Sensing and controlling integrated control system for hand joints of humanoid robot

Abstract

The utility model discloses a sensing and control integrated control system for hand joints of a humanoid robot. The sensing and control integrated control system comprises an industrial personal computer, a programmable multi-axis motion control card, an axis channel expansion interface board, an analog quantity control interface board, an input and output quantity control interface board, a driver, artificial muscles, a control panel, a relay and a contactor. And the industrial personal computer is bidirectionally and electrically connected with a programmable multi-axis motion control card. According to the utility model, monitoring of the driver and the artificial muscle is realized through the analog quantity control interface board and the input and output quantity control interface board. The device has the functions of actively adjusting the position of the hand joint and sensing and inhibiting deformation.

Description

Technical Field

[0001] The utility model relates to robot technology and automation, and particularly relates to a sensing and control integrated control system for a hand joint of a humanoid robot. Background Art

[0002] The mechanical hand of a humanoid robot includes five fingers, and each finger includes multiple rotating joints, so that the mechanical hand has good dynamic response ability, adaptive grasping ability and control precision of the centroid position of the grasped and released object. However, the existing humanoid robots also have the following problems: that is, they do not have functions such as coordinate display of joints and the end during finger movement, real-time regulation of a single finger, and cannot monitor finger deformation and control the function of actively suppressing deformation. Summary of the Utility Model

[0003] The problem to be solved by the utility model is to provide a sensing and control integrated control system for a hand joint of a humanoid robot.

[0004] To solve the above problems, the utility model provides a sensing and control integrated control system for a hand joint of a humanoid robot. To achieve the above purpose, the technical solution adopted by the utility model to solve its technical problems is:

[0005] A sensing and control integrated control system for a hand joint of a humanoid robot includes: an industrial control computer; a programmable multi-axis motion control card; an axis channel expansion interface board; a plurality of analog control interface boards; a plurality of drivers; a plurality of artificial muscles, which are ion-exchange polymer metal materials; the industrial control computer, the programmable multi-axis motion control card, and the plurality of analog control interface boards are electrically connected in sequence; some of the analog control interface boards are indirectly electrically connected to the axis channel expansion interface board through the axis channel expansion interface board; each analog control interface board directly electrically connected to the programmable multi-axis motion control card is electrically connected to a plurality of drivers; among the analog control interface boards indirectly electrically connected to the programmable multi-axis motion control card through the axis channel expansion interface board, the analog control interface board is electrically connected to a plurality of artificial muscles or electrically connected to a plurality of drivers and one artificial muscle; all the drivers are commonly electrically connected to the hand joint of the humanoid robot; the numbers of the analog control interface boards, the artificial muscles, and the drivers increase gradually in sequence.

[0006] As a further improvement of the utility model, the analog control interface boards include a first analog control interface board, a second analog control interface board, a third analog control interface board, and a fourth analog control interface board; the drivers include a first driver, a second driver, a third driver, a fourth driver, a fifth driver, a sixth driver, a seventh driver, an eighth driver, a ninth driver, a tenth driver, and an eleventh driver; the artificial muscles include a first artificial muscle, a second artificial muscle, a third artificial muscle, a fourth artificial muscle, and a fifth artificial muscle.

[0007] As a further improvement of the present utility model, the first analog control interface board is electrically connected to the first driver, the second driver, the third driver, and the fourth driver; the second analog control interface board is electrically connected to the fifth driver, the sixth driver, the seventh driver, and the eighth driver; the third analog control interface board is electrically connected to the ninth driver, the tenth driver, and the eleventh driver.

[0008] As a further improvement of the present utility model, the third analog control interface board is also electrically connected to the first artificial muscle; the fourth analog control interface board is electrically connected to the second artificial muscle, the third artificial muscle, the fourth artificial muscle, and the fifth artificial muscle.

[0009] As a further improvement of the present utility model, the programmable multi-axis motion control card is electrically connected to an input / output quantity control interface board, the input / output quantity control interface board is electrically connected to a relay and a control panel, and the relay is electrically connected to a contactor.

[0010] As a further improvement of the present utility model, the programmable multi-axis motion control card adopts a Turbo PMAC PCI motion control card.

[0011] As a further improvement of the present utility model, the axis channel expansion interface board is an ACC-24PCI interface board.

[0012] As a further improvement of the present utility model, the input / output quantity control interface board is an ACC-34AA interface board.

[0013] As a further improvement of the present utility model, the analog control interface board is a DTC-8P interface board.

[0014] The beneficial effects of adopting the above technical solutions include: driven by the programmable multi-axis motion control card, and controlling the first to the eleventh drivers through the analog control interface board, the functions of displaying the joint data of the humanoid robot's hand and real-time control are realized; and the first to the fifth artificial muscles are controlled in real time, with the functions of deformation perception and active suppression control. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a schematic diagram of the hardware structure of an embodiment of the present utility model.

[0017] 1-Industrial control computer; 2-Programmable multi-axis motion control card; 3-Axis channel expansion interface board; 4-First analog control interface board; 5-Second analog control interface board; 6-Third analog control interface board; 7-Fourth analog control interface board; 8-Input / output quantity control interface board; 9-First driver; 10-Second driver; 11-Third driver; 12-Fourth driver; 13-Fifth driver; 14-Sixth driver; 15-Seventh driver; 16-Eighth driver; 17-Ninth driver; 18-Tenth driver; 19-Eleventh driver; 20-First artificial muscle; 21-Second artificial muscle; 22-Third artificial muscle; 23-Fourth artificial muscle; 24-Fifth artificial muscle; 25-Control panel; 26-Relay; 27-Contactor. Detailed implementation manner

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Refer to Figure 1 , the present invention provides a technical solution: a sensing and control integrated control system for a humanoid robot hand joint, including an industrial control computer 1, a programmable multi-axis motion control card 2, an axis channel expansion interface board 3, a first analog control interface board 4, a second analog control interface board 5, a third analog control interface board 6, a fourth analog control interface board 7, an input / output quantity control interface board 8, a first driver 9, a second driver 10, a third driver 11, a fourth driver 12, a fifth driver 13, a sixth driver 14, a seventh driver 15, an eighth driver 16, a ninth driver 17, a tenth driver 18, an eleventh driver 19, a first artificial muscle 20, a second artificial muscle 21, a third artificial muscle 22, a fourth artificial muscle 23, a fifth artificial muscle 24, a control panel 25, a relay 26, and a contactor 27.

[0020] The industrial control computer 1 is electrically connected to the programmable multi-axis motion control card 2 in a two-way manner, and the programmable multi-axis motion control card 2 is electrically connected to the axis channel expansion interface board 3, the first analog control interface board 4, the second analog control interface board 5, and the input / output quantity control interface board 8 in a two-way manner. The axis channel expansion interface board 3 is electrically connected to the third analog control interface board 6 and the fourth analog control interface board 7 in a two-way manner. The first analog control interface board 4, the second analog control interface board 5, the third analog control interface board 6, and the fourth analog control interface board 7 are electrically connected to the first driver 9, the second driver 10, the third driver 11, the fourth driver 12, the fifth driver 13, the sixth driver 14, the seventh driver 15, the eighth driver 16, the ninth driver 17, the tenth driver 18, the eleventh driver 19, the first driver 9, the second driver 10, the third driver 11, the fourth driver 12, the fifth driver 13, the sixth driver 14, the seventh driver 15, the eighth driver 16, the ninth driver 17, the tenth driver 18, and the eleventh driver 19.

[0021] IPMC, the full English name is: Ionic Polymer Metal Composites. It is an ion-exchange polymer metal material, that is, an artificial muscle material, which can produce a large displacement deformation due to its low driving voltage. The input / output quantity control interface board 8 is electrically connected to the control panel 25 and the relay 26 in a two-way manner. The relay 26 is electrically connected to the contactor 27 in a two-way manner. The input / output quantity control interface board 8 can be input or output separately.

[0022] The integrated sensing and control system for the hand joints of a humanoid robot adopts the form of "IPC" plus "programmable multi-axis motion control card". The IPC is the industrial control computer 1. The programmable multi-axis motion control card is high-performance motion control hardware based on the PC bus. It uses a high-performance microprocessor and large-scale programmable logic devices to achieve multi-axis coordinated control of multiple servo motors. The industrial control computer 1 communicates with the programmable multi-axis motion control card 2 through the PCI bus. The programmable multi-axis motion control card 2 can be Turbo PMAC PCI. Turbo PMAC PCI is a member of the Turbo PMAC board-level product family and is a servo control card based on Motorola DSP. It is very suitable for connecting to traditional servo drives with a separate analog input as the speed or torque control command. The programmable multi-axis motion control card 2 is directly connected to the first analog control interface board 4 and the second analog control interface board 5. Both the first analog control interface board 4 and the second analog control interface board 5 are DTC-8P interface boards and are connected to two DTC-8P interface boards (i.e., the third analog control interface board 6 and the fourth analog control interface board 7) through the axis channel expansion interface board ACC-24PCI interface board 3. The DTC-8P interface boards (i.e., the first analog control interface board 4, the second analog control interface board 5, and the third analog control interface board 6) control the Panasonic servo system (i.e., the first driver 9, the second driver 10, the third driver 11, the fourth driver 12, the fifth driver 13, the sixth driver 14, the seventh driver 15, the eighth driver 16, the ninth driver 17, the tenth driver 18, the eleventh driver 19) in speed control mode. The instructions of the control panel 25 are returned through the ACC-34AA interface board (i.e., the input / output quantity control interface board 8), and the system signals are displayed on the panel indicator lights. The ACC-34AA interface board (i.e., the input / output quantity control interface board 8) connects and controls the on / off of the relay 26 to achieve the on / off control of the contactor 27. The DTC-8P interface boards (i.e., the third analog control interface board 6 and the fourth analog control interface board 7) are connected to the first artificial muscle 20, the second artificial muscle 21, the third artificial muscle 22, the fourth artificial muscle 23, and the fifth artificial muscle 24, receive the deformation voltage signals of the artificial muscles, and suppress the deformation through voltage regulation.

[0023] Appendix Figure 1The first to fourth drivers therein are an integrated module of the first driver 9, the second driver 10, the third driver 11, and the fourth driver 12. The fifth to eighth drivers are an integrated module of the fifth driver 13, the sixth driver 14, the seventh driver 15, and the eighth driver 16. The ninth to eleventh drivers are an integrated module of the ninth driver 17, the tenth driver 18, and the eleventh driver 19. The second to fifth artificial muscles are an integrated module of the second artificial muscle 21, the third artificial muscle 22, the fourth artificial muscle 23, and the fifth artificial muscle 24. Attached Figure 1 The double-headed arrows therein represent bi-directional electrical connections.

[0024] For those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0025] The above embodiments are only for illustrating the technical concept and features of the present utility model, and the purpose is to enable those who are familiar with this technology to understand the content of the present utility model and implement it. It cannot be used to limit the protection scope of the present utility model. Any equivalent changes or modifications made according to the spirit and essence of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A sensor-control integrated control system for the hand joints of a humanoid robot, characterized in that: include: Industrial computer; Programmable multi-axis motion control card; Axis channel expansion interface board; Several analog control interface boards; Several drives; Several artificial muscles; made of ion exchange polymeric metal materials; The industrial computer, the programmable multi-axis motion control card, and a plurality of analog quantity control interface boards are electrically connected in sequence; some analog quantity control interface boards are indirectly electrically connected to the axis channel expansion interface board through the axis channel expansion interface board; Each analog control interface board directly electrically connected to the programmable multi-axis motion control card is electrically connected to a plurality of drivers; An analog quantity control interface board electrically connected to the programmable multi-axis motion control card via an axis channel expansion interface board, wherein the analog quantity control interface board is electrically connected to a plurality of artificial muscles or electrically connected to a plurality of drivers and an artificial muscle; All actuators are electrically connected to the hand joints of the humanoid robot; The number of the analog quantity control interface board, the artificial muscle and the driver increases gradually.

2. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 1, characterized in that: The analog quantity control interface board includes a first analog quantity control interface board, a second analog quantity control interface board, a third analog quantity control interface board, and a fourth analog quantity control interface board; The drivers include a first driver, a second driver, a third driver, a fourth driver, a fifth driver, a sixth driver, a seventh driver, an eighth driver, a ninth driver, a tenth driver, and an eleventh driver; The artificial muscles include a first artificial muscle, a second artificial muscle, a third artificial muscle, a fourth artificial muscle, and a fifth artificial muscle.

3. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 2, characterized in that: The first analog quantity control interface board is electrically connected to the first driver, the second driver, the third driver, and the fourth driver; The second analog quantity control interface board is electrically connected to the fifth driver, the sixth driver, the seventh driver, and the eighth driver; The third analog quantity control interface board is electrically connected to the ninth driver, the tenth driver, and the eleventh driver.

4. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 3, characterized in that: The third analog quantity control interface board is also electrically connected to the first artificial muscle; The fourth analog quantity control interface board is electrically connected to the second artificial muscle, the third artificial muscle, the fourth artificial muscle, and the fifth artificial muscle.

5. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 1, characterized in that: The programmable multi-axis motion control card is electrically connected to an input-output quantity control interface board, the input-output quantity control interface board is electrically connected to a relay and a control panel, and the relay is electrically connected to a contactor.

6. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 1, characterized in that: The programmable multi-axis motion control card adopts a Turbo PMAC PCI motion control card.

7. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 1, characterized in that: The axis channel expansion interface board is an ACC-24PCI interface board.

8. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 5, characterized in that: The input and output control interface board is an ACC-34AA interface board.

9. The sensor-control integrated control system for the hand joints of a humanoid robot according to claim 1, characterized in that: The analog quantity control interface board is a DTC-8P interface board.

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