Somatosensory control bionic mechanical arm device and control method

Abstract

The invention discloses a somatosensory control bionic mechanical arm device and a control method, and belongs to the technical field of industrial mechanical arms. The device comprises a base platform, a positioning mechanism, an execution mechanism, a steering engine power device, a tendon rope transmission device and an execution locking device, a steering engine is adopted to drive a protection execution terminal to move, tendon rope transmission realizes bending and swinging of the execution mechanism, and the execution locking device is integrated with an electromagnet to improve the load capacity and the execution stability. An elastic recovery rope and a guide technology guarantee self-adaptive extension of the actuating mechanism, a cross beam reinforces and improves the strength of a positioning mechanism, and a limiting chute guarantees reasonable angle of a rotating shaft. According to the control method, action information is collected through the bending sensor and the pose sensor, and precise control over the manipulator is achieved in combination with inverse kinematics analysis and closed-loop control. The mechanical arm solves the problems that a traditional mechanical arm is large in weight, high in inertia and insufficient in positioning precision, and is reasonable in layout, convenient to maintain and suitable for high-precision and high-flexibility operation scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot arm equipment, and in particular to a somatosensory-controlled bionic robot arm device and a control method. Background Art

[0002] In order to deeply understand and develop robotic arm technology, analyzing the current background technology and its limitations is crucial to promote the development of new technologies. Robotic arms have a wide range of applications in modern industrial manufacturing, medical rehabilitation and national defense and military fields, especially showing great potential in improving production efficiency, precision and flexibility.

[0003] At present, the driving technology of the robot arm mainly relies on two categories: motor drive and traditional tendon cable transmission. The motor drive system directly controls the movement of the robot arm through the motor, which makes the control accuracy high. However, it needs to be equipped with the same number of motors as the degrees of freedom. This not only leads to complex design and large motion inertia of the robot arm, but also increases the overall weight. In addition, this design also increases energy consumption and cost, limiting its applicability in some lightweight application scenarios.

[0004] In contrast, traditional tendon-rope transmission has high flexibility and adaptability. It achieves motion through a complex transmission structure, but has obvious shortcomings in transmission accuracy and calibration difficulty. In the process of advancing robotics technology, these performance defects have become technical bottlenecks that need to be solved urgently.

[0005] Internationally, research on how to solve these technical problems has been very hot. Foreign researchers have paid attention to the improvement of industrial robotic arms in the early days. Jaime Hernandez and others designed a more flexible robotic gripper in their research, which shows that the design of robotic arms is developing towards improving human-machine collaboration and operational flexibility. However, in practical applications, current technologies still face challenges such as unstable perception capabilities caused by the diversity of grasping objects and limitations of force-position hybrid control algorithms. By introducing deep learning, the research team tried to improve the adaptability and robustness of the robotic arm and enhance the mutual adaptability between the operator and the robotic arm. In addition, considering the needs of specific application scenarios, the research is integrating multidisciplinary technologies such as human physiology and materials science, with the goal of achieving a compliant control system.

[0006] Domestic research started late but has achieved remarkable results. The focus of domestic research is on human-computer interaction and human-like grasping design. Jing Liuwen and others used the SVM algorithm to improve the noise reduction and control accuracy of the robot arm, while Hu Yuandong and others achieved innovation in the grasping control of human-like multi-degree-of-freedom robot arms. Although these studies have achieved certain breakthroughs in hardware and software, in the structural design of the robot arm, problems such as running jitter and insufficient operation accuracy still need to be overcome. In terms of improving the operating accuracy and work efficiency of the robot arm, more exploration and comprehensive consideration combined with the actual working environment are needed.

[0007] Although the current robotic arm technology has made a lot of progress, its shortcomings in weight, motion inertia, transmission accuracy, etc. limit a wider range of application scenarios. These technical problems are not only the main factors limiting the performance of existing robotic arms, but also the driving force for further technological innovation. By examining these issues, future research needs to focus on the application of new materials, the optimization of intelligent control algorithms, etc., to provide a more comprehensive and efficient solution for new robotic arms. Summary of the invention

[0008] The purpose of the present invention is to solve the problems existing in the above background technology and propose a somatosensory-controlled bionic mechanical arm device and control method. The present invention has a reasonable layout, is easy to maintain, and is suitable for high-precision and high-flexibility operation scenarios.

[0009] The present invention adopts the following technical solutions to solve the above technical problems:

[0010] A somatosensory-controlled bionic mechanical arm device specifically includes a base platform, a positioning mechanism, an actuator, a steering gear power device, a tendon rope transmission device and an execution locking device; the base platform includes a chassis, a first steering gear, a stabilizing ring, a connector, and a large-scale directional part connector of the base platform; the positioning mechanism includes a large-scale directional part, a large-scale positioning part, a joint, a small-scale positioning part, and an end cover; the actuator includes a distal knuckle, a middle knuckle and a proximal knuckle of each finger, and a small-scale positioning part connector of the finger; the steering gear power device includes a first steering gear, a second steering gear, a third steering gear, a fourth steering gear, and a fifth steering gear; the tendon rope transmission device includes Tendon rope transmission device 1 and tendon rope transmission device 2; the tendon rope transmission device 1 includes a steering gear, a tendon rope, a guide roller, and a guide roller shaft; the tendon rope transmission device 2 includes a sway tendon rope and a steering gear; the execution locking device includes an electromagnet, a traction rope, a retaining spring, a locking part 1, and a locking part 2; the large-scale directional parts are reinforced with crossbeams; the rotating shafts of each actuator are limited by a slide groove to ensure that the angles of each rotating shaft are always kept within a reasonable range; the tendon rope path of the tendon rope transmission device 1 passes through the center of the actuator's lateral swing axis and does not interfere with the tendon rope transmission device 2; the contact surface between the execution locking device and the tendon rope is rough and has sufficient friction.

[0011] Furthermore, the first steering gear is installed on the chassis, the steering gear flange is connected to the connecting piece, the connecting piece is fixed to the stabilizing ring and the large-scale directional part connecting piece of the base platform, and the first steering gear drives the two to rotate together.

[0012] Furthermore, the large-scale orienting part is connected to the base platform through a first rotating pair, the other end of the large-scale orienting part is connected to the joint through a second rotating pair, the other side of the joint is connected to the large-scale positioning part through a third rotating pair, the other side of the large-scale positioning part is connected to the small-scale positioning part through a fourth rotating pair, and the small-scale positioning part is fastened to the end cover.

[0013] Furthermore, the finger small-scale positioning part connector is connected to the small-scale positioning part through a rotating pair, the other end of the finger small-scale positioning part connector is connected to the proximal knuckle through a rotating pair, the other end of the proximal knuckle is connected to the middle knuckle through a rotating pair, and the other end of the middle knuckle is connected to the distal knuckle through a rotating pair. One end of the elastic recovery rope is fixed to the distal knuckle, and the other end passes through the middle knuckle and the proximal knuckle limiting holes in sequence, and is fixed to the finger small-scale positioning part connector, so as to help the finger straighten automatically when the tendon rope is relaxed.

[0014] Furthermore, the steering gear power device drives the base platform to rotate respectively, and is connected with the large-scale directional parts, large-scale positioning parts, joints, and small-scale positioning parts in the positioning mechanism to drive them to rotate.

[0015] Furthermore, the guide roller is interference fit with the guide roller shaft and is installed in the coaxial slot of each rotating pair of the actuator shaft. One end of the tendon rope is fixed to the distal finger joint, passes through each guide roller in turn, and is connected to the servo winch. The servo is installed inside the large-scale positioning part.

[0016] Furthermore, the second tendon rope transmission device includes two lateral tendon ropes, one end of which is respectively fixed to the left and right sides of the finger small-scale positioning part connector, and the other end is fixed to the steering gear winch; the steering gear is fixed to the palm part.

[0017] Furthermore, the locking device uses an electromagnetic method to lock; the electromagnet receives an electrical signal and pulls back the traction rope to drive the locking parts to retract and contact the tendon rope. The greater the tension of the tendon rope and the greater the pressure on the locking parts, the less likely the locking parts and the tendon rope are to slip, thereby achieving locking.

[0018] A control method for a bionic mechanical arm device controlled by somatosensory control comprises the following steps:

[0019] Step S1, collecting bending information of fingers of a human hand through a bending sensor arranged at a hand end, and collecting bending information of an actuator of a manipulator through a bending sensor of the actuator;

[0020] Step S2, using a closed-loop control system to drive the actuator of the manipulator to complete a corresponding bending action according to the bending information of the fingers of the human hand;

[0021] Step S3, collecting the posture information of the palm of the human hand through the posture sensor arranged at the human hand end, and collecting the posture information of the small-scale positioning part of the manipulator through the posture sensor at the manipulator end;

[0022] Step S4: Based on inverse kinematics analysis and closed-loop control methods, five servo signals of the manipulator positioning mechanism are calculated and distributed, thereby realizing the posture control of the manipulator small-scale positioning parts.

[0023] Compared with the prior art, the present invention adopts the above technical solution and has the following beneficial effects:

[0024] (1) The present invention realizes precise and flexible humanoid movement of the robot arm through the rotational pair connection between the base platform, the large-scale directional parts, the large-scale positioning parts and the small-scale positioning parts, and the coordinated action of the servo power device and the tendon rope transmission device, thereby improving the operating accuracy and flexibility of the robot arm.

[0025] (2) The tendon transmission device of the present invention enables each finger of the actuator to bend naturally and swing laterally, imitating the movement of human fingers and enhancing the naturalness of finger movement. At the same time, the actuator locking device integrates an electromagnet to achieve strong locking through electrical signals, thereby improving the load capacity and grip stability of the fingers.

[0026] (3) The present invention cleverly combines the servo drive and the tendon rope transmission, solving the problems of heavy weight, strong inertia and insufficient positioning accuracy of the traditional robotic arm, making the robotic arm of the present invention more portable, flexible and precise.

[0027] (4) The elastic recovery rope and guiding technology in the design of the present invention give the fingers higher adaptability, ensuring that the fingers can automatically straighten when the tendon rope is relaxed, further improving the practicality and stability of the robotic arm.

[0028] (5) The overall layout of the present invention is reasonable, which makes the control and maintenance of the robot arm more convenient, reduces the difficulty of operation and maintenance costs, and is suitable for a wide range of industrial application scenarios, especially working environments that require high precision and high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of the robotic arm from the first perspective;

[0030] Figure 2 This is the distribution diagram of the servos in the positioning mechanism section;

[0031] Figure 3It is the association diagram between large-scale positioning parts and small-scale positioning parts;

[0032] Figure 4 It is the structural diagram of the finger movement mechanism;

[0033] Figure 5 It is a diagram of the internal structure of small-scale positioning parts;

[0034] Figure 6 It is a cross-section of a finger;

[0035] Figure 7 It is the execution locking mechanism diagram;

[0036] Figure 8 It is an exploded view of the base platform;

[0037] Fig. 9 It is a large-scale directional parts and joint installation parts drawing;

[0038] Fig.10 It is a schematic diagram of the robot's somatosensory control system.

[0039] In the figure: 1 is a base platform; 2 is a large-scale directional part; 3 is a joint; 4 is a large-scale positioning part; 5 is an actuator; 6 is a distal knuckle; 7 is a middle knuckle; 8 is a proximal knuckle; 9 is a small-scale positioning part connector of a finger; 10 is a first servo; 11 is a second servo; 12 is a third servo; 13 is a fourth servo; 14 is a fifth servo; 15 is a small-scale positioning part; 16 is a tendon rope; 17 is an elastic recovery rope; 18 is a locking part one; 19 is a locking part two; 20 is an electromagnet; 21 is a yaw servo; 22 is a fixing hole; 23 is a traction rope; 24 is a retaining spring; 25 is a guide roller; 26 is a guide roller shaft; 27 is a chassis; 28 is a stabilizing ring; 29 is a connector; 30 is a large-scale directional part connector of the base platform; 31 is a screw; 32 is an end cover; 33 is a yaw tendon rope; 34 is a servo flange. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings of the specification. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work are within the scope of protection of the present invention.

[0041] The bionic mechanical arm device comprises a base platform (1), a positioning mechanism, an actuator (5), a steering gear power device, a tendon rope transmission device and an actuator locking device; Figure 8The base platform (1) comprises a chassis (27), a first steering gear (10), a stabilizing ring (28), a connecting piece (29), and a base platform large-scale directional component connecting piece (30); the first steering gear (10) is mounted on the chassis (27); the steering gear flange (34) is connected to the connecting piece (29); the connecting piece (29) is fixed to the stabilizing ring (28) and the base platform large-scale directional component connecting piece (30); and the first steering gear (10) drives the two to rotate together.

[0042] like Figure 1 and Figure 2 As shown, the positioning mechanism includes a large-scale directional part (2), a large-scale positioning part (4), a joint (3), a small-scale positioning part (15), and an end cover (32). The large-scale directional part (2) is connected to the base platform (1) through a first rotation pair, the other end of the large-scale directional part (2) is connected to the joint (3) through a second rotation pair, the other side of the joint (3) is connected to the large-scale positioning part (4) through a third rotation pair, the large-scale positioning part (4) is connected to the small-scale positioning part (15) through a fourth rotation pair, and the small-scale positioning part (15) is fastened to the end cover (32). The connection method between the large-scale directional part (2) and the joint (3) is as follows: Fig. 9 , align the joint (3) with the hole of the large-scale directional part (2), screw a screw (31) into one hole, fix the third servo (12) on the large-scale directional part (2), and fix the flange of the third servo (12) to the joint (3). The connection between the large-scale positioning part (4) and the actuator (5) is similar.

[0043] like Figure 3 , Figure 4 and Figure 5 As shown, the actuator (5) includes the distal knuckle (6), middle knuckle (7), proximal knuckle (8), finger small-scale positioning part connector (9), and elastic recovery rope (17) of each finger. The small-scale positioning part (15) and the end cover (32) are fastened by bolts and nuts through the fixing hole (22). The finger small-scale positioning part connector (9) is connected to the two through a rotating pair. The other end of the finger small-scale positioning part connector (9) is connected to the proximal knuckle (8) through a rotating pair. The other end of the proximal knuckle (8) is connected to the middle knuckle (7) through a rotating pair. The other end of the middle knuckle (7) is connected to the distal knuckle (6) through a rotating pair. Each finger joint is installed by elastic deformation of the material, and a limiting slide is set to control the joint angle. One end of the elastic recovery rope (17) is fixed to the distal knuckle (6), and the other end passes through the limiting holes of the middle knuckle (7) and the proximal knuckle (8) in turn, and is fixed to the finger small-scale positioning part connector (9).

[0044] like Figure 2As shown, the steering gear power device includes a first steering gear (10), a second steering gear (11), a third steering gear (12), a fourth steering gear (13), and a fifth steering gear (14), which respectively drive the base platform (1) to rotate, and the large-scale directional parts (2), the joints (3), the large-scale positioning parts (4), and the small-scale positioning parts (15).

[0045] The tendon rope transmission device includes a tendon rope transmission device 1 and a tendon rope transmission device 2; Figure 3 , Figure 5 and Figure 6 The tendon rope transmission device 1 includes a steering gear, a tendon rope (16), a guide roller (25), and a guide roller shaft (26). The guide roller (25) and the guide roller shaft (26) are interference-fitted and installed in the coaxial grooves of each rotating pair of the actuator shaft. One end of the tendon rope (16) is fixed to the proximal knuckle (8), passes through each guide roller (25) in turn, and is connected to the steering gear winch. The steering gear is installed inside the large-scale positioning component (4). Figure 5 As shown, the tendon rope transmission device 2 includes a yaw tendon rope (33) and a steering gear. The two yaw tendon ropes (33) have one end fixed to the left and right sides of the finger small-scale positioning part connector (9) respectively, and the other end fixed to the yaw steering gear (21) winch.

[0046] like Figure 7 The locking device comprises an electromagnet (20), a traction rope (23), a retaining spring (24), a locking part 1 (18), and a locking part 2 (19), and adopts an electromagnetic locking method.

[0047] like Fig.10 As shown, the bending sensor (human hand end) collects the bending information of human hand fingers, and the bending sensor (robot end) collects the bending information of the robot's actuator, and completes the bending action of the robot's actuator through closed-loop control; the posture sensor (human hand end) collects the posture information of the human hand palm, and the posture sensor (robot end) collects the posture information of the small-scale positioning parts of the robot, and distributes the signals of the 5 servos of the robot's positioning mechanism through inverse kinematics analysis and closed-loop control to complete the posture control of the small-scale positioning parts of the robot.

[0048] Finally, 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic robotic arm device controlled by body sensing, characterized in that: The device specifically comprises a base platform (1), a positioning mechanism, an actuator (5), a steering gear power device, a tendon rope transmission device and an actuator locking device; the base platform (1) comprises a chassis (27), a first steering gear (10), a stabilizing ring (28), a connecting piece (29), and a large-scale directional component connecting piece (30) of the base platform; the positioning mechanism comprises a large-scale directional component (2), a large-scale positioning component (4), a joint (3), a small-scale positioning component (15), and an end cover (32); the actuator (5) comprises a distal knuckle (6), a middle knuckle (7) and a proximal knuckle (8) of each finger, and a small-scale positioning component connecting piece (9) of the finger; the steering gear power device comprises a first steering gear (10), a second steering gear (11), a third steering gear (12), a fourth steering gear (13), and a fifth steering gear (14); The tendon rope transmission device includes a tendon rope transmission device 1 and a tendon rope transmission device 2; the tendon rope transmission device 1 includes a steering gear, a tendon rope (16), a guide roller (25), and a guide roller shaft (26); the tendon rope transmission device 2 includes a sway tendon rope (33) and a steering gear; the execution locking device includes an electromagnet (20), a traction rope (23), a retaining spring (24), a locking part 1 (18), and a locking part 2 (19); the large-scale directional part (2) is reinforced with a crossbeam; the rotating shafts of each actuator (5) are limited by a slide groove to ensure that the angles of each rotating shaft are always kept within a reasonable range; the tendon rope (16) path of the tendon rope transmission device 1 passes through the center of the lateral swing axis of the actuator (5) and does not interfere with the tendon rope transmission device 2; the contact surface between the execution locking device and the tendon rope (16) is rough and has sufficient friction.

2. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The first steering gear (10) is mounted on a chassis (27), the steering gear flange (34) is connected to a connecting piece (29), the connecting piece (29) is fixed to a stabilizing ring (28) and a large-scale directional component connecting piece (30) of a base platform, and the first steering gear (10) drives the two to rotate together.

3. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The large-scale directional part (2) is connected to the base platform (1) via a first rotating pair, the other end of the large-scale directional part (2) is connected to the joint (3) via a second rotating pair, the other side of the joint (3) is connected to the large-scale positioning part (4) via a third rotating pair, the other side of the large-scale positioning part (4) is connected to the small-scale positioning part (15) via a fourth rotating pair, and the small-scale positioning part (15) is fastened to the end cover (32).

4. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The finger small-scale positioning part connector (9) is connected to the small-scale positioning part (15) via a rotating pair, the other end of the finger small-scale positioning part connector (9) is connected to the proximal phalanx (8) via a rotating pair, the other end of the proximal phalanx (8) is connected to the middle phalanx (7) via a rotating pair, the other end of the middle phalanx (7) is connected to the distal phalanx (6) via a rotating pair, one end of the elastic recovery rope (17) is fixed to the distal phalanx (6), and the other end passes through the middle phalanx (7) and the proximal phalanx (8) limiting holes in turn, and is fixed to the finger small-scale positioning part connector (9), so as to help the finger to automatically straighten when the tendon rope (16) is relaxed.

5. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The steering gear power device drives the base platform (1) to rotate respectively, and is connected with the large-scale directional parts (2), the large-scale positioning parts (4), the joints (3), and the small-scale positioning parts (15) in the positioning mechanism to drive them to rotate.

6. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The guide roller (25) and the guide roller shaft (26) are interference-fitted and installed in the coaxial slots of each rotating pair of the actuator (5) shaft. One end of the tendon rope (16) is fixed to the distal finger joint (6), passes through each guide roller (25) in turn, and is connected to the steering gear winch. The steering gear is installed inside the large-scale positioning component (4).

7. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The second tendon rope transmission device comprises two yaw tendon ropes (33), one end of which is respectively fixed to the left and right sides of the finger small-scale positioning part connector (9), and the other end is fixed to the steering gear winch; the steering gear is fixed to the palm part.

8. The somatosensory-controlled bionic robotic arm device according to claim 1, characterized in that: The locking device is locked by electromagnetic means; the electromagnet (20) receives an electrical signal and pulls back the traction rope (23) to drive the locking parts to close and contact with the tendon rope (16). The greater the tension of the tendon rope (16) and the greater the pressure on the locking parts, the less likely the locking parts and the tendon rope (16) are to slide, thereby achieving locking.

9. A method for controlling a bionic robotic arm device controlled by somatosensory according to claim 1, characterized in that: The following steps are involved: Step S1, collecting bending information of fingers of a human hand through a bending sensor arranged at a hand end, and collecting bending information of an actuator of a manipulator through a bending sensor of the actuator; Step S2, using a closed-loop control system to drive the actuator of the manipulator to complete a corresponding bending action according to the bending information of the fingers of the human hand; Step S3, collecting the posture information of the palm of the human hand through the posture sensor arranged at the human hand end, and collecting the posture information of the small-scale positioning part of the manipulator through the posture sensor at the manipulator end; Step S4: Based on inverse kinematics analysis and closed-loop control methods, five servo signals of the manipulator positioning mechanism are calculated and distributed, thereby realizing the posture control of the manipulator small-scale positioning parts.

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