CN113103280A

CN113103280A - Robot attitude stabilizer using parallel mechanism

Info

Publication number: CN113103280A
Application number: CN202110319688.XA
Authority: CN
Inventors: 卢浩; 王洪波; 王富豪; 张学泽; 王旭升; 侯超; 王家玮
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2021-07-13
Anticipated expiration: 2041-03-25
Also published as: CN113103280B

Abstract

The invention relates to a robot attitude stabilizer using a parallel mechanism, which is arranged in a robot body and comprises a shell, an attitude sensor, a balancing weight and a parallel adjusting mechanism, wherein the shell is internally provided with an installation cavity, and the attitude sensor, the balancing weight and the parallel adjusting mechanism are respectively arranged in the installation cavity; when the center of gravity of the robot is unbalanced, the parallel adjusting mechanism acquires the posture of the robot detected by the posture sensor, and the center of gravity of the robot is adjusted by controlling the plurality of parallel branched chains to push the balancing weight to move in the shell.

Description

Robot attitude stabilizer using parallel mechanism

Technical Field

The invention relates to the technical field of service robots, in particular to a robot attitude stabilizer using a parallel mechanism.

Background

The service robot, especially the service robot and the nursing robot of type of humanoid, overall structure focus is higher from the ground, is going or turning to, keeping away the barrier in the process in the ramp, and easy focus is unstable, produces and rocks even topples over, brings very big injury for the robot, therefore the robot keeps the gesture stable vital.

The existing robot has three main types of modes for keeping stable posture and preventing toppling:

(1) a mode of supporting the robot body by extending out of the swing rod;

(2) the robot is provided with a mechanical gyroscope, and an anti-toppling moment mode is generated by utilizing the gyroscope;

(3) the position mode of the balancing weight is changed.

The mode that utilizes to stretch out the swinging arms support the robot body needs to install the swinging arms on the robot body truck, and when the robot is about to empty, the swinging arms stretches out outside the robot body to ground supports the robot as the fulcrum, and this kind of mode reaction rate is slow, and the position that can support is extremely limited, can not deal with the robot and is unstable at random, and the truck needs additional installation bracing piece structure, and is complicated pleasing to the eye.

Utilize the robot to install mechanical top, lean on the mode of top moment maintenance robot gesture stability, the moment that top itself produced at first is limited, and the effect that can play to the robot is very little, produces top moment in addition and needs the rotor to rotate at a high speed always, has both consumed the electric quantity of a large amount of robots itself like this, produces unsafe factor again, and the top of high-speed rotation will cause serious unpredictable's consequence in case of the departure.

The robot posture instability problem can be solved to a certain extent by changing the position of the balancing weight, but under the existing suspension or swing mode, the position of the balancing weight is slow to change, the movement is slow, the reachable position is limited, the occupied space is large, and the maintenance cost is high.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a robot attitude stabilizer using a parallel mechanism, which has the advantages of simple and compact structure, convenience in installation and maintenance and lower cost.

The purpose of the invention can be realized by the following technical scheme:

a robot attitude stabilizer using a parallel mechanism is arranged in a robot body and comprises a shell, an attitude sensor, a balancing weight and a parallel adjusting mechanism, wherein the shell is internally provided with an installation cavity, and the attitude sensor, the balancing weight and the parallel adjusting mechanism are respectively arranged in the installation cavity;

when the gravity center of the robot is unbalanced, the parallel adjusting mechanism acquires the posture of the robot detected by the posture sensor, and the balancing weight is pushed to move in the shell by controlling the plurality of parallel branched chains, so that the gravity center of the robot is adjusted.

Preferably, at least four parallel branches are arranged.

Preferably, the balancing weight is arranged in the center of the shell, and the plurality of parallel branched chains are radially and uniformly arranged on the periphery of the balancing weight.

Furthermore, the parallel branched chain comprises a first spherical hinge, a second spherical hinge and a linear motor, one end of the linear motor is connected with the inner side wall of the shell through the first spherical hinge, an output shaft at the other end of the linear motor is connected with the second spherical hinge through a coupler, and the second spherical hinge is arranged on the side wall of the balancing weight.

Furthermore, the parallel branched chain also comprises an encoder, and the encoder is arranged on the output shaft of the linear motor and is used for outputting the speed and the extension length of the output shaft of the linear motor in real time.

Further, the parallel adjusting mechanism further comprises a motor controller, wherein the motor controller is in communication connection with the attitude sensor and independently controls the linear motors on the parallel branched chains.

Furthermore, the casing on set up the through wires hole, the through wires downthehole set up the line cover, attitude sensor's cable pass through the through wires hole and cross the line cover, carry out electrical connection with the external world, be convenient for control bus and build.

Further, this robot attitude stabilizer still includes the gyro wheel, the gyro wheel set up in the balancing weight bottom, can roll at the bottom surface of casing, reduce the balancing weight and remove the in-process friction, improve the efficiency that the center was adjusted.

Further, the casing include interconnect and form last buckle closure and lower buckle closure of installation cavity, the balancing weight set up in the cavity of buckle closure down, parallelly connected branch chain one end be connected with the lateral wall of balancing weight, the other end is connected with the inside wall of buckle closure down, attitude sensor fixed set up in the cavity of last buckle closure.

Furthermore, the shell further comprises a sealing ring, and the sealing ring is arranged at the connecting part of the upper buckle cover and the lower buckle cover and used for forming a sealed mounting cavity and improving the reliability.

Compared with the prior art, the invention has the following advantages:

1) the invention is provided with a parallel adjusting mechanism, adopts a plurality of groups of parallel branched chains to realize the rapid omnibearing movement of the balancing weight in a plane, and the balancing weight, the parallel adjusting mechanism and the attitude sensor are all arranged in the shell, so that the whole stabilizer can be rapidly connected with a robot as a whole, and the function of correcting any unstable attitude of the robot, especially a man-machine cooperative robot, in the normal running process is realized;

2) all components are arranged in the mounting cavity of the shell, so that the integral mechanism is simple and compact, the installation and maintenance are convenient, and the cost is low;

3) the invention can be integrally arranged in the trunk of the robot, is electrically connected with the outside through the wire through hole and the wire passing sleeve only by a bundle of cables, is convenient for controlling the construction of the bus, does not influence the integral structure of the robot and is convenient for appearance design.

Drawings

FIG. 1 is a schematic view of the installation of the attitude stabilizer of the present invention on a robot body;

FIG. 2 is a perspective view of the present invention;

FIG. 3 is a bottom view of the present invention;

FIG. 4 is a top view of the present invention;

FIG. 5 is a partial schematic structural view of the present invention;

FIG. 6 is a schematic view of the internal structure of the upper buckle cover according to the present invention;

fig. 7 is a schematic view of the internal structure of the lower buckle cover of the present invention.

1. Robot, 2, attitude stabilizer, 21, go up the buckle closure, 22, lower buckle closure, 23, motor controller, 24, attitude sensor, 25, balancing weight, 26, parallelly connected branch chain, 261, first ball hinge, 262, linear electric motor, 263, second ball hinge, 264, encoder, 27, gyro wheel, 28, cross the line cover, 29, sealing washer, 210, through wires hole.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

Examples

As shown in fig. 1-7, the invention discloses a robot attitude stabilizer using a parallel mechanism, which is installed in a robot body 1 and comprises a housing with an installation cavity arranged inside, an attitude sensor 1, a balancing weight 25 and a parallel adjusting mechanism, wherein the attitude sensor 1, the balancing weight 25 and the parallel adjusting mechanism are respectively arranged in the installation cavity, the parallel adjusting mechanism comprises a controller and a plurality of parallel branched chains 26 connected in parallel between the balancing weight 25 and the housing, the parallel adjusting mechanism is also in communication connection with the attitude sensor 1, and the plurality of parallel branched chains 26 are mutually matched and can push the balancing weight 25 to realize all-directional movement in the housing.

In this embodiment, the housing includes an upper cover 21 and a lower cover 22 connected to each other to form a mounting cavity, and the upper cover 21 and the lower cover 22 are mounted on the robot body 1 by bolts.

A motor controller 23 for controlling the rotation of the motor and an attitude sensor 24 for detecting the attitude of the robot are arranged in the upper buckle cover 21; a balancing weight 25 and at least four groups of parallel branched chains 26 arranged between the inner wall of the lower buckle cover 22 and the balancing weight 25 are arranged in the lower buckle cover 22; at least four mounting holes are circumferentially arrayed on the inner wall of the lower buckle cover 22, and in this embodiment, six groups of parallel branched chains 26 are arranged.

As shown in fig. 5, a roller 27 is installed at the center of the weight 25 and is in rolling contact with the inner wall of the lower cover 22, and the roller 27 makes the weight 25 in rolling friction in the cavity of the lower cover 22, so as to reduce the friction resistance.

As shown in fig. 4 and 7, the parallel branched chain 26 includes a first ball hinge 261 mounted on the inner wall of the lower buckle cover 22, a linear motor 262 fixedly connected to an output end of the first ball hinge 261, and a second ball hinge 263 connected to an output shaft of the linear motor 262 through a coupling, the second ball hinge 263 being connected to the weight block 25; the output end of the second ball hinge 263 is coaxially disposed with the output shaft of the linear motor 262.

The mounting end of the first ball hinge 261 is fixedly connected with the inner side wall of the lower buckle cover 22 through a mounting hole and a bolt, the extending shaft of the first ball hinge 261 is fixed with the mounting position of the linear motor 262 through a motor connecting piece, the shaft end of the output shaft of the linear motor 262 is fixedly connected with the extending shaft of the ball hinge 263 through a coupler, the mounting end of the second ball hinge 263 is fixedly connected with the side edge of the balancing weight 25 through a bolt, six parallel branched chains 26 are uniformly distributed in the circumferential direction of the balancing weight 25, and the side edge of the balancing weight 25 is provided with six mounting hole positions uniformly distributed in the circumferential direction and is fixedly connected with the six parallel branched chains 26.

The working principle of the invention is as follows: according to the gesture of the robot detected by the gesture sensor 24, the motor controller 23 is used to control the corresponding linear motor 262 to rotate, and the counterweight 25 is pushed to move towards the corresponding direction on the lower buckle cover 22, so as to realize the adjustment of the gravity center of the robot. .

As shown in fig. 4, in the present invention, all the components are disposed in the closed cavity formed by the upper cover 21 and the lower cover 22, so that the attitude stabilizer 2 is an independent component, and the whole mechanism is simple and compact, convenient to install and maintain, and low in cost. The upper buckle cover 21 is provided with a threading hole 20, the threading hole 20 is provided with a threading sleeve 28 for threading, and the threading sleeve 28 is fixed above the upper buckle cover 21 through a locking nut and used for passing through a cable in the attitude stabilizer 2, the specific position can be changed, and the principle is convenient for outgoing. The invention can be integrally arranged in the trunk of the robot, is electrically connected with the outside only through a bundle of cables, is convenient for controlling the construction of a bus, does not influence the integral structure of the robot and is convenient for appearance design.

The motor controllers 23 are fixedly connected in the cavity of the upper buckle cover 21 through bolts, as shown in fig. 6, the number of the motor controllers 23 is different according to the number of motors that can be controlled by each controller, and the motor controller 23 has the capability of independently controlling six linear motors 262. The attitude sensor 24 is fixedly connected in the cavity of the upper buckle cover 21 through bolts, and has the capability of monitoring the body attitude of the robot in real time and the like.

A seam allowance is arranged between the upper buckle cover 21 and the lower buckle cover 22, a sealing ring 29 is arranged, and the wire passing sleeve 28 has a waterproof function. An encoder 264 is installed at the output end of the linear motor 262, and can output speed and extension shaft length data in real time.

In the use process of the embodiment of the invention, when the center of gravity formed by the robot body 1 in the processes of running on a slope or turning and obstacle avoidance is unstable, the attitude sensor 24 transmits the attitude signal of the robot body 1 to the motor controller 23, and the motor controller 23 makes a corresponding instruction according to the attitude signal, namely, starts a plurality of six linear motors 262 to move the position of the counterweight 25, so that the center of gravity of the robot is adjusted, and the stability of the robot attitude is kept. In the adjusting process, the balancing weight 25 moves fast, the structure of the whole stabilizer is compact, and the function of correcting any unstable posture of the robot, particularly a man-machine cooperative robot, in the normal traveling process is achieved.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A robot attitude stabilizer using a parallel mechanism, installed in the robot body (1), is characterized in that, comprising the housing that the installation cavity is arranged inside and the attitude sensor (1), the counterweight that are respectively arranged in the installation cavity A block (25) and a parallel adjustment mechanism, the parallel adjustment mechanism includes a plurality of parallel branch chains (26) connected in parallel between the counterweight block (25) and the housing, and the parallel adjustment mechanism is also connected with an attitude sensor (1) Communication connection, a plurality of parallel branch chains (26) cooperate with each other, which can push the counterweight (25) to move in all directions in the housing;

When the center of gravity of the robot is out of balance, the parallel adjustment mechanism obtains the attitude of the robot detected by the attitude sensor (1), and pushes the counterweight (25) to move in the casing by controlling a plurality of parallel branch chains (26), so as to realize the control of the robot. center of gravity adjustment.

2 . The robot attitude stabilizer using a parallel mechanism according to claim 1 , wherein at least four parallel branch chains ( 26 ) are provided. 3 .

3. A robot attitude stabilizer using a parallel mechanism according to claim 2, wherein the counterweight (25) is arranged in the center of the housing, and the plurality of parallel branch chains (26) It is evenly arranged on the outer periphery of the counterweight block (25) in a radial shape.

4. A robot attitude stabilizer using a parallel mechanism according to claim 1, wherein the parallel branch chain (26) comprises a first spherical hinge (261), a second spherical hinge (263) and A linear motor (262), one end of the linear motor (262) is connected with the inner side wall of the housing through a first ball hinge (261), and the output shaft at the other end is connected with a second ball hinge (263) through a coupling, The second ball hinge (263) is mounted on the side wall of the counterweight block (25).

5. A robot attitude stabilizer using a parallel mechanism according to claim 4, wherein the parallel branch chain (26) further comprises an encoder (264), and the encoder (264) is provided with On the output shaft of the linear motor (262), it is used for real-time output speed and the extension length of the output shaft of the linear motor (262).

6. The robot attitude stabilizer using a parallel mechanism according to claim 4, wherein the parallel adjustment mechanism further comprises a motor controller (23), and the motor controller (23) is associated with the attitude The sensor (1) is connected in communication and independently controls the linear motors (262) on each parallel branch chain (26).

7. A robot attitude stabilizer using a parallel mechanism according to claim 1, wherein a threading hole (20) is provided on the casing, and a threading sleeve is provided in the threading hole (20). (28), the cable of the attitude sensor (1) passes through the wire hole (20) and the wire sleeve (28), and is electrically connected to the outside world.

8. A robot attitude stabilizer using a parallel mechanism according to claim 1, wherein the robot attitude stabilizer further comprises a roller (27), and the roller (27) is arranged on the counterweight (25). ) bottom, which can roll on the bottom surface of the shell.

9. A robot attitude stabilizer using a parallel mechanism according to claim 1, wherein the housing comprises an upper buckle cover (21) and a lower buckle cover (22) that are connected to each other to form an installation cavity, The counterweight block (25) is arranged in the cavity of the lower buckle cover (22), one end of the parallel branch chain (26) is connected with the side wall of the counterweight block (25), and the other end is connected with the lower buckle cover (22) are connected to the inner side walls, and the attitude sensor (1) is fixedly arranged in the cavity of the upper buckle cover (21).

10 . The robot attitude stabilizer using a parallel mechanism according to claim 9 , wherein the housing further comprises a sealing ring (29), and the sealing ring (29) is arranged on the upper buckle cover. 11 . (21) and the connection part of the lower buckle cover (22) are used to form a sealed installation cavity.