Humanoid robot joint impedance control device

Abstract

The present application relates to the technical fields of robot joint detection, and proposes a humanoid robot joint impedance control device, which comprises a joint body, the bottom of the joint body is provided with a ring assembly for placing the joint body, the top of the ring assembly is provided with a bending assembly, the bending assembly is used for multiple cycle bending control of the joint body, and the two sides of the bending assembly are provided with visual monitoring assemblies for detection assistance, through the arrangement of angle adjusting cylinders, second sleeves and other structures, the quick angle adjustment of the detection camera is realized by using the connecting rod mechanism driven by the cylinder, the real-time feedback mechanism of the visual monitoring assembly is combined, the detection efficiency of the joint motion state is significantly improved, when the joint performs a complex bending action, the monitoring angle can be quickly adjusted, the whole tracking and capturing of the joint body motion track are ensured, and the problems of insufficient adjustment efficiency and low detection precision in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of robot joint detection technology, and more specifically, to a humanoid robot joint impedance control device. Background Technology

[0002] Currently, in the overall assembly process of humanoid robots, the stiffness and damping characteristics of joint impedance control are particularly important as a core component. Due to the inconsistency of joints, the performance of impedance control and other aspects of mass-produced robots also shows unsatisfactory consistency.

[0003] The prior art, patent application publication number CN119772884A, discloses a humanoid robot joint impedance control device. This patent relates to a humanoid robot joint impedance control device, including a loading device, a joint impedance control computer, and a touch screen interface for human-machine interaction. The loading device includes a horizontal test bench mounted on a workbench and a weight adjustment component. Different torque loads are applied to the joints through the loading device, and after the load is set on the human-machine interface, the joint impedance control computer performs impedance control on the joints according to the set load and joint feedback information. It is a testing device for the compliance performance of mass-produced robot joints. Through the human-machine interface and device experiments, the evaluation and comparison of humanoid robot joints is convenient and quick. The mechanical and electrical control structure is simple and flexible, and the software parameters are quantified and intuitive. It is convenient and quick for analyzing the impedance characteristics and testing the compliance performance of humanoid robot joints.

[0004] However, during testing, the efficiency of the device's cyclic adjustment is insufficient after multiple adjustments, and the accuracy of the test cannot be accurately recorded. Summary of the Invention

[0005] This invention proposes a joint impedance control device for humanoid robots, which solves the problems of insufficient adjustment efficiency and low detection accuracy in related technologies.

[0006] The technical solution of the present invention is as follows: a humanoid robot joint impedance control device, including a joint body, a circumferential component for placing the joint body is provided at the bottom of the joint body, a bending component is provided at the top of the circumferential component, the bending component is used for multiple cyclic bending control of the joint body, and visual monitoring components for detection assistance are provided on both sides of the bending component.

[0007] In a preferred embodiment of the present invention, the circumferential assembly comprises an annular base and a drive motor. The drive motor is disposed on the top of the annular base. An outer circular frame and an inner circular frame are rotatably mounted inside the annular base. An internal gear ring is fixedly connected inside the outer circular frame. An external gear ring is fixedly sleeved on the outer circumferential surface of the inner circular frame. Three circumferentially distributed rotating shafts are rotatably mounted inside the annular base. Rotating gears are fixedly sleeved on the outer circumferential surface of the rotating shafts. The rotating gears mesh with the internal gear ring and the external gear ring respectively. A fixing plate is fixedly connected to the top of the inner circular frame. Two symmetrically arranged fixing columns are fixedly connected to the top of the fixing plate.

[0008] As a preferred embodiment of the present invention, a placement sleeve is fixedly connected to the top of the annular base, and a plurality of circumferentially distributed auxiliary rotating beads are rotatably installed inside the placement sleeve, the auxiliary rotating beads being used to assist the rotation of the joint body.

[0009] In a preferred embodiment of the present invention, the bending assembly comprises a bending frame, a bending adjustment cylinder, and a top-mounting cylinder. The bending frame is fixedly connected to the fixed column, the bending adjustment cylinder is installed on the top of the bending frame, and the top-mounting cylinder is installed inside the bending frame.

[0010] As a preferred embodiment of the present invention, a fixed frame is fixedly sleeved on the outer peripheral surface of the top-connecting cylinder, a limiting sleeve is fixedly connected to one side of the fixed frame, a top-connecting shaft is installed at the output end of the top-connecting cylinder, the top-connecting shaft passes through the interior of the limiting sleeve, a top-connecting soft block is fixedly connected to one end of the top-connecting shaft, and the top-connecting soft block is connected to one end of the joint body.

[0011] As a preferred embodiment of the present invention, the output end of the bending adjustment cylinder is equipped with a telescopic shaft, one end of the telescopic shaft is fixedly connected to a fixed long shaft, and the fixed long shaft and the fixed frame are movably hinged together by two symmetrically arranged hinge rods.

[0012] In a preferred embodiment of the present invention, a first limiting plate, a second limiting plate, and a third limiting plate are fixedly connected inside the bent frame, the fixed frame is slidably assembled inside the first limiting plate and the second limiting plate, and the fixed long shaft is slidably assembled inside the third limiting plate.

[0013] In a preferred embodiment of the present invention, the visual monitoring component comprises a fixed side plate and a detection camera. The fixed side plate is fixedly connected to both sides of the bent frame. The detection camera is rotatably mounted on one end of the fixed side plate. A second sleeve is rotatably mounted on the top of the detection camera. A first sleeve is rotatably mounted on the top of the fixed side plate. An angle adjusting cylinder is mounted on one end of the first sleeve. An angle adjusting shaft is mounted on the output end of the angle adjusting cylinder. The angle adjusting shaft is fixedly connected to one side of the second sleeve.

[0014] The working principle and beneficial effects of this invention are as follows:

[0015] 1. This utility model, through the setting of an angle adjustment cylinder, a second sleeve and other structures, utilizes a cylinder-driven linkage mechanism to achieve rapid angle adjustment of the detection camera. Combined with the real-time feedback mechanism of the visual monitoring component, it significantly improves the detection efficiency of joint movement status. When the joint performs complex bending movements, the monitoring angle can be quickly adjusted to ensure full tracking and capture of the joint's movement trajectory.

[0016] 2. This utility model, through the setting of auxiliary rotating beads, first limiting plate and other structures, wherein the auxiliary rotating beads ensure that the joint rotates smoothly without deviation, while the composite guiding mechanism composed of the first limiting plate and the second limiting plate effectively controls the movement trajectory of the bending component, so that the joint bending angle control accuracy reaches a higher standard. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the overall structure of the circumferential component of the present invention;

[0020] Figure 3 This is a schematic diagram of the overall structure of the bending component of the present invention;

[0021] Figure 4 This is a schematic diagram of the overall structure of the visual monitoring component of the present invention.

[0022] In the diagram: 100, circumferential assembly; 110, annular base; 120, drive motor; 121, rotating shaft; 122, rotating gear; 130, outer circular frame; 131, internal gear ring; 140, inner circular frame; 141, outer gear ring; 142, fixing plate; 143, fixing column; 15, placement sleeve; 151, auxiliary rotating ball;

[0023] 200. Joint body;

[0024] 300. Bending assembly; 310. Bending frame; 320. Bending adjustment cylinder; 321. Telescopic shaft; 322. Fixed long shaft; 330. Hinge rod; 340. Fixed frame; 341. Limiting sleeve; 350. Top-connecting cylinder; 351. Top-connecting shaft; 352. Top-connecting soft block; 360. First limiting plate; 361. Second limiting plate; 362. Third limiting plate; Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1

[0027] like Figures 1-4 As shown, in this embodiment, the humanoid robot joint impedance control device includes a joint body 200. The joint body 200 is characterized in that a circumferential component 100 for placing the joint body 200 is provided at the bottom, a bending component 300 is provided at the top of the circumferential component 100, the bending component 300 is used for multiple cyclic bending control of the joint body 200, and visual monitoring components 400 for detection assistance are provided on both sides of the bending component 300.

[0028] Specifically, this embodiment relates to a joint impedance control device for a humanoid robot. Its core structure includes a joint body 200, a circumferential assembly 100, a bending assembly 300, and a visual monitoring assembly 400. The joint body 200 serves as the robot's motion execution unit, providing a stable support foundation through the circumferential assembly 100. The bending assembly 300 is located at the top of the circumferential assembly 100, enabling multiple cyclic bending control of the joint body 200 to simulate the flexible movement characteristics of a human joint. Visual monitoring assemblies 400 are located on both sides of the bending assembly 300 to monitor the joint's movement status in real time, ensuring the accuracy and coordination of the movements. The circumferential assembly 100 connects to the bottom of the joint body 200 through its annular structure, forming a rotatable support platform, allowing the joint to be adjusted at multiple angles in the horizontal plane. The bending assembly 300, driven by a cylinder and a linkage, achieves active bending control of the joint body 200. Its movement process can be fed back and corrected in real time by the visual monitoring assembly 400. The entire device coordinates the operation of each component through an electrical control unit, achieving impedance control and adaptive movement of the joint.

[0029] In this embodiment, the circumferential assembly 100 consists of an annular base 110 and a drive motor 120. The drive motor 120 is located on the top of the annular base 110. An outer circular frame 130 and an inner circular frame 140 are rotatably mounted inside the annular base 110. An inner gear ring 131 is fixedly connected inside the outer circular frame 130. An outer gear ring 141 is fixedly sleeved on the outer circumferential surface of the inner circular frame 140. Three circumferentially distributed rotating shafts 121 are rotatably mounted inside the annular base 110. Rotating gears 122 are fixedly sleeved on the outer circumferential surface of the rotating shafts 121. The rotating gears 122 mesh with the inner gear ring 131 and the outer gear ring 141 respectively. A fixing plate 142 is fixedly connected to the top of the inner circular frame 140. Two symmetrically arranged fixing posts 143 are fixedly connected to the top of the fixing plate 142.

[0030] Specifically, the circumferential assembly 100 includes an annular base 110 and a drive motor 120. The drive motor 120 is fixed to the top of the annular base 110 to provide rotational power. An outer circular frame 130 and an inner circular frame 140 are rotatably mounted inside the annular base 110. An inner gear ring 131 is fixedly connected to the inner side of the outer circular frame 130, and an outer gear ring 141 is fixedly sleeved on the outer circumferential surface of the inner circular frame 140. Three circumferentially distributed rotating shafts 121 are also rotatably mounted inside the annular base 110. A rotating gear 122 is fixedly sleeved on each rotating shaft 121. The rotating gear 122 meshes with both the inner gear ring 131 and the outer gear ring 141 to form a planetary gear transmission structure. When the drive motor 120 drives the rotating shaft 121 to rotate, the rotating gear 122 drives the internal gear ring 131 and the external gear ring 141 to rotate synchronously in opposite directions, thereby causing the fixed plate 142, which is fixedly connected to the top of the inner circular frame 140, to generate a compound planar motion. The two symmetrically arranged fixed columns 143 fixedly connected to the top of the fixed plate 142 are used to support the bending assembly 300, so as to realize the multi-degree-of-freedom posture adjustment of the joint body 200 in the horizontal plane.

[0031] In this embodiment, a placement sleeve 15 is fixedly connected to the top of the annular base 110. Several circumferentially distributed auxiliary rotating beads 151 are rotatably installed inside the placement sleeve 15. The auxiliary rotating beads 151 are used to assist the rotation of the joint body 200.

[0032] Specifically, a sleeve 15 is fixedly connected to the top of the annular base 110, and several circumferentially distributed auxiliary rotating balls 151 are rotatably installed inside the sleeve. The auxiliary rotating balls 151 are made of a low-friction coefficient material, and their tops contact the bottom of the joint body 200 to form a rolling support structure. When the joint body 200 rotates horizontally under the drive of the circumferential component 100, the auxiliary rotating balls 151 replace sliding friction with rolling friction, significantly reducing rotational resistance. At the same time, it avoids wear caused by direct contact between the bottom of the joint body 200 and the annular base 110. The circumferentially distributed design of the auxiliary rotating balls 151 ensures the uniform distribution of support force, so that the joint body 200 remains stable during rotation and will not tilt or jam. It is suitable for application scenarios that require frequent adjustment of joint angles, effectively improving the smoothness and durability of joint movement.

[0033] In this embodiment, the bending assembly 300 consists of a bending frame 310, a bending adjustment cylinder 320, and a top-mounting cylinder 350. The bending frame 310 is fixedly connected to the fixing column 143, the bending adjustment cylinder 320 is installed on the top of the bending frame 310, and the top-mounting cylinder 350 is installed inside the bending frame 310.

[0034] Specifically, the bending assembly 300 consists of a bending frame 310, a bending adjustment cylinder 320, and a top-mounted cylinder 350. The bending frame 310 is bolted to the fixed column 143 to form a stable support frame. The bending adjustment cylinder 320 is installed on top of the bending frame 310, with its cylinder body rigidly connected to the bending frame 310 and its piston rod extending downwards. The top-mounted cylinder 350 is installed inside the bending frame 310, with its axis arranged perpendicular to the axis of the bending adjustment cylinder 320. The bending adjustment cylinder 320 is responsible for providing the main driving force for the joint bending movement. By controlling the extension and retraction of its piston rod, the bending angle of the joint can be precisely adjusted. The top-mounted cylinder 350 is used to provide auxiliary thrust or resistance during the joint bending process. Its output end is connected to one end of the joint body 200. By adjusting the magnitude of the output force, dynamic control of the joint bending stiffness can be achieved.

[0035] In this embodiment, a fixed frame 340 is fixedly sleeved on the outer peripheral surface of the top-mounted cylinder 350. A limiting sleeve 341 is fixedly connected to one side of the fixed frame 340. A top-mounted shaft 351 is installed at the output end of the top-mounted cylinder 350. The top-mounted shaft 351 passes through the interior of the limiting sleeve 341. A top-mounted soft block 352 is fixedly connected to one end of the top-mounted shaft 351. The top-mounted soft block 352 is connected to one end of the joint body 200.

[0036] Specifically, a fixed frame 340 is fixedly sleeved on the outer circumferential surface of the top-mounted cylinder 350. A limiting sleeve 341 is welded to one side of the fixed frame 340. A top-mounted shaft 351 is installed at the output end of the top-mounted cylinder 350. The top-mounted shaft 351 passes through the interior of the limiting sleeve 341, and a top-mounted soft block 352 is fixedly connected to one end of it. The top-mounted soft block 352 is made of elastic material, and its surface is connected to one end of the joint body 200 through a ball joint. It can transmit thrust and pull forces and allow the joint to produce a small angular deflection during movement. When the top-mounted cylinder 350 works, its piston rod pushes the top-mounted shaft 351 to move axially along the limiting sleeve 341. The top-mounted soft block 352 transmits the force to the joint body 200, realizing active control or impedance adjustment of the joint bending movement. The limiting sleeve 341 plays a guiding and limiting role to ensure that the movement trajectory of the top-mounted shaft 351 is controllable.

[0037] In this embodiment, a telescopic shaft 321 is installed at the output end of the bending adjustment cylinder 320. One end of the telescopic shaft 321 is fixedly connected to a fixed long shaft 322. The fixed long shaft 322 and the fixed frame 340 are movably hinged together by two symmetrically arranged hinge rods 330.

[0038] Specifically, the output end of the bending adjustment cylinder 320 is equipped with a telescopic shaft 321. One end of the telescopic shaft 321 is connected to a fixed long shaft 322 via a thread. The fixed long shaft 322 and the fixed frame 340 are hinged together by two symmetrically arranged hinge rods 330. One end of the two hinge rods 330 is connected to the fixed long shaft 322 via a pin, and the other end is connected to a hinge seat on the fixed frame 340, forming a double rocker mechanism. When the piston rod of the bending adjustment cylinder 320 extends or retracts, it drives the telescopic shaft 321 and the fixed long shaft 322 to move linearly. Then, the linear motion is converted into the arc swing of the fixed frame 340 through the hinge rods 330, which has a motion amplification effect, so that the small stroke of the cylinder can drive the joint to produce a large bending angle. At the same time, the symmetrically arranged hinge rods 330 ensure balanced force and avoid jamming or uneven load during the movement.

[0039] In this embodiment, the inside of the bent frame 310 is fixedly connected to the first limiting plate 360, the second limiting plate 361 and the third limiting plate 362, the fixed frame 340 is slidably assembled inside the first limiting plate 360 ​​and the second limiting plate 361, and the fixed long shaft 322 is slidably assembled inside the third limiting plate 362.

[0040] Specifically, the bending frame 310 is internally fixedly connected to a first limiting plate 360, a second limiting plate 361, and a third limiting plate 362. The first limiting plate 360 ​​and the second limiting plate 361 have sliding grooves. The fixed frame 340 has sliders on both sides, which cooperate with the sliding grooves to allow the fixed frame 340 to slide vertically. The third limiting plate 362 has an elongated hole through which the fixed long shaft 322 passes, thus restricting its movement in the horizontal direction. When the bending adjustment cylinder 320 drives the fixed frame 340 to move, the first limiting plate 360 ​​and the second limiting plate 361 ensure that it only moves along a preset trajectory to prevent lateral deviation. The third limiting plate 362 restricts the range of motion of the fixed long shaft 322 to prevent the hinge rod 330 from exceeding the maximum allowable swing angle, thus ensuring the accuracy and reliability of the bending assembly 300 in repeated movements.

[0041] In this embodiment, the visual monitoring component 400 consists of a fixed side plate 410 and a detection camera 420. The fixed side plate 410 is fixedly connected to both sides of the bent frame 310. The detection camera 420 is rotatably mounted on one end of the fixed side plate 410. A second sleeve 431 is rotatably mounted on the top of the detection camera 420. A first sleeve 430 is rotatably mounted on the top of the fixed side plate 410. An angle adjustment cylinder 440 is mounted on one end of the first sleeve 430. An angle adjustment shaft 441 is mounted on the output end of the angle adjustment cylinder 440. The angle adjustment shaft 441 is fixedly connected to one side of the second sleeve 431.

[0042] Specifically, the fixed side plate 410 is fixed to both sides of the bent frame 310 by bolts, and a first sleeve 430 is rotatably installed on its top. The detection camera 420 is rotatably installed on one end of the fixed side plate 410 by a bracket, and a second sleeve 431 is rotatably installed on its top. An angle adjustment cylinder 440 is installed on one end of the first sleeve 430, and an angle adjustment shaft 441 is installed on the output end of the angle adjustment cylinder 440. The angle adjustment shaft 441 is fixedly connected to one side of the second sleeve 431. When the angle adjustment cylinder 440 works, its piston rod pushes the angle adjustment shaft 441 to move linearly, which in turn drives the detection camera 420 to rotate around its mounting axis through the second sleeve 431, thereby adjusting the shooting angle. This allows the detection camera 420 to track the movement state of the joint body in real time and provide visual feedback information to the control system.

[0043] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A joint impedance control device for a humanoid robot, comprising a joint body (200), characterized in that, The bottom of the joint body (200) is provided with a circumferential component (100) for placing the joint body (200), and the top of the circumferential component (100) is provided with a bending component (300). The bending component (300) is used for multiple cyclic bending control of the joint body (200), and visual monitoring components (400) for detection assistance are provided on both sides of the bending component (300).

2. The humanoid robot joint impedance control device according to claim 1, characterized in that, The circumferential assembly (100) consists of an annular base (110) and a drive motor (120). The drive motor (120) is located on top of the annular base (110). An outer circular frame (130) and an inner circular frame (140) are rotatably mounted inside the annular base (110). An internal gear ring (131) is fixedly connected inside the outer circular frame (130), and an external gear ring (141) is fixedly fitted on the outer circumferential surface of the inner circular frame (140). The annular base (110) has three circumferentially distributed rotating shafts (121) rotatably mounted inside. Rotating gears (122) are fixedly sleeved on the outer circumferential surface of the rotating shafts (121). The rotating gears (122) mesh with the inner gear ring (131) and the outer gear ring (141) respectively. A fixing plate (142) is fixedly connected to the top of the inner circular frame (140). Two symmetrically arranged fixing columns (143) are fixedly connected to the top of the fixing plate (142).

3. The humanoid robot joint impedance control device according to claim 2, characterized in that, The top of the annular base (110) is fixedly connected to a placement sleeve (15), and a number of circumferentially distributed auxiliary rotating beads (151) are rotatably installed inside the placement sleeve (15). The auxiliary rotating beads (151) are used to assist the rotation of the joint body (200).

4. The humanoid robot joint impedance control device according to claim 2, characterized in that, The bending assembly (300) consists of a bending frame (310), a bending adjustment cylinder (320), and a top-mounting cylinder (350). The bending frame (310) is fixedly connected to the fixed column (143), the bending adjustment cylinder (320) is installed on the top of the bending frame (310), and the top-mounting cylinder (350) is installed inside the bending frame (310).

5. The humanoid robot joint impedance control device according to claim 4, characterized in that, A fixed frame (340) is fixedly fitted on the outer circumferential surface of the top-connecting cylinder (350). A limiting sleeve (341) is fixedly connected to one side of the fixed frame (340). A top-connecting shaft (351) is installed at the output end of the top-connecting cylinder (350). The top-connecting shaft (351) passes through the interior of the limiting sleeve (341). A top-connecting soft block (352) is fixedly connected to one end of the top-connecting shaft (351). The top-connecting soft block (352) is connected to one end of the joint body (200).

6. The humanoid robot joint impedance control device according to claim 5, characterized in that, The output end of the bending adjustment cylinder (320) is equipped with a telescopic shaft (321), and one end of the telescopic shaft (321) is fixedly connected to a fixed long shaft (322). The fixed long shaft (322) and the fixed frame (340) are movably hinged together by two symmetrically arranged hinge rods (330).

7. The humanoid robot joint impedance control device according to claim 6, characterized in that, The bending frame (310) is fixedly connected to a first limiting plate (360), a second limiting plate (361) and a third limiting plate (362). The fixed frame (340) is slidably assembled inside the first limiting plate (360) and the second limiting plate (361). The fixed long shaft (322) is slidably assembled inside the third limiting plate (362).

8. The humanoid robot joint impedance control device according to claim 7, characterized in that, The visual monitoring component (400) consists of a fixed side plate (410) and a detection camera (420). The fixed side plate (410) is fixedly connected to both sides of the bent frame (310). The detection camera (420) is rotatably mounted on one end of the fixed side plate (410). A second sleeve (431) is rotatably mounted on the top of the detection camera (420). A first sleeve (430) is rotatably mounted on the top of the fixed side plate (410). An angle adjustment cylinder (440) is mounted on one end of the first sleeve (430). An angle adjustment shaft (441) is mounted on the output end of the angle adjustment cylinder (440). The angle adjustment shaft (441) is fixedly connected to one side of the second sleeve (431).

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