A somatosensory-controlled bionic robotic arm device and control method

Abstract

The present invention discloses a somatosensory-controlled bionic robotic arm device and a control method, which belong to the technical field of industrial robotic arms. The device includes a base platform, a positioning mechanism, an actuator, a servo power unit, a tendon transmission device and an execution locking device. The servo drive is used to protect the movement of the execution terminal, the tendon transmission realizes the bending and swinging of the actuator, and the execution locking device integrates an electromagnet to improve the load capacity and execution stability. The elastic recovery rope and guide technology ensure the adaptive extension of the actuator, the crossbeam reinforcement improves the strength of the positioning mechanism, and the limiting slide ensures that the angle of the rotating shaft is reasonable. The control method collects motion information through bending sensors and posture sensors, combines inverse kinematics analysis and closed-loop control, and realizes precise control of the manipulator. The present invention solves the problems of heavy weight, strong inertia and insufficient positioning accuracy of traditional robotic arms. It has a reasonable layout and is easy to maintain. It is suitable for high-precision and high-flexibility operation scenarios.

Description

Technical Field

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

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

[0003] Currently, robotic arm drive technologies primarily rely on two main categories: motor drive and traditional tendon-cable transmission. Motor-driven systems directly control the arm's motion through motors, resulting in high control precision. However, these systems require a number of motors equal to the number of degrees of freedom. This not only results in a complex robotic arm design and high inertia, but also increases overall weight. Furthermore, this design increases energy consumption and costs, limiting its applicability in certain lightweight applications.

[0004] In contrast, traditional tendon-cable transmissions offer greater flexibility and adaptability. While they achieve motion through a complex transmission structure, they suffer from significant shortcomings in transmission accuracy and calibration difficulty. These performance limitations represent a technical bottleneck that urgently needs to be addressed in the advancement of robotics.

[0005] Internationally, research on how to solve these technical problems is already very active. Foreign researchers have early on focused on improving industrial robotic arms. Jaime Hernandez and others designed a highly flexible robotic gripper in their research, indicating that robotic arm design is moving towards enhancing human-machine collaboration and operational flexibility. However, in practical applications, current technologies still face challenges such as unstable perception capabilities due to the diversity of grasped objects and limitations of force-position hybrid control algorithms. By introducing deep learning, the research team is attempting 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, 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 relatively late, but significant progress has been made. The focus of this research is on human-machine interaction and human-like grasping design. Jing Liuwen et al. utilized support vector machine (SVM) algorithms to improve noise reduction and control accuracy in robotic arms, while Hu Yuandong et al. achieved innovations in human-like multi-degree-of-freedom grasping control for robotic arms. While these studies have achieved breakthroughs in hardware and software, challenges remain in the structural design of robotic arms, such as operational jitter and insufficient accuracy. Improving the operational precision and efficiency of robotic arms requires further exploration and comprehensive consideration of the actual working environment.

[0007] While current robotic arm technology has made significant progress, limitations in weight, inertia, and transmission accuracy limit its wider application. These technical challenges not only significantly limit the performance of existing robotic arms but also serve as a driving force for further technological innovation. By examining these issues, future research should focus on the application of new materials and the optimization of intelligent control algorithms to provide more comprehensive and efficient solutions for new robotic arms. Summary of the Invention

[0008] The present invention aims to address the problems existing in the above-mentioned background technology and proposes a somatosensory-controlled bionic robotic 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 robotic arm device specifically includes a base platform, a positioning mechanism, an actuator, a steering gear power unit, 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 component connector of the base platform; the positioning mechanism includes a large-scale directional component, a large-scale positioning component, a joint, a small-scale positioning component, 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 component connector of the finger; the steering gear power unit 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 servo, a tendon rope, a guide roller, and a guide roller shaft; the tendon rope transmission device 2 includes a yaw tendon rope and a servo; 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 directional part is connected to the base platform through a first rotating pair, the other end of the large-scale directional 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 phalanx through a rotating pair, the other end of the proximal phalanx is connected to the middle phalanx through a rotating pair, and the other end of the middle phalanx is connected to the distal phalanx through a rotating pair. One end of the elastic recovery rope is fixed to the distal phalanx, and the other end passes through the middle phalanx and the proximal phalanx limiting hole in turn, and is fixed to the finger small-scale positioning part connector, 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 yaw tendons, one end of which is fixed to the left and right sides of the finger small-scale positioning part connector, and the other end is fixed to the servo winch; the servo 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 slide, thereby achieving locking.

[0018] A method for controlling a bionic robotic arm device controlled by somatosensory sensing comprises the following steps:

[0019] Step S1, collecting bending information of the human hand fingers through a bending sensor provided at the end of the human hand, and collecting bending information of the actuator of the 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 the corresponding bending action according to the bending information of the human hand fingers;

[0021] Step S3: collecting the posture information of the human hand through the posture sensor set 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, the five servo signals of the manipulator positioning mechanism are calculated and distributed, thereby realizing the posture control of the manipulator for 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, large-scale directional parts, large-scale positioning parts and small-scale positioning parts, and the coordinated action of the servo power unit and the tendon rope transmission device, thereby improving the operating accuracy and flexibility of the robot arm.

[0025] (2) The tendon-rope transmission device of the present invention enables each finger of the actuator to bend naturally and swing laterally, mimicking the movements of human fingers and enhancing the naturalness of finger movement. Furthermore, the actuator locking device integrates an electromagnet, which achieves strong locking through electrical signals, thereby improving the load capacity and grip stability of the fingers.

[0026] (3) The present invention cleverly combines servo drive and tendon rope transmission to solve the problems of heavy weight, strong inertia and insufficient positioning accuracy of traditional robotic arms, making the robotic arm of the present invention more lightweight, 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 robotic 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 servo in the positioning mechanism part;

[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 the finger;

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

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

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

[0038] Figure 10 This is a schematic diagram of the somatosensory control system of the robot.

[0039] In the figure: 1 is the base platform; 2 is the large-scale directional part; 3 is the joint; 4 is the large-scale positioning part; 5 is the actuator; 6 is the distal knuckle; 7 is the middle knuckle; 8 is the proximal knuckle; 9 is the small-scale positioning part connector of the finger; 10 is the first servo; 11 is the second servo; 12 is the third servo; 13 is the fourth servo; 14 is the fifth servo; 15 is the small-scale positioning part; 16 is the tendon rope; 17 is the elastic recovery rope; 18 is the locking part one; 19 is the locking part two; 20 is the electromagnet; 21 is the yaw servo; 22 is the fixing hole; 23 is the traction rope; 24 is the retaining spring; 25 is the guide roller; 26 is the guide roller shaft; 27 is the chassis; 28 is the stabilizing ring; 29 is the connector; 30 is the large-scale directional part connector of the base platform; 31 is the screw; 32 is the end cover; 33 is the yaw tendon rope; 34 is the 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 accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without making creative efforts shall fall 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) includes 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 of the large-scale directional part (2) and the joint (3) is as follows: Figure 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 phalanx (6), middle phalanx (7), proximal phalanx (8), finger small-scale positioning part connector (9), elastic recovery rope (17), the small-scale positioning part (15) and the end cover (32) are fastened by bolts and nuts through fixing holes (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 phalanx (8) through a rotating pair, the other end of the proximal phalanx (8) is connected to the middle phalanx (7) through a rotating pair, and the other end of the middle phalanx (7) is connected to the distal phalanx (6) through a rotating pair. Each finger joint is installed by utilizing elastic deformation of the material, and a limiting slide is provided to control the joint angle. One end of the elastic recovery rope (17) is fixed to the distal phalanx (6), and the other end passes through the limiting holes of the middle phalanx (7) and the proximal phalanx (8) in sequence, 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 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 slots 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 sequence, 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) and the other end fixed to the yaw steering gear (21) winch.

[0046] like Figure 7 The 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), and adopts an electromagnetic method for locking.

[0047] like Figure 10 As shown, the bending sensor (human hand end) collects the bending information of the human hand fingers, and the bending sensor (robot end) collects the bending information of the robot actuator, and completes the bending action of the robot 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 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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 somatosensory-controlled bionic robotic arm device, characterized in that: The device specifically includes a base platform (1), a positioning mechanism, an actuator (5), a steering gear power unit, a tendon rope transmission device and an actuator locking device; the base platform (1) includes a chassis (27), a first steering gear (10), a stabilizing ring (28), a connector (29), and a base platform large-scale directional component connector (30); the positioning mechanism includes 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) includes a distal phalanx (6), a middle phalanx (7) and a proximal phalanx (8) of each finger, and a finger small-scale positioning component connector (9); the steering gear power unit 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); the The tendon transmission device includes a tendon transmission device 1 and a tendon transmission device 2; the tendon transmission device 1 includes a servo, a tendon (16), a guide roller (25), and a guide roller shaft (26); the tendon transmission device 2 includes a sway tendon (33) and a servo; 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 of the actuators (5) are all limited by a slide groove to ensure that the angles of each rotating shaft are always kept within a reasonable range; the path of the tendon (16) of the tendon transmission device 1 passes through the center of the lateral swing axis of the actuator (5) and does not interfere with the tendon transmission device 2; the contact surface between the execution locking device and the tendon (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), a steering gear flange (34) is connected to a connecting piece (29), the connecting piece (29) is fixed to a stabilizing ring (28) and a base platform large-scale directional component connecting piece (30), 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) through a first rotating pair, the other end of the large-scale directional part (2) is connected to the joint (3) through a second rotating pair, the other side of the joint (3) is connected to the large-scale positioning part (4) through a third rotating pair, the other side of the large-scale positioning part (4) is connected to the small-scale positioning part (15) through 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) through a rotating pair, the other end of the finger small-scale positioning part connector (9) is connected to the proximal phalanx (8) through a rotating pair, the other end of the proximal phalanx (8) is connected to the middle phalanx (7) through a rotating pair, and the other end of the middle phalanx (7) is connected to the distal phalanx (6) through 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 sequence, 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 orientation part (2), the large-scale positioning part (4), the joint (3), and the small-scale positioning part (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 sequence, 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 part to retract and contact the tendon rope (16). The greater the tension of the tendon rope (16) and the greater the pressure on the locking part, the less likely the locking part and the tendon rope (16) are to slide, thereby achieving locking.

9. The somatosensory-controlled bionic robotic arm device according to claim 1, and a control method for the somatosensory-controlled bionic robotic arm device, characterized in that: The following steps are involved: Step S1, collecting bending information of the human hand fingers through a bending sensor provided at the end of the human hand, and collecting bending information of the actuator of the 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 the corresponding bending action according to the bending information of the human hand fingers; Step S3: collecting the posture information of the human hand through the posture sensor set 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, the five servo signals of the manipulator positioning mechanism are calculated and distributed, thereby realizing the posture control of the manipulator for small-scale positioning parts.

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