A humanoid robot joint impedance control device

Abstract

The invention relates to a humanoid robot joint impedance control device, comprising a loading device, a joint impedance control computer and an interface touch screen for running human-computer interaction, wherein the loading device comprises a horizontal test bench and a weight adjustment component installed on a workbench; different torque loads are applied to the joints by the loading device, and after the loads are set to the human-computer interface, the joint impedance control computer performs impedance control on the joints according to the set loads and joint feedback information; the device is a test device for the compliance performance of mass-produced robot joints, and through a human-computer interaction interface and device experiments, the evaluation and comparison of humanoid robot joints is convenient and fast, the mechanical and electrical control structures are simple and flexible, and the parameter indicators in the software are quantified and intuitive, and the device is convenient and fast for analyzing the impedance characteristics and testing the compliance performance of humanoid robot joints.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a joint impedance control device for a humanoid robot. Background Art

[0002] In the assembly process of humanoid robots, as a core component, the stiffness and damping characteristics of joint impedance control are particularly important. Currently, there are no experimental devices and evaluation indicators for the compliance performance of joints. Due to the inconsistency of joints, the impedance control and other performance of mass-produced robots also show inconsistent performance. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a humanoid robot joint impedance control device, so that the consistency of robot joints can be improved during mass production, and indicators such as load, stiffness, and damping can be quantified and software interfaced for joint impedance control experiments or joint consistency tests. The device is simple and easy to understand, and the software interface is intuitive and easy to operate, making the evaluation and comparison of humanoid robot joints convenient and easy to use.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A humanoid robot joint impedance control device comprises a loading device, a joint impedance control computer and an interface touch screen for running human-computer interaction, wherein the loading device comprises a horizontal test bench and a weight adjustment component installed on a workbench; different torque loads are applied to the joints by the loading device, and after the loads are set to the human-computer interface, the joint impedance control computer performs impedance control on the joints according to the set loads and joint feedback information;

[0006] The horizontal test bench is symmetrically mounted with a fixing fixture, a joint is mounted on the fixing fixture, an output end of the joint is connected to a connecting rod, a weight fixing piece is mounted on the end of the connecting rod, and a weight-adjusting weight is mounted on the weight fixing piece.

[0007] Preferably, a regulating valve is installed on the bottom side of the weight-adjusting weight, and an air valve is installed on the top side of the weight-adjusting weight.

[0008] Preferably, the weight-adjustable assembly comprises a stand, an adjustment slot is provided on the stand, a motor is mounted on the top of the stand, and a threaded rod is mounted on the output end of the motor in the adjustment slot.

[0009] Preferably, the threaded rod is threadably connected to the skateboard, and a water pump is installed on the skateboard.

[0010] Preferably, a support pipe and a connecting hose are installed on the water pump, a valve sleeve is installed on the support pipe, and the connecting hose is connected to the water tank.

[0011] Preferably, the touch screen interface for human-computer interaction has the functions of joint working mode selection, flexible increase and decrease and configuration of experimental device load, status feedback of joint torque, position, speed, error code, impedance point setting, and starting / stopping the corresponding working mode of the device by enabling / disabling setting.

[0012] The beneficial effects of the present invention are: it is a testing device for the compliance performance of mass-produced robot joints. Through the human-computer interaction interface and device experiments, the evaluation and comparison of humanoid robot joints are convenient and quick. The mechanical and electrical control structures are simple and flexible, and the parameter indicators in the software are quantified and intuitive. It is convenient and quick to analyze the impedance characteristics and test the compliance performance of humanoid robot joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the loading device of the present invention;

[0014] Figure 2 This is a schematic diagram of the structure of the weight adjustment component of the present invention;

[0015] Figure 3 This is the electronic control hardware block diagram of the joint impedance control test device of the present invention;

[0016] Figure 4 This is a diagram of the human-computer interaction interface of the joint impedance control device of the present invention.

[0017] Legend:

[0018] 1. Horizontal test bench; 2. Fixing tooling; 3. Joint; 4. Connecting rod; 5. Weight fixing parts; 6. Adjusting weights; 7. Regulating valve; 8. Air valve; 9. Adjusting weight assembly; 10. Stand; 11. Adjusting slot; 12. Motor; 13. Threaded rod; 14. Slide plate; 15. Water pump; 16. Support pipe; 17. Valve sleeve; 18. Connecting hose; 19. Water tank. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Specific examples are given below.

[0021] See also Figure 1 and Figure 2A humanoid robot joint impedance control device includes a loading device, a joint impedance control computer and a touch screen for operating a human-machine interaction interface, wherein the loading device includes a horizontal test bench 1 and a weight adjustment component 9 installed on a workbench; different torque loads are applied to a joint 3 by the loading device, and after the load is set to the human-machine interface, the joint impedance control computer performs impedance control on the joint according to the set load and joint feedback information;

[0022] A fixed tooling 2 is symmetrically installed on the horizontal test bench 1, a joint 3 is installed on the fixed tooling 2, the output end of the joint 3 is connected to the connecting rod 4, a weight fixing part 5 is installed on the end of the connecting rod 4, an adjustable weight 6 is installed on the weight fixing part 5, a regulating valve 7 is installed on the bottom side of the adjustable weight 6, an air valve 8 is installed on the top side of the adjustable weight 6, and the weight adjustment component 9 includes a stand 10, an adjusting slot 11 is opened on the stand 10, a motor 12 is installed on the top of the stand 10, a threaded rod 13 is installed in the adjusting slot 11 at the output end of the motor 12, the threaded rod 13 is threadedly connected to the slide plate 14, a water pump 15 is installed on the slide plate 14, a support pipe 16 and a connecting hose 18 are installed on the water pump 15, a valve sleeve 17 is installed on the support pipe 16, and the connecting hose 18 is connected to the water tank 19.

[0023] The joint 3 is mounted on the fixed fixture 2, and the torque load is applied to the joint 3 on the fixed fixture 2 by adjusting the weight 6, the weight fixture 5 and the connecting rod 4. After the basic information of the load is set to the human-machine interface, the joint impedance control computer is interacted and controlled by the joint impedance control computer in the same local area network as the equipment running the human-machine interface, and the impedance control of the experimental joint and the standard joint is performed at the same time, so that the experiment or test of the humanoid robot joint can be completed under the same stiffness and damping parameters;

[0024] The motor 12 drives the threaded rod 13 to rotate, thereby driving the threadedly connected slide plate 14 to rise and fall. At this time, the water pump 15 on the slide plate 14 drives the support tube 16 and the valve sleeve 17 to rise and fall synchronously, and the valve sleeve 17 is connected and separated with the regulating valve 7. When the valve sleeve 17 is connected with the regulating valve 7, the water pump 15 is used to inject water or absorb water into the weight-adjusting weight 6, and the gas in the weight-adjusting weight 6 is adjusted by the air valve 8, so that the mass of the weight-adjusting weight 6 can be flexibly adjusted.

[0025] The loading device is installed on the horizontal test bench 6 through the fixing fixture 1, and the torque load is applied to the joint 2 fixed to the fixture by the loading device composed of the weight 4, the weight fixing part 5 and the connecting rod 3. After the basic information of the load is set to the human-machine interface, it interacts and controls with the joint impedance control computer in the same local area network as the equipment running the human-machine interface, and impedance control is performed on the experimental joint and the standard joint at the same time, so that the experiment or test of the humanoid robot joint can be completed under the same stiffness and damping parameters;

[0026] The user selects specific stiffness and damping parameters, and selects joints 3 that meet the compliance control requirements as standard control joints 3. The same load is added to the other tested joints 3, and the same stiffness and damping parameters are set. After starting the impedance mode, the user drags the connecting rod 4 to experience the compliance of different joints under the same control algorithm and conditions, which is used for compliance comparison and screening of batches of joints 3.

[0027] See also Figure 3 The electronic control process of the device of the present invention is as follows: after the joint impedance control computer is turned on, any host in the local area network can log in to the joint impedance control computer by using the browser IP to access the joint impedance control computer. Figure 3 The human-computer interaction interface shown;

[0028] See also Figure 4 The touch screen interface for human-computer interaction has the functions of joint working mode selection, flexible increase and decrease and configuration of experimental device load, joint torque, position, speed, error code and other status feedback, impedance point setting, and start / stop the corresponding working mode of the device by enabling / disabling settings.

[0029] Figure 4 The human-computer interaction interface of the present invention can run across platforms with web clients, Pad terminals, mobile phones, etc., and supports multi-user login; the human-computer interaction is simple and intuitive, and can be expanded to a one-master-multiple-slave mode. If applied in the field of teaching, the host can control the experiment, and other slaves can access and view it in real time.

[0030] The human-machine interaction interface of the device of the present invention matches the mechanical and electrical control part and is divided into two identical interface areas, which can control each joint separately. The two joints communicate with the background joint impedance control computer. The functions of each joint interface area are:

[0031] The left side part is real-time feedback of the current status information of the joint, including position, speed, torque and error code;

[0032] The right part is designed as a mutually exclusive tab that allows you to choose between speed mode and impedance mode, and the mode can only be switched when the joint is disabled.

[0033] Speed ​​mode: After inputting the speed command value in the input box, the device can control the joint to run or stop at the set speed by pressing the enable button;

[0034] Impedance mode: After setting the connecting rod length value, load block mass, stiffness, damping, etc. to be loaded, set the current position as the required impedance point position. By pressing the enable button, the device can make the impedance control computer control the joint to drag or stop according to the set parameters. During the dragging process, the stiffness and damping can also be dynamically adjusted according to the situation;

[0035] The impedance point selection can be done by running the joint to the desired position through speed mode, or by manually dragging the joint to the desired position through lower stiffness and damping through impedance mode, and then setting the current position as the impedance point for impedance control after enabling.

[0036] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A humanoid robot joint impedance control device, characterized in that: The invention comprises a loading device, a joint impedance control computer and a touch screen interface for operating human-computer interaction, wherein the loading device comprises a horizontal test bench (1) installed on a workbench and a weight adjustment component (9); different torque loads are applied to a joint (3) by the loading device, and after the load is set on the human-computer interface, the joint impedance control computer performs impedance control on the joint according to the set load and joint feedback information; A fixing fixture (2) is symmetrically mounted on the horizontal test bench (1), a joint (3) is mounted on the fixing fixture (2), an output end of the joint (3) is connected to a connecting rod (4), a weight fixing piece (5) is mounted on the end of the connecting rod (4), and a weight adjustment weight (6) is mounted on the weight fixing piece (5).

2. A humanoid robot joint impedance control device according to claim 1, characterized in that: A regulating valve (7) is installed on the bottom side of the weight-adjusting weight (6), and an air valve (8) is installed on the top side of the weight-adjusting weight (6).

3. A humanoid robot joint impedance control device according to claim 2, characterized in that: The weight adjustment component (9) comprises a stand (10), an adjustment slot (11) is provided on the stand (10), a motor (12) is installed on the top of the stand (10), and a threaded rod (13) is installed at the output end of the motor (12) in the adjustment slot (11).

4. A humanoid robot joint impedance control device according to claim 3, characterized in that: The threaded rod (13) is threadably connected to a slide plate (14), and a water pump (15) is mounted on the slide plate (14).

5. The humanoid robot joint impedance control device according to claim 4, characterized in that: The water pump (15) is provided with a support pipe (16) and a connecting hose (18), the support pipe (16) is provided with a valve sleeve (17), and the connecting hose (18) is connected to a water tank (19).

6. The humanoid robot joint impedance control device according to claim 5, characterized in that: The touch screen interface for human-computer interaction has the functions of joint working mode selection, flexible increase and decrease and configuration of experimental device load, joint torque, position, speed, error code and other status feedback, impedance point setting, and starting / stopping the corresponding working mode of the device by enabling / disabling setting.

Images