude of the magnetic force between the driving magnets;

[0046] The mobile platform is pulled by magnetic force to make the mobile platform turn;

[0047] The flexible insulator connector is bent by turning the mobile platform, thereby driving the robot arm joint to turn.

[0048] Specifically, the system starts up and all components are in an initial state. A control signal is further sent to the onboard MCU through the host computer or an external controller. The MCU receives the signal and converts it into a drive signal suitable for the driver and transmits it to the driver. When the driver receives the drive signal, the driver generates a corresponding drive current according to the instruction of the MCU. At this time, the drive current flows through the electromagnet, activating the electromagnet and causing the electromagnet to generate magnetic force.

[0049] The magnitude of the driving current controls the change in the magnitude of the magnetic force between the electromagnets. Depending on the magnitude and direction of the current, the magnetic force can be enhanced or weakened. This change in magnetic force causes the tray on the mobile platform to turn. The turning of the tray is transmitted through the flexible insulating connector, causing the flexible insulating connector to bend. This bending drives the universal joint to rotate accordingly, thereby driving the entire robotic arm joint to turn. Under the control of the magnetic force of the electromagnet, the mobile platform can achieve free rotation in the hemispherical space.

[0050] At the same time, the system monitors the magnetic force of the electromagnet and the movement state of the joint in real time. Based on the feedback information, the MCU can adjust the drive current to optimize the movement trajectory and speed of the joint. Once the system detects an abnormality, it immediately stops the operation and performs fault diagnosis.

[0051] After completing the scheduled task, the system turns off the current of the electromagnet to restore the joint to its initial state. At this time, the system enters standby mode and prepares for the next operation.

[0052] In summary, the present invention uses the universal joint pulled by the electromagnet as a partition between the operating robot arm and other parts of the operation and maintenance equipment, so that the front part that contacts the electrical equipment and the rear part of the robot's own electronic equipment can be insulated and isolated. This can improve the safety of the electrical equipment operation and maintenance process, achieve insulation protection by avoiding contact, and be more suitable for operation and maintenance operations in high-voltage environments. At the same time, the universal joint is flexible enough to improve the efficiency of operation and maintenance operations.

[0053] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in the application (e.g., mounting arrangements, use of materials, color, changes in orientation, etc.). For example, the element shown as integrally formed may be composed of a plurality of parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete element may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to an alternative embodiment. In the claims, any "bracket plus function" clause is intended to cover the structure of the execution function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to a variety of modifications that still fall within the scope of the appended claims.

[0054] Additionally, in an effort to provide a concise description of example embodiments, all features of an actual implementation may not be described.

[0055] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A bionic joint based on an electromagnetic coupling parallel mechanism, characterized in that: include, A bionic unit (100) comprises a moving component (101), a fixing component (102) arranged on one side of the moving component (101), and a connecting component (103) arranged on the inner side of the moving component (101); A control unit comprises a control component (200) connected to the moving component (101).

2. The bionic joint and control method based on electromagnetic coupling parallel mechanism according to claim 1, characterized in that: The moving component (101) comprises a moving platform (101a), four groups of first electromagnet assembly openings (101b) opened on the moving platform (101a), and a first bearing connection opening (101c) opened on the moving platform (101a).

3. The bionic joint based on the electromagnetic coupling parallel mechanism as claimed in claim 2, characterized in that: The four groups of first electromagnet assembly openings (101b) are symmetrically distributed on the moving platform (101a).

4. The bionic joint and control method based on electromagnetic coupling parallel mechanism as claimed in claim 3, characterized in that: The fixing component (102) comprises a base (102a) arranged on one side of the mobile platform (101a), four groups of second electromagnet assembly ports (102b) opened on the base (102a), and a second bearing connection port (101c) opened on the base (102a).

5. The bionic joint based on the electromagnetic coupling parallel mechanism according to claim 4, characterized in that: The second electromagnet assembly opening (102b) and the second bearing connection opening (101c) are located opposite to the first electromagnet assembly opening (101b) and the first bearing connection opening (101c).

6. The bionic joint based on the electromagnetic coupling parallel mechanism according to claim 5, characterized in that: The connection assembly (103) comprises a flexible insulating connector (103a) connected to both the mobile platform (101a) and the base (102a), a linear bearing (103b) arranged inside the first bearing connection port (101c), and a universal joint (103c) having one end fixedly connected to the center of the base (102a) and the other end engaged with the linear bearing (103b).

7. The bionic joint based on the electromagnetic coupling parallel mechanism according to any one of claims 1 to 6, characterized in that: The control component (200) comprises a current controller (201a) and an electromagnet (201b) connected to the current controller (201a).

8. The bionic joint based on the electromagnetic coupling parallel mechanism according to claim 7, characterized in that: The current controller (201a) controls the magnitude of the magnetic force of the electromagnet (201b), and an iron core is provided inside the electromagnet (201b).

9. The bionic joint based on the electromagnetic coupling parallel mechanism according to claim 8, characterized in that: The flexible insulating connector (103a) is surrounded on the outside of the universal joint (103c) and is driven by four electromagnets (201b) between the bases (102a).

10. A control method for a bionic joint based on an electromagnetic coupling parallel mechanism, used for the bionic joint based on an electromagnetic coupling parallel mechanism, characterized in that: include, The external controller inputs a signal to make the driver send out a driving current, which changes the magnitude of the magnetic force between the driving magnets. The mobile platform is pulled by magnetic force to make the mobile platform turn; The flexible insulator connector is bent by turning the mobile platform, thereby driving the robot arm joint to turn.

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