CN108858272A - A kind of robot joint structure - Google Patents
A kind of robot joint structure Download PDFInfo
- Publication number
- CN108858272A CN108858272A CN201710322561.7A CN201710322561A CN108858272A CN 108858272 A CN108858272 A CN 108858272A CN 201710322561 A CN201710322561 A CN 201710322561A CN 108858272 A CN108858272 A CN 108858272A
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- Prior art keywords
- joint
- distance measuring
- measuring sensor
- distance
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot joint structures, including：One first joint, a second joint and an at least distance measuring sensor；First joint and second joint rotation connect, and first joint, two surfaces adjacent with the second joint constitute predetermined angle, an at least distance measuring sensor is fixed on first joint or the second joint, to measure first joint, two surfaces the distance between adjacent with the second joint.In robot joint structure provided by the invention, the first joint two surfaces the distance between adjacent with the second joint are measured using distance measuring sensor, and the rotation angle in joint can be read by the variation characteristic of the clearance distance, to achieve the effect that need not install encoder device can effectively measure the rotation angle of joint of robot；Also, the structure design cost is low, and installation is simple, substantially reduces the design difficulty of robot.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot joint structure.
Background technique
In recent years, though robot technology industry or in civil field using there is a development at full speed, and machine
The each joint of people is the basis of robot control.Therefore, the measurement method of the joint of robot corner with highly versatile is aobvious
It obtains very necessary.
Existing joint of robot corner is directly measured usually using the angular transducer being mounted on joint, wherein mainly
Including Hall magnetic angular transducer, optical encoding disk etc..Although these angular transducer precision are high, expensive, right
Mounting means has high requirement, is taken up too much space, and interferes vulnerable to environmental factor.
In order to reduce the manufacturing cost of robot, simplifies the structure design of joint, be badly in need of a kind of new joint of robot
Structure.
Summary of the invention
In view of this, being closed the purpose of the present invention is to provide a kind of robot joint structure with solving existing robot
Save the big problem of design difficulty.
In order to solve the above technical problems, the present invention provides a kind of robot joint structure, including：One first joint, one
Two joints and at least a distance measuring sensor；First joint and second joint rotation connect, and first joint
Two surfaces adjacent with the second joint constitute predetermined angle, and an at least distance measuring sensor is fixed on first joint
Or on the second joint, to measure first joint, two surfaces the distance between adjacent with the second joint.
Optionally, first joint, two surfaces adjacent with the second joint are a flat surface and an inclined-plane, institute respectively
It is fixed on the plane to state an at least distance measuring sensor.
Optionally, the second joint has a shaft, and first joint has an axis hole, and the axis hole is placed on institute
It states in shaft.
Optionally, the quantity of the distance measuring sensor is two, including the first distance measuring sensor and the second distance measuring sensor,
First distance measuring sensor and second distance measuring sensor are each attached on the same circumference coaxial with the shaft.
Optionally, the measurement position of first distance measuring sensor and the measurement position of second distance measuring sensor with
And it is not conllinear with rotating shaft core.
Optionally, when the quantity of the distance measuring sensor is two, the maximum distance that is measured with the first distance measuring sensor
When second joint position be 0 ° of position, joint of robot rotation angle be calculated by following formula,
In formula：θ is joint rotation angle；D is the distance that the first distance measuring sensor measures, wherein the first distance measuring sensor
The maximum distance measured is D1, minimum range D2, d is the distance that second sensor measures, and is measured when the first distance measuring sensor
When distance is D, the distance that corresponding second sensor is surveyed is dsOr db, and ds<db。
It optionally, further include a driving part, the driving part is connect with the shaft, to drive the shaft to revolve
Turn.
Optionally, the driving part is motor or servo motor.
Optionally, the distance measuring sensor is optical sensor or magnetic sensor.
It optionally, further include a data processing equipment, the data processing equipment and an at least distance measuring sensor connect
It connects, joint rotation angle is calculated with the distance parameter measured according to distance measuring sensor.
In robot joint structure provided by the invention, the first joint and described second is measured using distance measuring sensor and is closed
Adjacent the distance between two surfaces are saved, and read the rotation angle in joint by the variation characteristic of the distance, to reach not
Encoder device, which must be installed, can effectively measure the effect of rotation angle of joint of robot；Also, the structure design cost
Low, installation is simple, does not have particular/special requirement to installation accuracy, installation site, can be obtained by absolute type by simply calculating
Joint rotation angle substantially reduces the design difficulty of robot.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of robot joint structure in one embodiment of the invention；
Fig. 2 and Fig. 3 is the main view and solid in the first joint in robot joint structure in one embodiment of the invention respectively
Scheme (wherein further including distance measuring sensor and part shaft)；
Fig. 4 and Fig. 5 is the main view and solid of second joint in robot joint structure in one embodiment of the invention respectively
Scheme (wherein further including part shaft)；
Fig. 6 is that first sensor and second sensor become with the measure of the change distance of rotation angle in one embodiment of the invention
The schematic diagram of change.
In figure：The first joint 1-；2- driving part；The first distance measuring sensor of 3-；The second distance measuring sensor of 4-；5- shaft；
The inclined-plane 6-；7- plane；8- second joint.
Specific embodiment
Core of the invention thought is to calculate the rotation angle in joint using the feature in joint itself, from without
The equipment such as joint installation encoder can complete the measurement of joint rotation angle, thus simplify the structure design of robot,
Reduce cost.Specifically, measuring adjacent the distance between two surfaces of measurement two joint using distance measuring sensor, the distance is at week
The variation of phase property, the rotation angle in joint is calculated according to the changing rule, simply and conveniently.
Robot joint structure proposed by the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
According to claims and following explanation, advantages and features of the invention will be become apparent from.It should be noted that attached drawing is all made of very
Simplified form and non-accurate ratio is used, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
Refering to fig. 1, it shows in the present embodiment, the stereoscopic schematic diagram of robot joint structure.In order to clearer
Fig. 1 is divided into two parts by the structure for showing robot joint structure, a part as shown in figures 2-3, another part such as Fig. 4~
Shown in 5, the position of segmentation is shaft 5.Robot joint structure in the present embodiment, including：First joint 1, second joint 8 with
And two distance measuring sensors (including the first distance measuring sensor 3 and second distance measuring sensor 4)；It is revolved with second joint 8 in the first joint 1
Turn connection, specifically, second joint 8 has a shaft 5, the first joint 1 has an axis hole, which is placed in shaft 5, and
It can 5 rotation around the shaft.
First joint 1, two surfaces adjacent with second joint 8 constitute predetermined angle (non-parallel), which can make the two
Between the regular variation of distance, as long as two surfaces are non-parallel in principle can be realized measurement, from measuring accuracy, should
The predetermined bigger measurement accuracy of angle is higher, and from joint structure, the predetermined angle is smaller, and two joints are compacter, structure
It is more stable, so those skilled in the art can specifically design the specific angle of predetermined angle according to design requirement.In general,
Distance measuring sensor is fixed on relatively fixed on a joint, and in the present embodiment, the first joint 1 is relatively fixed, it may also be said to
First joint 1 is fixing joint, and second joint 8 is rotary joint, so distance measuring sensor is fixed on the first joint 1, to
Measure the first joint 1 two surfaces the distance between adjacent with second joint 8.
First joint 1, two surfaces adjacent with second joint 8 are a flat surface 7 and an inclined-plane 6 respectively, that is to say, that first closes
Section 1 has plane 7, and second joint 8 has inclined-plane 6, and two distance measuring sensors are each attached in plane 7, wherein plane 7 is vertical
In the axial direction of shaft 5.
In order to improve the stability of distance measuring sensor, preferably, having a depressed area in plane 7, distance measuring sensor is solid
Be scheduled in depressed area, in this way design can the distance between effectively smaller two joint, enhance the stability of joint structure.
Distance of the distance measuring sensor measurement away from inclined-plane 6 records the reading of distance measuring sensor in the rotary course of joint, and
The size of joint rotation angle is calculated according to the reading.The distance of distance measuring sensor measurement can change, the change with the rotation in joint
Changing has direct relationship with the rotation angle in joint, it is possible to can convert angle parameter for distance parameter, directly read.
Since two distance measuring sensors are fixed in plane 7, plane 7 and inclined-plane 6 have certain angle (non-parallel), institute
Distance with distance measuring sensor away from inclined-plane 6 is with the rotation of second joint 8 and in cyclically-varying (using the first joint 1 as calmly
Son).As can be seen from FIG. 1, in gap of two sensors between plane 7 and inclined-plane 6, the size in gap is in periodically change
Change.Further referring to Fig. 4, distance measuring sensor detecting location is at the extreme higher position on inclined-plane 6, measured distance is minimum, visits
Location is set in the extreme lower position on inclined-plane 6, and measured distance is maximum.Certain point is set as 0 ° of position, two distance measuring sensors
Distance detected is as shown in Figure 6 with the variation of rotation angle.
Further, the first distance measuring sensor 3 and the second distance measuring sensor 4 are each attached on the same circumference in plane 7,
Survey two distance measuring sensors consistent apart from mechanical periodicity, in order to calculate rotation angle.In addition, it is generally the case that the
As soon as 3 points of the measurement position of distance measuring sensor 3, the measurement position of the second distance measuring sensor 4 and 5 axle center of shaft be not conllinear,
It is to say that the first distance measuring sensor 3 and the second distance measuring sensor 4 are not equal to 180 ° with the central angle that the center of circle is constituted.
When the quantity of distance measuring sensor is two, second joint 8 when the maximum distance measured with the first distance measuring sensor 3
Position be 0 °, joint of robot rotation angle be calculated by following formula,
In formula：θ is joint rotation angle；D is the distance that the first distance measuring sensor measures, wherein the first distance measuring sensor
The maximum distance measured is D1, minimum range D2, d is the distance that second sensor measures, and is measured when the first distance measuring sensor
When distance is D, the distance that corresponding second sensor is surveyed is dsOr db, and ds<db。
The quantity of distance measuring sensor is not limited to two, and when the quantity of distance measuring sensor is one, measurement method is as follows：
1. can directly use aforesaid way when the slewing area in joint is less than or equal to 180 °, read a sensor
Reading, when installation need to guarantee that sensor reading is to be monotonically changed in slewing area.
2. need to guarantee that second joint 8 has the spiral shell of monotone variation in rotor shaft direction when the slewing area in joint is greater than 180 °
Radial facing, when second joint 8 rotates, distance measuring sensor reading has one-to-one relationship with angle change.To be passed according to ranging
The directly corresponding rotation angle for reading joint of sensor reading.
Specifically, distance measuring sensor is optical sensor or magnetic sensor.When selecting magnetic sensor, pass through induction
Magnetic size measures the size of distance.
Further, for the ease of reading, which further includes a data processing equipment, the data
Processing unit is all connected with all distance measuring sensors, receives the distance parameter of all distance measuring sensors, and according to these parameters
The rotation angle for calculating joint, directly displays on one display.
Include a driving part 2 at general joint of robot, is rotated for drive shaft 5, be further driven to second
Joint rotation.Driving part 2 can be servo motor or motor.
Inventive point of the invention is showed in order to clearer, the side of installing and using for introducing the structure in detail further below
Method.When driving part 2 rotates, the distance that distance measuring sensor measures will be sent out by the period of motion of semicircle into variation.By same
When read two distance measuring sensors degree, the absolute rotational angle of available adjacent segment.
It is as follows that measurement method is installed：
(1) the first distance measuring sensor 3 is installed in the plane 7 in the first joint 1 (i.e. fixed part), installs second in its side
Distance measuring sensor 4, the first distance measuring sensor 3 and the second distance measuring sensor 4 are in a certain angle relative to rotation center, and the angle
Not equal to 180 °.
(2) when 2 drive shaft 5 of driving part rotates, second joint 8 is driven to rotate, second joint 8 is relative to the first joint
1 makes rotating motion.First joint 1 has a plane 7, which has an inclined-plane 6 close to second joint 8, second joint 8, should
Close to the first joint 1, the plane 7 and inclined-plane 6 are in any angle (non-parallel) on inclined-plane 6.
(3) during second joint 8 is rotated relative to the first joint 1, what the first distance measuring sensor 3 measured
Distance is D, and wherein maximum distance is denoted as D1, minimum range is denoted as D2；By the distance note that the second distance measuring sensor 4 measures in the same time
For d.
(4) obviously, by the period of semicircle sinusoidal variations will occur for the range reading variation of first laser sensor 3
(as shown in Figure 6), that is to say, that in addition to maximum distance and minimum range, each D occurs two in a circular motion
It is secondary, the moment corresponding second sensor reading is denoted as d respectively by sizebAnd ds。
(5) assume D1The rotational angle at moment is denoted as 0 °, and first the 3 to the second distance measuring sensor of distance measuring sensor 4
Rotation direction is positive, then D2The angle at moment is 180 °.The then pass between the rotation angle, θ and sensor reading of second joint 8
System is：
In conclusion in robot joint structure provided by the invention, using distance measuring sensor measure the first joint with
Adjacent the distance between two surfaces of the second joint, and the variation characteristic for passing through the distance reads the rotation angle in joint,
To achieve the effect that need not install encoder device can effectively measure the rotation angle of joint of robot；Also, the knot
Structure design cost is low, and installation is simple, does not have particular/special requirement to installation accuracy, installation site, can be obtained by simply calculating
To the joint rotation angle of absolute type, the design difficulty of robot is substantially reduced.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, due to corresponding to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (10)
1. a kind of robot joint structure, which is characterized in that including：One first joint, a second joint and an at least ranging
Sensor；First joint and second joint rotation connect, and first joint is adjacent with the second joint
Two surfaces constitute predetermined angle, and an at least distance measuring sensor is fixed on first joint or the second joint, with
Measure first joint, two surfaces the distance between adjacent with the second joint.
2. robot joint structure as described in claim 1, which is characterized in that first joint and the second joint phase
Two adjacent surfaces are a flat surface respectively to be fixed on the plane with an inclined-plane, an at least distance measuring sensor.
3. robot joint structure as claimed in claim 1 or 2, which is characterized in that the second joint has a shaft, institute
The first joint is stated with an axis hole, the axis hole is placed in the shaft.
4. robot joint structure as claimed in claim 3, which is characterized in that the quantity of the distance measuring sensor is two,
Including the first distance measuring sensor and the second distance measuring sensor, first distance measuring sensor and second distance measuring sensor are solid
It is scheduled on the same circumference coaxial with the shaft.
5. robot joint structure as claimed in claim 4, which is characterized in that the measurement position of first distance measuring sensor
Set and the measurement position of second distance measuring sensor and rotating shaft core it is not conllinear.
6. robot joint structure as claimed in claim 5, which is characterized in that when the quantity of the distance measuring sensor is two
When, the position of second joint is 0 ° of position when the maximum distance measured with the first distance measuring sensor, and joint of robot rotates angle
It is calculated by following formula,
In formula：θ is joint rotation angle；D is the distance that the first distance measuring sensor measures, wherein the first distance measuring sensor measures
Maximum distance be D1, minimum range D2, d is the distance that second sensor measures, when the distance that the first distance measuring sensor measures
When for D, the distance that corresponding second sensor is surveyed is dsOr db, and ds<db。
7. robot joint structure as claimed in claim 3, which is characterized in that further include a driving part, the driving portion
Part is connect with the shaft, to drive the shaft to rotate.
8. robot joint structure as claimed in claim 7, which is characterized in that the driving part is motor or servo electricity
Machine.
9. robot joint structure as described in claim 1, which is characterized in that the distance measuring sensor be optical sensor or
Magnetic sensor.
10. robot joint structure as described in claim 1, which is characterized in that further include a data processing equipment, the number
It is connect according to processing unit with an at least distance measuring sensor, joint rotation is calculated with the distance parameter measured according to distance measuring sensor
Gyration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322561.7A CN108858272A (en) | 2017-05-09 | 2017-05-09 | A kind of robot joint structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322561.7A CN108858272A (en) | 2017-05-09 | 2017-05-09 | A kind of robot joint structure |
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| Publication Number | Publication Date |
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| CN108858272A true CN108858272A (en) | 2018-11-23 |
Family
ID=64287130
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710322561.7A Pending CN108858272A (en) | 2017-05-09 | 2017-05-09 | A kind of robot joint structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111379723A (en) * | 2018-12-29 | 2020-07-07 | 广东美的生活电器制造有限公司 | Head shaking mechanism, air supply equipment, and rotation angle detection method and control device thereof |
| CN111688204A (en) * | 2020-07-01 | 2020-09-22 | 隋秀华 | Mechanical control arm torsion joint based on fused deposition 3D printing |
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| CN101224574A (en) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | Active-passive mixed-connected robot with nine degrees of freedom |
| CN103112005A (en) * | 2011-11-17 | 2013-05-22 | 财团法人精密机械研究发展中心 | Gesture type mechanical arm |
| CN103499327A (en) * | 2013-09-11 | 2014-01-08 | 广西玉柴重工有限公司 | Novel angle measurement system |
| CN104515496A (en) * | 2014-12-31 | 2015-04-15 | 成都信息工程学院 | Novel angle measurement sensor |
| CN204313822U (en) * | 2014-12-31 | 2015-05-06 | 成都信息工程学院 | A kind of novel measuring angle transducer |
| CN105790445A (en) * | 2014-12-22 | 2016-07-20 | 美律实业股份有限公司 | Wireless transmission device and manipulator arm employing same |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224574A (en) * | 2008-02-21 | 2008-07-23 | 北京航空航天大学 | Active-passive mixed-connected robot with nine degrees of freedom |
| CN103112005A (en) * | 2011-11-17 | 2013-05-22 | 财团法人精密机械研究发展中心 | Gesture type mechanical arm |
| CN103499327A (en) * | 2013-09-11 | 2014-01-08 | 广西玉柴重工有限公司 | Novel angle measurement system |
| CN105790445A (en) * | 2014-12-22 | 2016-07-20 | 美律实业股份有限公司 | Wireless transmission device and manipulator arm employing same |
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| CN111379723A (en) * | 2018-12-29 | 2020-07-07 | 广东美的生活电器制造有限公司 | Head shaking mechanism, air supply equipment, and rotation angle detection method and control device thereof |
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| CN111688204A (en) * | 2020-07-01 | 2020-09-22 | 隋秀华 | Mechanical control arm torsion joint based on fused deposition 3D printing |
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