A humanoid robot joint position accuracy detection device

Abstract

The present application relates to motion precision detection technical field, especially to a kind of humanoid robot joint position precision detection device, including base, mounting plate, first arc block, second arc block and magnetic attraction piece etc., the control system of humanoid robot is in the inside of base, the top of base is connected with mounting plate, first arc block and second arc block are all two, first arc block and second arc block are all connected with magnetic attraction piece, and first arc block and second arc block are connected by magnetic attraction piece.The present application can detect the rotation angle of the joint part of humanoid robot by angle sensor, and the data is displayed on the controller, electromagnetic interference signal can be generated by electromagnetic interference device, interfere with the operation of humanoid robot, by the round weight is sleeved to connecting rod, the joint part of humanoid robot can be weighted, simulate the complex environment of humanoid robot in actual work, improve the accuracy of detection result.

Description

Technical Field

[0001] This invention relates to the field of motion accuracy detection technology, and in particular to a device for detecting the joint position accuracy of a humanoid robot. Background Technology

[0002] After the humanoid robot completes the assembly of its robotic arm, the accurate detection of joint positions is the core link to ensure its motion precision. With the help of sensors such as high-precision encoders, optical sensors or inertial measurement units (IMUs), the actual rotation angle of each joint is collected in real time, and the measured values ​​are compared with the theoretical command values ​​in real time through the control system, so as to accurately identify the posture deviation and provide a basis for motion calibration and control optimization.

[0003] The movement of the joints of a humanoid robot is controlled by its internal motors. Therefore, the accuracy of the motors is usually tested directly. Humanoid robots are designed to replace humans in working in complex environments, which often contain electromagnetic interference. In addition, humanoid robots sometimes grasp heavy objects, which changes their dynamic characteristics. The test scenario does not have electromagnetic interference and the motors are not under load, so it is impossible to simulate the complex environment of a humanoid robot in actual work, which makes the test results prone to errors. Summary of the Invention

[0004] In view of this, the present invention provides a humanoid robot joint position accuracy detection device, which can overcome the shortcomings of the detection scenario where there is no electromagnetic interference and the motor is not under load, making it impossible to simulate the complex environment of humanoid robots in actual work, which leads to errors in the detection results.

[0005] Technical Solution: A joint position accuracy detection device for a humanoid robot, comprising a base, a mounting plate, a first arc-shaped block, a second arc-shaped block, a magnetic block, an arc-shaped rubber block, an angle sensor, a shielding cover, an electromagnetic interference device, a controller, a load-bearing mechanism, a suspension mechanism, and a connection mechanism. The base houses the humanoid robot's control system. The mounting plate is connected to the top of the base. There are two first arc-shaped blocks and two second arc-shaped blocks, each connected to a magnetic block. Arc-shaped rubber blocks are connected inside both the first and second arc-shaped blocks. Angle sensors are installed on all of them. A shielding cover is slidably connected to the mounting plate. The bottom of the shielding cover and the top of the base are slidably connected. An electromagnetic interference device is installed inside the shielding cover. A controller is installed on the shielding cover. The angle sensors and electromagnetic interference device are electrically connected to the controller. A circular hole is opened on the mounting plate. The wire of the angle sensor extends through the circular hole and is connected to the controller. The load-bearing mechanism is used to simulate the operating environment of the humanoid robot's joints under load. The suspension mechanism is used to suspend the humanoid robot's joints on the mounting plate. The connection mechanism is used to connect the humanoid robot's joints to the control system inside the base.

[0006] Furthermore, it is particularly preferred that the load-bearing mechanism includes a collar, a rubber ring, a pull rope, a wire sleeve, a mounting bracket, a wire wheel, a connecting rod, and a support block. The rubber ring is connected inside the collar, and the pull rope is connected to the collar. The wire sleeve for guiding the pull rope is connected to the mounting plate, and the pull rope passes through the wire sleeve. The mounting bracket is connected to the mounting plate, and the wire wheel for guiding the pull rope is rotatably connected to the mounting bracket. The pull rope passes around the wire wheel, and the connecting rod is connected to the pull rope. The lower end of the connecting rod is connected to a support block.

[0007] Furthermore, it is particularly preferred that the suspension mechanism includes a mounting ring and a suspension rod, with the mounting ring connected to the mounting plate and the suspension rod connected to the mounting ring for suspending the joint portion of the humanoid robot.

[0008] Furthermore, it is particularly preferred that the connection mechanism includes a connecting cover, a hollow slide rod, and a control cable. A through hole is opened on the mounting plate, and a connecting cover is connected to the mounting plate. The connecting cover and the through hole correspond to each other. A hollow slide rod is slidably connected to the connecting cover. A control cable is placed inside the hollow slide rod. A connector at one end of the control cable is connected to the hollow slide rod, and a connector at the other end of the control cable is connected to the control system inside the base.

[0009] Furthermore, it is particularly preferred that the device also includes an air inlet head and a cover, with an air inlet hole on the mounting plate, an air inlet head connected to the mounting plate, the air inlet hole and the air inlet head corresponding to each other, and a cover connected to the air inlet head by a thread.

[0010] Furthermore, it is particularly preferred that the device also includes a double-acting linear motor, a moving frame, and a pneumatic clamp. The double-acting linear motor is mounted on the mounting plate, and the moving frame is connected to the slider of each double-acting linear motor. The pneumatic clamp is mounted on each moving frame.

[0011] Furthermore, it is particularly preferred that the first arc-shaped block and the second arc-shaped block form a complete ring to enclose the joint portion of the humanoid robot.

[0012] Furthermore, it is particularly preferred that the corners inside the conductor sleeve have rounded chamfers.

[0013] Compared with the prior art, the present invention has the following advantages: 1. This invention uses an angle sensor to detect the rotation angle of the joints of a humanoid robot and displays the data on the controller. An electromagnetic interference device can generate electromagnetic interference signals to interfere with the operation of the humanoid robot. By attaching circular weights to the connecting rod, the joints of the humanoid robot can be made to bear weight, simulating the complex environment of the humanoid robot in actual work and improving the accuracy of the detection results.

[0014] 2. The air inlet can introduce three types of gas—cold air, hot air, and humid air—into the shielding cover to simulate different temperature and humidity environments. This allows for the testing of the movement accuracy of the humanoid robot's joints under varying temperature and humidity conditions, thereby improving the accuracy of the test results.

[0015] 3. The pneumatic clamp can be moved by the double-acting linear motor, which in turn moves the first arc block and the second arc block, automatically installing and removing the first arc block and the second arc block, making operation more convenient. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0017] Figure 2 This is a three-dimensional structural diagram of the mounting plate, the first arc-shaped block, and the second arc-shaped block of the present invention.

[0018] Figure 3 This is a three-dimensional structural diagram of the magnetic block, arc-shaped rubber block, and angle sensor of the present invention.

[0019] Figure 4 This is a three-dimensional structural diagram of the electromagnetic interference device of the present invention.

[0020] Figure 5 This is a three-dimensional structural diagram of the load-bearing mechanism and suspension mechanism of the present invention.

[0021] Figure 6 This is a three-dimensional structural diagram of the collar and rubber ring of the present invention.

[0022] Figure 7 This is a three-dimensional structural diagram of the load-bearing mechanism and the connection mechanism of the present invention.

[0023] Figure 8 This is a three-dimensional structural diagram of the through hole and control cable of the present invention.

[0024] Figure 9 This is a three-dimensional structural diagram of the connection mechanism of the present invention.

[0025] Figure 10 This is a cross-sectional view of the connecting cover and hollow slide bar of the present invention.

[0026] Figure 11 This is a three-dimensional structural diagram of the air intake head and the cover of the present invention.

[0027] Figure 12 This is a three-dimensional structural diagram of the double-acting linear motor, the moving frame, and the pneumatic clamp of the present invention.

[0028] In the diagram: 1. Base, 2. Mounting plate, 3. First arc-shaped block, 4. Second arc-shaped block, 5. Magnetic block, 6. Arc-shaped rubber block, 7. Angle sensor, 8. Shielding cover, 9. Electromagnetic interference device, 10. Controller, 11. Circular hole, 121. Collar, 122. Rubber ring, 123. Pull rope, 124. Wire sleeve, 125. Mounting bracket, 126. Wire wheel, 127. Connecting rod, 128. Support block, 131. Mounting ring, 132. Suspension rod, 141. Through hole, 142. Connecting cover, 143. Hollow slide rod, 144. Control cable, 151. Air inlet, 152. Air inlet head, 153. Cover, 161. Double-acting linear motor, 162. Moving frame, 163. Pneumatic clamp. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0030] refer to Figures 1-10A humanoid robot joint position accuracy detection device includes a base 1, a mounting plate 2, a first arc-shaped block 3, a second arc-shaped block 4, a magnetic block 5, an arc-shaped rubber block 6, an angle sensor 7, a shielding cover 8, an electromagnetic interference device 9, a controller 10, a load-bearing mechanism, a suspension mechanism, and a connection mechanism. The base 1 houses the humanoid robot's control system. The mounting plate 2 is bolted to the rear top of the base 1. There are two first arc-shaped blocks 3 and two second arc-shaped blocks 4. Magnetic blocks 5 are connected to the front and rear sides of both the first and second arc-shaped blocks 3 and 4, forming a complete ring to enclose the joints of the humanoid robot. Arc-shaped rubber blocks 6 are connected inside both the first and second arc-shaped blocks 3 and 4. An angle sensor 7 is bolted to the middle left side of each first arc-shaped block 3. The mounting plate... 2. A shielding cover 8 is symmetrically slidably connected to the front side of the base 1. The bottom front side of the shielding cover 8 is slidably connected to the top front side of the base 1. The front side of the shielding cover 8 is transparent, allowing observation of the detection status of the humanoid robot's joints. The two shielding covers 8 can be moved and opened in a direction away from each other. An electromagnetic interference device 9 is installed on the upper right side of the right shielding cover 8 by bolts. A controller 10 is installed on the right front side of the right shielding cover 8 by bolts. An angle sensor 7 and an electromagnetic interference device 9 are both electrically connected to the controller 10. A circular hole 11 is opened in the middle of the mounting plate 2. The wire of the angle sensor 7 extends through the circular hole 11 and is connected to the controller 10. The load-bearing mechanism is used to simulate the operating environment of the humanoid robot's joints under load. The suspension mechanism is used to suspend the humanoid robot's joints on the mounting plate 2. The connection mechanism is used to connect the humanoid robot's joints to the control system inside the base 1.

[0031] refer to Figures 5-7 The load-bearing mechanism includes a collar 121, a rubber ring 122, a pull rope 123, a wire sleeve 124, a mounting bracket 125, a wire wheel 126, a connecting rod 127, and a support block 128. Rubber rings 122 are connected to both the upper and lower sides of the collar 121. A pull rope 123 is connected to the middle of the rear side of the collar 121. A wire sleeve 124 is connected to the middle of the lower part of the mounting plate 2. The pull rope 123 passes through the wire sleeve 124. The corners of the wire sleeve 124 are rounded to avoid damage to the pull rope 123. A mounting bracket 125 is bolted to the middle of the lower rear side of the mounting plate 2. Wire wheels 126 are rotatably connected to the upper and lower parts of the mounting bracket 125. The pull rope 123 passes around the two wire wheels 126. A connecting rod 127 is connected to the lower end of the pull rope 123. A support block 128 is connected to the lower end of the connecting rod 127.

[0032] refer to Figure 5The suspension mechanism includes a mounting ring 131 and a suspension rod 132. The mounting ring 131 is bolted to the upper middle of the front side of the mounting plate 2. The suspension rod 132 is evenly spaced around the front side of the mounting ring 131. The mounting holes of the suspension rod 132 and the joint parts of the humanoid robot correspond one-to-one, and the mounting holes of the suspension rod 132 and the joint parts of the humanoid robot are compatible.

[0033] refer to Figures 7-10 The connection mechanism includes a connecting cover 142, a hollow slide rod 143, and a control cable 144. A through hole 141 is opened in the middle of the upper part of the mounting plate 2. The connecting cover 142 is bolted to the middle of the upper rear side of the mounting plate 2. The connecting cover 142 corresponds to the through hole 141. The hollow slide rod 143 is slidably connected in the middle of the connecting cover 142. The control cable 144 is placed inside the hollow slide rod 143. The connector at one end of the control cable 144 is connected to the front end of the hollow slide rod 143, and the connector at the other end of the control cable 144 is connected to the control system inside the base 1.

[0034] The staff opened the shielding cover 8, then connected the connectors of the wires and control cables 144 of the humanoid robot's joints, connecting the humanoid robot's joints to the control system inside the base 1. Next, the humanoid robot's joints were hung on the suspension rod 132, which passed through the mounting holes of the humanoid robot's joints. The hollow sliding rod 143 moved backward, making space for the wires of the humanoid robot's joints. Then, the magnetic blocks 5 on the first arc-shaped block 3 and the second arc-shaped block 4 were brought into contact, connecting the first arc-shaped block 3 and the second arc-shaped block 4. The first arc-shaped block 3 and the second arc-shaped block 4 formed a complete ring, with one ring wrapping around the upper arm of the humanoid robot's joint and the other ring wrapping around the lower arm. The arc-shaped rubber block 6 contacted the humanoid robot's joint, fixing the first arc-shaped block 3 and the second arc-shaped block 4 through friction. Then, the shielding cover 8 was closed, and the control system inside the base 1 was activated. The control system controls the rotation of the humanoid robot's joints. Angle sensor 7 detects the rotation angle of the humanoid robot's joints and sends the signal to controller 10. Controller 10 displays the rotation angle of the humanoid robot's joints. The motion accuracy of the humanoid robot's joints can be judged by the data displayed on controller 10. Electromagnetic jammer 9 generates electromagnetic interference signals to interfere with the operation of the humanoid robot. Shielding cover 8 can shield the electromagnetic interference signals generated by electromagnetic jammer 9 to prevent electromagnetic interference signals from affecting other equipment. A collar 121 can be put on the lower arm of the humanoid robot's joint. Rubber ring 122 contacts the humanoid robot's joint and fixes the collar 121 through friction. Then, a circular weight of appropriate weight is put on connecting rod 127. Support block 128 supports the circular weight, so that the humanoid robot's joint bears the load, simulating the complex environment of the humanoid robot in actual work and improving the accuracy of the detection results.

[0035] refer to Figure 8 and Figure 11 It also includes an air inlet head 152 and a cover 153. The upper part of the mounting plate 2 has three air inlets 151, and the upper rear side of the mounting plate 2 is connected to three air inlets 152. The three air inlets 151 and the three air inlets 152 correspond one to one. The rear end of each air inlet head 152 is connected to a cover 153 by a thread.

[0036] Workers can connect the three air inlets 152 to the supply pipes for cold air, hot air, and humid air, respectively. They can simultaneously introduce three different gases (cold air, hot air, and humid air) into the shield 8, or simultaneously introduce two different gases, or introduce only one gas, to simulate different temperature and humidity environments. This allows them to test the movement accuracy of the humanoid robot's joints under different temperature and humidity conditions, improving the accuracy of the test results. If only one or two gases are introduced, workers can seal the non-ventilating air inlets 152 with the cover 153 to prevent gas leakage.

[0037] refer to Figure 12 It also includes a double-acting linear motor 161, a moving frame 162 and a pneumatic clamp 163. The double-acting linear motor 161 is symmetrically mounted on the front side of the mounting plate 2 by bolts. The front sides of the sliders of the two double-acting linear motors 161 are connected to the moving frame 162 by bolts. The upper and lower parts of the two moving frames 162 that are close to each other are both mounted with pneumatic clamps 163 by bolts.

[0038] When it is necessary to remove the first arc-shaped block 3 and the second arc-shaped block 4 from the joint of the humanoid robot, the dual-actuator linear motor 161 can be controlled to drive the two moving frames 162 to move towards each other. The moving frames 162 drive the pneumatic clamps 163 on the left and right sides to move towards each other. The pneumatic clamp 163 on the left side moves closer to the first arc-shaped block 3 and clamps it, while the pneumatic clamp 163 on the right side moves closer to the second arc-shaped block 4 and clamps it. Then, the dual-actuator linear motor 161 can be controlled to drive the pneumatic clamps 163 on the left and right sides to move away from each other, so that the first arc-shaped block 3 and the second arc-shaped block 4 are removed from the joint of the humanoid robot. The first arc block 3 and the second arc block 4 are detached, and the first arc block 3 and the second arc block 4 are removed from the joint of the humanoid robot. When it is necessary to install the first arc block 3 and the second arc block 4 onto the joint of the humanoid robot, the double-acting linear motor 161 can be controlled to drive the pneumatic clamps 163 on the left and right sides to move towards each other, so that the first arc block 3 and the second arc block 4 are close to the joint of the humanoid robot. Then the magnetic block 5 on the first arc block 3 and the magnetic block 5 on the second arc block 4 come into contact, and the first arc block 3 and the second arc block 4 are automatically installed and removed, making the operation more convenient.

[0039] The above description is merely an embodiment of the present invention and is not intended to limit the present invention. All equivalent substitutions made within the principles of the present invention should be included within the scope of protection of the present invention. Contents not described in detail in this invention are existing technologies known to those skilled in the art.

Claims

1. A humanoid robot joint position accuracy detection device, comprising a base (1) and a mounting plate (2), the base (1) has a humanoid robot control system inside, the top of the base (1) is connected with the mounting plate (2), characterized in that, It also includes a first arc-shaped block (3), a second arc-shaped block (4), a magnetic block (5), an arc-shaped rubber block (6), an angle sensor (7), a shielding cover (8), an electromagnetic interference device (9), a controller (10), a load-bearing mechanism, a suspension mechanism, and a connection mechanism. There are two of each of the first arc-shaped block (3) and the second arc-shaped block (4). A magnetic block (5) is connected to both the first arc-shaped block (3) and the second arc-shaped block (4). The first arc-shaped block (3) and the second arc-shaped block (4) are connected through the magnetic block (5). An arc-shaped rubber block (6) is connected inside both the first arc-shaped block (3) and the first arc-shaped block (3). An angle sensor (7) is installed on both of the first arc-shaped blocks (3). A shielding cover is slidably connected to the mounting plate (2). The bottom of the shield (8) and the top of the base (1) are slidably connected. An electromagnetic interference device (9) is installed inside the shield (8). A controller (10) is installed on the shield (8). An angle sensor (7) and an electromagnetic interference device (9) are electrically connected to the controller (10). A round hole (11) is opened on the mounting plate (2). The wire of the angle sensor (7) extends through the round hole (11) and is connected to the controller (10). The load-bearing mechanism is used to simulate the operating environment of the joint part of the humanoid robot under load. The suspension mechanism is used to suspend the joint part of the humanoid robot on the mounting plate (2). The connection mechanism is used to connect the joint part of the humanoid robot to the control system inside the base (1). The load-bearing mechanism includes a collar (121), a rubber ring (122), a pull rope (123), a wire sleeve (124), a mounting bracket (125), a wire wheel (126), a connecting rod (127), and a support block (128). The collar (121) is connected to the rubber ring (122), and the collar (121) is connected to the pull rope (123). The mounting plate (2) is connected to the wire sleeve (124) for guiding the pull rope (123). The pull rope (123) passes through the wire sleeve (124). The mounting plate (2) is connected to the mounting bracket (125), and the mounting bracket (125) is rotatably connected to the wire wheel (126) for guiding the pull rope (123). The pull rope (123) passes around the wire wheel (126), and the pull rope (123) is connected to the connecting rod (127). The lower end of the connecting rod (127) is connected to the support block (128).

2. The apparatus according to claim 1, wherein the apparatus is characterized by: The suspension mechanism includes a mounting ring (131) and a suspension rod (132). The mounting ring (131) is connected to the mounting plate (2), and the suspension rod (132) for suspending the joint parts of the humanoid robot is connected to the mounting ring (131).

3. The apparatus according to claim 2, wherein the apparatus is characterized by: The connection mechanism includes a connecting cover (142), a hollow slide rod (143), and a control cable (144). A through hole (141) is opened on the mounting plate (2). The connecting cover (142) is connected to the mounting plate (2). The connecting cover (142) and the through hole (141) correspond to each other. The hollow slide rod (143) is slidably connected to the connecting cover (142). The control cable (144) is placed inside the hollow slide rod (143). The connector at one end of the control cable (144) is connected to the hollow slide rod (143), and the connector at the other end of the control cable (144) is connected to the control system inside the base (1).

4. The apparatus according to claim 1, wherein the apparatus is characterized by: It also includes an air inlet head (152) and a cover (153). An air inlet hole (151) is opened on the mounting plate (2). An air inlet head (152) is connected to the mounting plate (2). The air inlet hole (151) and the air inlet head (152) correspond to each other. A cover (153) is connected to the air inlet head (152) by a thread.

5. The humanoid robot joint position accuracy detection device as described in claim 1, characterized in that, It also includes a double-acting linear motor (161), a moving frame (162) and a pneumatic clamp (163). The double-acting linear motor (161) is mounted on the mounting plate (2). The moving frame (162) is connected to the slider of the double-acting linear motor (161). The pneumatic clamp (163) is mounted on the moving frame (162).

6. The humanoid robot joint position accuracy detection device as described in claim 1, characterized in that, The first arc block (3) and the second arc block (4) form a complete ring to wrap around the joints of the humanoid robot.

7. The humanoid robot joint position accuracy detection device as described in claim 1, characterized in that, The corners inside the conductor sleeve (124) have rounded chamfers.

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