Intelligent manipulator for humanoid robot

Abstract

The invention discloses an intelligent manipulator for a humanoid robot, and aims to provide the intelligent manipulator for the humanoid robot, which is favorable for improving the operation safety, and comprises a mechanical arm, a floating connecting seat is arranged at the tail end of the mechanical arm, the floating connecting seat comprises a fixed disc and a floating disc, and the fixed disc is parallel to the floating disc; one side of the fixed disc is detachably and fixedly connected with the tail end of the mechanical arm, one side of the floating disc is in floating connection with the other corresponding side of the fixed disc to form a gap, the other corresponding side of the fixed disc is detachably connected with a circuit board, and a plurality of Hall chips evenly distributed in the circumferential direction of the circuit board are integrated on the circuit board. A plurality of magnets corresponding to the Hall chips in a one-to-one mode are fixed to one side of the floating disc, and the other side of the floating disc is a tool installation face. The device has the beneficial effect that the purpose of improving the operation safety is achieved.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and in particular to an intelligent robotic arm for humanoid robots. Background Technology

[0002] Humanoid industrial robots have a very broad application prospect. They can perform various complex tasks on the production line, such as assembly, welding, measurement, inspection, and grasping. Moreover, compared with humans, robots can complete tasks more accurately, faster, and more consistently.

[0003] In existing technologies, the end effector of a robot's robotic arm is typically directly connected to a corresponding tooling. However, through practical applications, we have encountered the following problems: First, during the robot's task execution, external working environment factors may cause abnormal collisions at the end of the robotic arm, which could lead to damage to the end of the robotic arm or personal injury, thus hindering the improvement of operational safety.

[0004] Second, when the robot is performing assembly tasks, such as when the robot is tightening screws through the end effector of the robotic arm, the screws are prone to angular deviation, which can affect the assembly quality.

[0005] Third, for example, when a robot pushes materials through the end effector of its robotic arm, it is impossible to calculate the resistance encountered by the end effector, which may lead to damage to the end effector due to excessive resistance under uncertain circumstances. Summary of the Invention

[0006] The present invention aims to overcome the shortcomings of existing technologies where abnormal collisions at the end of robotic arms result in low operational safety, and provides an intelligent robotic hand for humanoid robots that improves operational safety.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A humanoid robot intelligent manipulator includes a robotic arm with a floating connector at its end. The floating connector includes a fixed plate and a floating plate, which are parallel to each other. One side of the fixed plate is detachably fixed to the end of the robotic arm. One side of the floating plate is floatingly connected to the opposite side of the fixed plate, forming a gap. A circuit board is detachably connected to the opposite side of the fixed plate. The circuit board integrates several Hall effect chips evenly distributed along its circumference. Several magnets corresponding to the Hall effect chips are fixed to one side of the floating plate. The opposite side of the floating plate is a tooling mounting surface.

[0008] The end of the robotic arm is provided with a floating connection seat, which includes a fixed plate and a floating plate. The fixed plate and the floating plate are parallel to each other. One side of the fixed plate is detachably fixed to the end of the robotic arm. One side of the floating plate is floatingly connected to the other side of the fixed plate, forming a gap. A circuit board is detachably connected to the other side of the fixed plate. Several Hall chips are integrated on the circuit board and evenly distributed around its circumference. Several magnets corresponding to the Hall chips are fixed on one side of the floating plate. The other side of the floating plate is a tooling mounting surface. The robotic arm is existing technology, so it will not be described in detail. Under normal conditions, the floating disk and the fixed disk are parallel to each other, and the floating disk is in equilibrium, with the spacing between the Hall effect sensors and their corresponding magnets remaining constant. When the end effector of the robotic arm is affected by an external force, causing the floating disk to deflect, the Hall effect sensor outputs a stronger voltage when the magnet is closer and a lower voltage when the magnet is farther away. Therefore, by detecting the output voltage of the Hall effect sensors, the distance between the magnet and the Hall effect sensor can be determined. Then, the main control chip automatically calculates the deflection angle of the floating disk relative to the fixed disk, and also calculates the magnitude of the force on the floating disk. Therefore, when the end effector of the robotic arm experiences an abnormal collision, the floating disk... When the moving plate deflects, the control system can feed back the deflection signal to the robotic arm controller as a collision detection signal, causing the robotic arm to pause operation. This allows the floating connector to perform collision detection, improving operational safety. When the tooling is tightening screws, if the screw is not aligned with the threaded hole and deflection occurs, the offset angle can be fed back to the robotic arm. The robotic arm then moves to return the angle to zero, allowing the floating connector to perform offset detection and ensuring assembly quality. When the robotic arm pushes materials through the tooling, the floating plate deflects. The resistance at the end of the robotic arm can be calculated based on the deflection angle, allowing the floating connector to perform torque detection and preventing damage due to excessive resistance.

[0009] Preferably, one side of the floating disk has a groove and several springs corresponding one-to-one with several Hall effect chips. The circuit board is located within an annular area formed by the springs. The groove is located at the center of the floating disk, and the springs are evenly distributed around the groove along the circumference of the floating disk. The floating disk is elastically connected to a fixed disk via the springs. The magnet is fixedly connected to the side wall of the groove. The fixed disk is provided with a floating connector, and the center of the fixed disk is floatingly connected to the bottom center of the groove via the floating connector. To ensure the strength of the springs, rectangular springs can be selected, but are not limited to this. Several springs are used to ensure that the floating disk and the fixed disk are parallel to each other under normal conditions, so that the floating disk is in a balanced state.

[0010] Preferably, the spacing between each magnet and its corresponding Hall chip is the same. This ensures that, under normal conditions, when the floating disk is in equilibrium, the Hall voltage is consistent.

[0011] Preferably, the floating connector includes a ball head with a connecting seat at the center of one side. One end of the connecting seat is fixedly connected to the side wall of the ball head, and the other end of the connecting seat has a threaded groove. A countersunk hole corresponding to the threaded groove is located at the center of one side of the fixed plate. A fixing bolt matching the threaded groove is located in the countersunk hole. A clearance hole matching the connecting seat is located at the center of the circuit board. A ball socket matching the other side of the ball head is located at the center of the groove. A connecting plate is fitted onto the ball head, and the connecting plate is positioned on the side wall of the ball head and is movably connected to it. The connecting plate is detachably fixedly connected to the bottom of the groove. The floating plate is connected to the ball head via the connecting plate, allowing the floating plate to float and connect to the ball head. During ball head installation, simply align the threaded groove on the connecting seat with the countersunk hole, tighten the fixing bolt on one side of the fixed plate, and then tighten the connecting seat. Installation and disassembly are convenient and quick.

[0012] Preferably, the sidewall of the ball head has several slots corresponding to the Hall effect chips. The slots are arranged in the same direction as the depth of the grooves. One end of each slot is close to the connecting seat, and the other end is away from the connecting seat. The slots are evenly distributed around the connecting seat along the circumference of the ball head. The bottom of each slot is a spherical surface protruding towards the opening end. The center of the connecting plate has a through hole that matches the surface of the ball head. Several locking blocks that match the slots are fixedly protruding from the sidewall of the through hole. The locking blocks are slidably connected to the slots. The connecting plate is inserted into the slots by the locking blocks, which helps to prevent the floating disk from rotating circumferentially, so that the floating disk can only deflect at a certain angle along the arrangement direction of the slots.

[0013] Preferably, the shape of the bottom of the slot is obtained by offsetting the outer surface of the ball head towards the inside of the ball head. This design facilitates the floating disk to achieve a floating connection with the ball head under the connection of the connecting block, ensuring the smooth deflection of the floating disk.

[0014] Preferably, the sidewall of the through hole fits against the outer surface of the ball head, one end of the locking block is fixedly connected to the sidewall of the through hole, and the other end of the locking block fits against the bottom of the slot. This improves the stability of the fit between the connecting block and the ball head.

[0015] Preferably, the circuit board has a connector on its edge, which is located within a groove. The sidewall of the groove has a matching interface. The circuit board can be connected to external circuitry via the connector.

[0016] Preferably, one side of the floating disk has several mounting slots that match a number of springs. One end of each spring is located in a mounting slot and connected to the bottom of the slot, while the other end of the spring passes through the opening of the mounting slot and connects to the fixed disk. The springs are installed in the mounting slots, which serve to position and protect them.

[0017] Preferably, the fixed plate has several countersunk holes evenly distributed around the circuit board on its edge, and the floating plate has several mounting holes corresponding to and communicating with the countersunk holes on its edge. Fixing bolts are installed in the countersunk holes, and the fixed plate is detachably connected to the end of the robotic arm via these bolts. When installing the assembled floating connector onto the end of the robotic arm, simply insert the fixing bolts through the mounting holes into the countersunk holes and tighten them. Then, install the fixture onto the fixture mounting surface. Installation and disassembly are convenient and quick.

[0018] The beneficial effects of this invention are: 1. Collision detection: When an abnormal collision occurs at the end effector of the robotic arm, the floating disk deflects. The control system can feed back the deflection signal to the robotic arm controller as a collision detection signal, thereby controlling the robotic arm to pause operation, which helps to improve operational safety. 2. Offset detection: When the tooling is tightening screws, if the screw is not aligned with the threaded hole and deflects, the offset angle can be fed back to the robotic arm. The robotic arm will make adaptive adjustments based on the offset angle and bring the angle back to zero to ensure assembly quality. 3. Torque detection: When the robotic arm pushes the material through the tooling, the floating disk will deflect. The resistance at the end of the robotic arm can be calculated based on the deflection angle to prevent it from being damaged due to excessive resistance. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a structural schematic diagram of the floating connector; Figure 3 and Figure 4 yes Figure 2 Explosion images from different angles; Figure 5 This is a schematic diagram of the fixed disk structure; Figure 6 This is the front view of the floating connector; Figure 7 yes Figure 6 Sectional view of AA.

[0020] In the diagram: 1. Robotic arm, 2. Floating connector, 3. Fixed plate, 4. Floating plate, 5. Gap, 6. Circuit board, 7. Hall effect chip, 8. Magnet, 9. Tooling mounting surface, 10. Groove, 11. Spring, 12. Floating connector, 13. Ball head, 14. Connector, 15. Threaded groove, 16. Countersunk hole one, 17. Clearance hole, 18. Ball socket, 19. Connecting plate, 20. Slot, 21. Through hole, 22. Locking block, 23. Plug socket, 24. Plug interface, 25. Mounting groove, 26. Countersunk hole two, 27. Mounting hole. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0023] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of components illustrated in these embodiments do not limit the scope of this application. For ease of illustration, spatial relative terms such as “upper,” “lower,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “below” other elements or features would be fixed “upper” to other elements or features. Thus, the exemplary term “lower” can include both upper and lower orientations. The device may be fixed in other ways (rotated 90 degrees or located in other orientations), and the spatial relative descriptions used herein can be interpreted accordingly. It should also be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale. Techniques, processes, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, processes, and equipment should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be discussed further in subsequent figures.

[0024] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0025] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 In the described embodiment, a humanoid robot intelligent manipulator includes a robotic arm 1. The end of the robotic arm 1 is provided with a floating connection seat 2. The floating connection seat 2 includes a fixed disk 3 and a floating disk 4. The fixed disk 3 and the floating disk 4 are parallel to each other. One side of the fixed disk 3 is detachably fixedly connected to the end of the robotic arm 1. One side of the floating disk 4 is floatingly connected to the other side of the fixed disk 3, forming a gap 5. A circuit board 6 is detachably connected to the other side of the fixed disk 3. Several Hall chips 7 are integrated on the circuit board 6 and evenly distributed along its circumference. Several magnets 8 are fixed on one side of the floating disk 4, each corresponding to one of the Hall chips 7. The other side of the floating disk 4 is a tooling mounting surface 9.

[0026] like Figure 4 and Figure 5 As shown, a groove 10 and several springs 11 corresponding to several Hall chips 7 are provided on one side of the floating disk 4. The circuit board 6 is located in the annular area formed by several springs 11. The groove 10 is located at the center of the floating disk 4. Several springs 11 are evenly distributed around the groove 10 along the circumference of the floating disk 4. The floating disk 4 is elastically connected to the fixed disk 3 through the springs 11. The magnet 8 is fixedly connected to the side wall of the groove 10. The fixed disk 3 is provided with a floating connector 12. The center of the fixed disk 3 is floatingly connected to the bottom center of the groove 10 through the floating connector 12.

[0027] like Figure 7 As shown, the spacing between each magnet 8 and the corresponding Hall chip 7 is the same.

[0028] like Figure 3 , Figure 4 , Figure 5 and Figure 7 As shown, the floating connector 12 includes a ball head 13. A connecting seat 14 is provided at the center of one side of the ball head 13. One end of the connecting seat 14 is fixedly connected to the side wall of the ball head 13. The other end of the connecting seat 14 is provided with a threaded groove 15. A countersunk hole 16 corresponding to the threaded groove 15 is provided at the center of one side of the fixed plate 3. A fixing bolt matching the threaded groove 15 is provided in the countersunk hole 16. A clearance hole 17 matching the connecting seat 14 is provided at the center of the circuit board 6. A ball socket 18 matching the other side of the ball head 13 is provided at the center of the groove 10. A connecting plate 19 is sleeved on the ball head 13. The connecting plate 19 is limited to the side wall of the ball head 13 and the ball head 13 is movably connected. The connecting plate 19 is detachably fixedly connected to the bottom of the groove 10.

[0029] like Figure 5 As shown, the sidewall of the ball head 13 has several slots 20 corresponding to the Hall chips 7. The arrangement direction of the slots 20 is the same as the depth direction of the grooves 10. One end of the slot 20 is close to the connecting seat 14, and the other end is away from the connecting seat 14. The slots 20 are evenly distributed around the connecting seat 14 along the circumference of the ball head 13. The bottom of the slot 20 is a spherical surface protruding towards the opening end of the slot 20. The center of the connecting plate 19 has a through hole 21 that matches the surface of the ball head 13. Several locking blocks 22 that match the slots 20 are fixedly protruding from the sidewall of the through hole 21. The locking blocks 22 are slidably connected to the slots 20. The shape of the bottom of the slot 20 is obtained by offsetting the outer surface of the ball head 13 towards the inside of the ball head 13. The sidewall of the through hole 21 is in contact with the outer surface of the ball head 13, one end of the locking block 22 is fixedly connected to the sidewall of the through hole 21, and the other end of the locking block 22 is in contact with the bottom of the slot 20.

[0030] like Figure 3As shown, the edge of the circuit board 6 is provided with a plug-in seat 23, which is located in the groove 10. The side wall of the groove 10 is provided with a plug interface 24 that matches the plug-in seat 23.

[0031] like Figure 4 As shown, one side of the floating disk 4 is provided with several mounting slots 25 that match several springs 11 one by one. One end of the spring 11 is located in the mounting slot 25 and connected to the bottom of the mounting slot 25. The other end of the spring 11 passes through the opening end of the mounting slot 25 and is connected to the fixed disk 3.

[0032] The edge of the fixed plate 3 is provided with several countersunk holes 26 evenly distributed around the circuit board 6. The edge of the floating plate 4 is provided with several mounting holes 27 that correspond one-to-one with the countersunk holes 26. The countersunk holes 26 are provided with fixing bolts. The fixed plate 3 is detachably connected to the end of the robotic arm 1 through the fixing bolts.

[0033] The robotic arm 1 is existing technology and can be used on humanoid robots or independently, so it will not be described in detail. Under normal conditions, the floating disk 4 and the fixed disk 3 are parallel to each other. The floating disk 4 is in a balanced state under the support of several springs 11. The spacing between the several Hall chips 7 and the corresponding magnets 8 is the same, and the Hall voltage is the same. In use, the assembled floating connecting seat 2 is installed at the end of the robotic arm 1, and then the corresponding fixture is installed on the fixture mounting surface 9 for operation. Based on the principle that the Hall chip 7 outputs a stronger voltage when the magnet 8 is closer to it and a lower voltage when it is farther away, the floating disk 4 is calibrated by adding different weights. The weight and deflection angle have a linear relationship. In subsequent applications, the deflection angle can be converted into the force on the floating disk 4. Therefore, by detecting the output voltage of several Hall chips 7, the floating connector 2 can determine the distance between the magnet 8 and the Hall chip 7. Then, the main control chip automatically calculates the deflection angle of the floating disk 4 relative to the fixed disk 3. At the same time, it can also calculate the magnitude of the force on the floating disk 4. Thus, it can realize the collision detection, offset detection and torque detection of the end effector of the robotic arm 1.

[0034] During collision detection, when an abnormal collision occurs at the end of the robotic arm 1, the floating disk 4 deflects. The control system feeds back the deflection signal to the controller of the robotic arm 1 as a collision detection signal, which controls the robotic arm 1 to suspend operation, thereby improving operational safety. During offset detection, if the screw is not aligned with the threaded hole and deflection occurs when the tooling is tightening a screw, the offset angle can be fed back to robotic arm 1. Robotic arm 1 will make adaptive adjustments based on the offset angle and return the angle to zero to ensure assembly quality. During torque detection, when the robotic arm 1 pushes the material through the tooling, the floating disk 4 will deflect. The resistance at the end of the robotic arm 1 can be calculated based on the deflection angle, thus preventing it from being damaged due to excessive resistance.

[0035] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent robot hand for a humanoid robot, characterized by, The utility model provides a kind of mechanical arm, the end of the mechanical arm (1) is equipped with floating connecting seat (2), the floating connecting seat (2) includes fixed disc (3) and floating disc (4), the fixed disc (3) and floating disc (4) are parallel to each other, one side of the fixed disc (3) is detachably fixed with the end of the mechanical arm (1), one side of the floating disc (4) is floatingly connected with the other side corresponding to the fixed disc (3) and forms gap (5), the other side corresponding to the fixed disc (3) is detachably connected with circuit board (6), the circuit board (6) is integrated with a plurality of Hall chips (7) uniformly distributed along its circumferential direction, a plurality of magnets (8) corresponding to the plurality of Hall chips (7) are fixed on one side of the floating disc (4), and the other side corresponding to the floating disc (4) is tool mounting surface (9).

2. The intelligent robot manipulator according to claim 1, wherein One side of the floating disc (4) is provided with a groove (10) and a plurality of springs (11) corresponding to the plurality of Hall chips (7), the circuit board (6) is located in the annular area formed by the plurality of springs (11), the groove (10) is located at the center of the floating disc (4), and the plurality of springs (11) are uniformly distributed along the circumferential direction of the floating disc (4) with the groove (10) as the center, the floating disc (4) is elastically connected with the fixed disc (3) through the springs (11), the magnets (8) are fixedly connected with the side wall of the groove (10), the fixed disc (3) is provided with a floating connecting piece (12), and the center of the fixed disc (3) is floatingly connected with the center of the bottom of the groove (10) through the floating connecting piece (12).

3. The intelligent robot manipulator according to claim 1, wherein The distance between each magnet (8) and the corresponding Hall chip (7) is the same.

4. The intelligent robot manipulator according to claim 2, wherein The floating connecting piece (12) includes a ball head (13), one side of the ball head (13) is provided with a connecting seat (14), one end of the connecting seat (14) is fixedly connected with the side wall of the ball head (13), the other end of the connecting seat (14) is provided with a threaded groove (15), the center of one side of the fixed disc (3) is provided with a countersunk hole (16) corresponding to the threaded groove (15), the countersunk hole (16) is provided with a fixing bolt matched with the threaded groove (15), the center of the circuit board (6) is provided with an avoidance hole (17) matched with the connecting seat (14), the center of the groove (10) is provided with a ball socket (18) matched with the other side corresponding to the ball head (13), the ball head (13) is sleeved with a connecting plate (19), the connecting plate (19) is limited on the side wall of the ball head (13) and movably connected with the ball head (13), and the connecting plate (19) is detachably fixedly connected with the bottom of the groove (10).

5. The intelligent robot manipulator according to claim 4, wherein The side wall of the ball head (13) is provided with a plurality of clamping grooves (20) corresponding to the Hall chips (7), the arrangement direction of the clamping grooves (20) is the same as the depth direction of the grooves (10), one end of the clamping grooves (20) is close to the connecting seat (14), the other end of the clamping grooves (20) is away from the connecting seat (14), the plurality of clamping grooves (20) are uniformly distributed along the circumference of the ball head (13) with the connecting seat (14) as the center, the bottom of the clamping groove (20) is a spherical surface protruding towards the opening end of the clamping groove (20), the center of the connecting plate (19) is provided with a through hole (21) matched with the surface of the ball head (13), a plurality of clamping blocks (22) matched with the plurality of clamping grooves (20) are protrusively fixed on the side wall of the through hole (21), and the clamping blocks (22) and the clamping grooves (20) are in sliding connection.

6. The intelligent robot manipulator according to claim 5, wherein The shape of the bottom of the clamping groove (20) is obtained by offsetting the outer surface of the ball head (13) towards the inside of the ball head (13).

7. The intelligent robot manipulator according to claim 5 or 6, wherein The side wall of the through hole (21) is in close contact with the outer surface of the ball head (13), one end of the clamping block (22) is fixedly connected with the side wall of the through hole (21), and the other end of the clamping block (22) is in close contact with the bottom of the clamping groove (20).

8. The intelligent robot manipulator according to claim 2, wherein The edge of the circuit board (6) is provided with a plug-in seat (23), the plug-in seat (23) is located in the groove (10), and the side wall of the groove (10) is provided with a plug-in port (24) matched with the plug-in seat (23).

9. The intelligent robot manipulator according to claim 2, wherein One side of the floating disc (4) is provided with a plurality of mounting grooves (25) matched with a plurality of springs (11), one end of the spring (11) is located in the mounting groove (25) and connected with the bottom of the mounting groove (25), and the other end of the spring (11) is connected with the fixed disc (3) after penetrating through the opening end of the mounting groove (25).

10. The intelligent robot manipulator of claim 1, wherein, The edge of the fixed disc (3) is provided with a plurality of countersunk holes two (26) uniformly distributed with the circuit board (6) as the center, the edge of the floating disc (4) is provided with a plurality of mounting holes (27) corresponding to the plurality of countersunk holes two (26) in communication, the countersunk holes two (26) are provided with fixing bolts, and the fixed disc (3) is detachably connected with the end of the mechanical arm (1) through the fixing bolts.

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