Flexible joint device and robot

Abstract

This utility model discloses a flexible joint device and robot. The flexible joint device includes a first component, a second component, a drive motor, a transmission mechanism, a torque sensor, an angle sensor, and a main control circuit. The drive motor is based on the first component, and its output shaft is connected to the transmission mechanism. The torque sensor is located on the output shaft of the drive motor and can sense the torque data output by the drive motor. The output end of the torque sensor is connected to the input end of the main control circuit, and can send the sensed torque data to the main control circuit. The angle sensor is based on the second component and is used to sense the angle data formed by the baseline of the second component and the baseline of the first component. The flexible joint device and robot proposed in this utility model can sense the torque data of the drive motor in real time and adjust the control signal of the drive motor according to the torque data, ensuring the safe and stable operation of the equipment.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and relates to a joint device, particularly a flexible joint device and robot. Background Technology

[0002] With the development of technology, robotics has advanced rapidly in recent years, and robot products have been applied in various industries. Robot products are equipped with movable joints for flexible movement; however, existing movable joints typically do not detect the force applied to the drive mechanism, which can easily lead to equipment damage.

[0003] In view of this, there is an urgent need to design a new joint device in order to overcome at least some of the aforementioned defects of existing joint devices. Utility Model Content

[0004] This invention provides a flexible joint device and robot that can sense the torque data of the drive motor in real time and adjust the control signal of the drive motor according to the torque data, thereby ensuring the safe and stable operation of the equipment.

[0005] To solve the above-mentioned technical problems, according to one aspect of this utility model, the following technical solution is adopted:

[0006] A flexible joint device, the flexible joint device comprising a first component, a second component, a drive motor, a transmission mechanism, a torque sensor, a surface pressure sensor, and a main control circuit;

[0007] The drive motor is based on the first component, and the output shaft of the drive motor is connected to the transmission mechanism; the transmission mechanism is connected to the second component, and the drive motor can drive the second component to move under the drive of the transmission mechanism;

[0008] The torque sensor is disposed on the output shaft of the drive motor and can sense the torque data output by the drive motor; the output terminal of the torque sensor is connected to the input terminal of the main control circuit and can send the sensed torque data to the main control circuit.

[0009] The surface pressure sensor is disposed on the surface of the first component to sense the pressure signal received in a designated area of ​​the first component; the output terminal of the surface pressure sensor is connected to the input terminal of the main control circuit, and can send the sensed pressure signal to the main control circuit.

[0010] The output terminal of the main control circuit is connected to the input terminal of the drive motor, and can send control signals to the drive motor to control its operation.

[0011] As one embodiment of this utility model, the transmission mechanism includes at least one of a harmonic reducer, a cycloidal reducer, a planetary gear set, and an RV reducer.

[0012] In one embodiment of this utility model, the surface pressure sensor includes an electronic skin covering the surface of the first component and / or the second component, and pressure sensors are distributed on the electronic skin; the output terminal of each pressure sensor is connected to the input terminal of the main control circuit.

[0013] As one embodiment of this utility model, the main control circuit includes a main processor, a multiplier, a comparator and a reference signal generation circuit, wherein the main processor is connected to the torque sensor and the comparator respectively;

[0014] The first input terminal of the multiplier is connected to the output terminal of the torque sensor, and the second input terminal of the multiplier is connected to the output terminal of the surface pressure sensor.

[0015] The non-inverting input of the comparator is connected to the output of the multiplier, the inverting input of the comparator is connected to the reference signal generation circuit, and the output of the comparator is connected to the input of the main processor; the main processor sends a control signal to the drive motor according to the signal output by the comparator.

[0016] In one embodiment of this utility model, the flexible joint device further includes an angle sensor; the angle sensor is based on the setting of the second component and is used to sense the angle data formed by the baseline of the second component and the baseline of the first component; the output terminal of the angle sensor is connected to the input terminal of the main control circuit and can send the sensed angle data to the main control circuit.

[0017] In one embodiment of this utility model, the main control circuit includes a main processor and dual encoders, wherein the main processor is connected to the dual encoders.

[0018] According to another aspect of this utility model, the following technical solution is adopted: a robot, the robot including the above-mentioned flexible joint device.

[0019] In one embodiment of this utility model, the robot includes a robotic arm, and the elbow of the robotic arm is provided with the flexible joint device.

[0020] In one embodiment of the present invention, the robot further includes a bionic robotic hand, which is disposed at one end of the robotic arm.

[0021] In one embodiment of this utility model, the robot includes a mechanical leg, and the flexible joint device is provided at the knee of the mechanical leg.

[0022] The beneficial effects of this invention are as follows: The flexible joint device and robot proposed in this invention can sense the torque data of the drive motor and the location of external resistance (equivalent pressure; the sensed force is only a reference value, not specifically calibrated, and cannot obtain precise pressure values) of the electronic skin in real time, thereby accurately obtaining the location, direction, and magnitude of the external resistance. Compared to using only the electronic skin (which can only obtain the direction of force), the acquired data includes the location and magnitude of the force at the pressing point. In one application scenario, this invention can adjust the control signal to the drive motor according to the magnitude or torque data of the external force, ensuring the safe and stable operation of the equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the flexible joint device in one embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the flexible joint device in one embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the flexible joint device in one embodiment of the present invention. Detailed Implementation

[0026] The preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0027] To further understand this utility model, preferred embodiments of this utility model are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of this utility model, and not for limiting the scope of the claims of this utility model.

[0028] The description in this section pertains to only a few typical embodiments, and this utility model is not limited to the scope of the embodiments described. Substitution of identical or similar prior art methods with some technical features in the embodiments is also within the scope of this utility model's description and protection.

[0029] The term "connection" in the specification includes both direct and indirect connections, such as connections made through active devices, passive devices, or electrical conduction media; it may also include connections made by other active or passive devices that are known to those skilled in the art and can achieve the same or similar functional purpose, such as connections made through circuits or components such as switches or follower circuits.

[0030] This utility model discloses a flexible joint device. Figure 1 This is a schematic diagram of the flexible joint device in one embodiment of the present invention. Figures 2 to 3 This is a schematic diagram of the flexible joint device in one embodiment of the present invention; please refer to [link / reference]. Figures 1 to 3The flexible joint device includes a first component 1, a second component 2, a drive motor 4, a transmission mechanism 5, a torque sensor 6, a surface pressure sensor 7, and a main control circuit 3.

[0031] The drive motor 4 is based on the first component 1, and the output shaft of the drive motor 4 is connected to the transmission mechanism 5. The transmission mechanism 5 is connected to the second component 2, and the drive motor 4 can drive the second component 2 to move under the drive of the transmission mechanism. The transmission mechanism may include at least one of a harmonic reducer, a cycloidal reducer, a planetary gear set, and an RV reducer; the RV reducer is a precision reduction device composed of a planetary gear reducer and a cycloidal pinwheel reducer.

[0032] The torque sensor 6 is disposed on the output shaft of the drive motor 4 and can sense the torque data output by the drive motor 4; the output end of the torque sensor 6 is connected to the input end of the main control circuit 3 and can send the sensed torque data to the main control circuit 3.

[0033] The surface pressure sensor 7 is disposed on the surface of the first component 1 to sense the pressure signal received in a designated area of ​​the first component 1; the output end of the surface pressure sensor 7 is connected to the input end of the main control circuit 3, and can send the sensed pressure signal to the main control circuit 3.

[0034] The output terminal of the main control circuit 3 is connected to the input terminal of the drive motor 4, and can send control signals to the drive motor 4 to control the operation of the drive motor 4.

[0035] In one embodiment of the present invention, the surface pressure sensor 7 includes an electronic skin covering the surface of the first component and / or the second component, and pressure sensors are distributed on the electronic skin; the output terminal of each pressure sensor is connected to the input terminal of the main control circuit.

[0036] In one application scenario of this utility model, the position of the externally applied force is obtained through a pressure sensing device, the torque of the externally applied force is obtained through a torque sensor, and the magnitude and direction of the external force are calculated by combining the above information, thereby accurately obtaining the overall force information, which facilitates the generation of subsequent drive control signals for the drive mechanism.

[0037] In one embodiment, the main control circuit includes a main processor, a multiplier, a comparator, and a reference signal generation circuit. The main processor is connected to both a torque sensor and a comparator. The first input terminal of the multiplier is connected to the output terminal of the torque sensor, and the second input terminal of the multiplier is connected to the output terminal of the surface pressure sensor. The non-inverting input terminal of the comparator is connected to the output terminal of the multiplier, the inverting input terminal of the comparator is connected to the reference signal generation circuit, and the output terminal of the comparator is connected to the input terminal of the main processor. The main processor sends a control signal to the drive motor based on the signal output by the comparator.

[0038] In another embodiment of this utility model, the main control circuit 3 includes a main processor and dual encoders, with the main processor connected to the dual encoders. The motor drive board is connected to the dual encoders and a torque sensor respectively; by arranging a harmonic reducer and a flexible torque sensor, overall joint flexibility is achieved, simulating the structural characteristics and motion properties of human joints, thereby improving overall safety and compliance.

[0039] Furthermore, the flexible joint device may further include an angle sensor; the angle sensor is based on the second component 2 and is used to sense the angle data formed by the baseline of the second component 2 and the baseline of the first component 1; the output terminal of the angle sensor is connected to the input terminal of the main control circuit 3 and can send the sensed angle data to the main control circuit 3.

[0040] This utility model further discloses a robot, which includes the above-described flexible joint device.

[0041] In one embodiment of this invention, the robot includes a robotic arm and / or a robotic leg, wherein the flexible joint device described above is provided at the elbow of the robotic arm and / or the knee of the robotic leg. The robot may further include a bionic robotic hand disposed at one end of the robotic arm.

[0042] In summary, the flexible joint device and robot proposed in this invention can sense the torque data of the drive motor and the location of external resistance (equivalent pressure; the sensed force is only a reference value, not specifically calibrated, and cannot obtain precise pressure values) of the electronic skin in real time, thereby accurately obtaining the location, direction, and magnitude of the external resistance. Compared to using only the electronic skin (which can only obtain the direction of force), the acquired data includes the location and magnitude of the force at the pressing point. In one application scenario, this invention can adjust the control signal to the drive motor according to the magnitude or torque data of the external force, ensuring the safe and stable operation of the equipment.

[0043] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0044] The description and application of this utility model herein are illustrative and not intended to limit the scope of the utility model to the above embodiments. The effects or advantages involved in the embodiments may not be manifested in the embodiments due to various factors, and the description of effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and various substitutions and equivalents of the components in the embodiments are well known to those skilled in the art. It should be clear to those skilled in the art that this utility model can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts without departing from the spirit or essential characteristics of this utility model. Other variations and modifications can be made to the embodiments disclosed herein without departing from the scope and spirit of this utility model.

Claims

1. A flexible joint device, characterized in that, The flexible joint device includes a first component, a second component, a drive motor, a transmission mechanism, a torque sensor, a surface pressure sensor, and a main control circuit. The drive motor is based on the first component, and the output shaft of the drive motor is connected to the transmission mechanism; the transmission mechanism is connected to the second component, and the drive motor can drive the second component to move under the drive of the transmission mechanism; The torque sensor is disposed on the output shaft of the drive motor and can sense the torque data output by the drive motor; the output terminal of the torque sensor is connected to the input terminal of the main control circuit and can send the sensed torque data to the main control circuit. The surface pressure sensor is disposed on the surface of the first component to sense the pressure signal received in a designated area of ​​the first component; the output terminal of the surface pressure sensor is connected to the input terminal of the main control circuit, and can send the sensed pressure signal to the main control circuit. The output terminal of the main control circuit is connected to the input terminal of the drive motor, and can send control signals to the drive motor to control its operation.

2. The flexible joint device according to claim 1, characterized in that: The transmission mechanism includes at least one of a harmonic reducer, a cycloidal reducer, a planetary gear set, and an RV reducer.

3. The flexible joint device according to claim 1, characterized in that: The surface pressure sensor includes an electronic skin covering the surface of the first component and / or the second component, and pressure sensors are distributed on the electronic skin; the output terminal of each pressure sensor is connected to the input terminal of the main control circuit.

4. The flexible joint device according to claim 1, characterized in that: The main control circuit includes a main processor, a multiplier, a comparator, and a reference signal generation circuit. The main processor is connected to the torque sensor and the comparator respectively. The first input terminal of the multiplier is connected to the output terminal of the torque sensor, and the second input terminal of the multiplier is connected to the output terminal of the surface pressure sensor. The non-inverting input of the comparator is connected to the output of the multiplier, the inverting input of the comparator is connected to the reference signal generation circuit, and the output of the comparator is connected to the input of the main processor; the main processor sends a control signal to the drive motor according to the signal output by the comparator.

5. The flexible joint device according to claim 1, characterized in that: The flexible joint device further includes an angle sensor; the angle sensor is based on the setting of the second component and is used to sense the angle data formed by the baseline of the second component and the baseline of the first component; the output terminal of the angle sensor is connected to the input terminal of the main control circuit and can send the sensed angle data to the main control circuit.

6. The flexible joint device according to claim 1, characterized in that: The main control circuit includes a main processor and dual encoders, with the main processor connected to the dual encoders.

7. A robot, characterized in that, The robot includes the flexible joint device as described in any one of claims 1 to 6.

8. The robot according to claim 7, characterized in that: The robot includes a robotic arm, and the elbow of the robotic arm is equipped with the flexible joint device.

9. The robot according to claim 8, characterized in that: The robot further includes a bionic robotic hand, which is disposed at one end of the robotic arm.

10. The robot according to claim 7, characterized in that: The robot includes mechanical legs, and the flexible joint device is provided at the knee of the mechanical legs.

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