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Robot dexterous hand driving module and control method

A technology of motor drive module and drive module, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor operability, high cost, and poor versatility, and achieve strong load capacity, low hardware cost, and high operating reliability Effect

Inactive Publication Date: 2015-12-23
许志林
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These control methods have defects such as high cost, poor operability, and poor versatility.

Method used

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  • Robot dexterous hand driving module and control method
  • Robot dexterous hand driving module and control method
  • Robot dexterous hand driving module and control method

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0037] see Figure 8 , the present invention takes the five-finger fourteen-degree-of-freedom multi-sensor robot dexterous hand as an embodiment of the control object. The dexterous hand has fourteen DC motors and forty-eight sensors, and the forty-eight sensors include twenty-eight position sensors, There are thirteen touch sensors, five temperature sensors, and two humidity sensors. The drive module in this embodiment can process information from forty-eight sensors and drive fourteen DC motors. Of course, the number of processing sensors and driving DC motors can vary freely. The requirements of robot dexterous hands with different degrees of accuracy and number of sensors change.

[0038] see figure 1 , the drive module 10000 of a robot dexterous hand in this embodiment includes a bus interface 900, a motor drive module and a sensor module; the bus interface 900 is electrically connected to the motor drive module and the sensor module through a bus; the motor drive module...

Embodiment 2

[0051] Other structures of this embodiment are the same as embodiment one except the following features: see Figure 5 , the controller 1 of this embodiment is set in the drive module 10001, that is, the drive module 10001 integrates the controller 1 into one body.

Embodiment 3

[0053] Other structures of this embodiment are the same as embodiment one except the following features: see Figure 7 , the control instruction of the controller 1 in this embodiment comes from the remote controller 3; the remote controller 3 sends the control instruction to the controller 1, and the controller 1 analyzes the instruction and controls the driving module 10000 to drive the robot dexterous hand.

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Abstract

The invention discloses a robot dexterous hand driving module and a control method. The robot dexterous hand driving module comprises a bus interface, a motor driving module and a sensor module; the motor driving circuit comprises a first decoder, a data latching module and a driving chip module; and the sensor module comprises a second decoder, a data transreceiver module and a sensor interface module. The driving module receives external signals to control the motor driving module, and returns sensor module signals to the external so as to drive robot dexterous hands to operate. The data latching module latches information for controlling the motor; the data transreceiver module transmits sensor information; and buses comprise an address bus, a data bus and a control bus, and are used for communicating the driving module with the external. The robot dexterous hand driving module has the characteristics of acquiring information of multiple sensors and driving multiple motors, is simple in structure and convenient for expansion, can satisfy the dexterous hand driving control requirements of multi-degree-of-freedom and multi-finger robots, and is combined with the dexterous hands to be widely applied to the robot industry.

Description

technical field [0001] The invention relates to the research field of a control system of a robot dexterous hand, in particular to a driving module and a control method of a multi-sensor, multi-degree-of-freedom, and multi-finger robot dexterous hand. Background technique [0002] With the development of science and technology, the human demand for robots is increasing. Especially for anthropomorphic robots, as robot technology becomes more and more mature, more and more anthropomorphic robots appear in daily life. . [0003] At present, there are various dexterous hands, and the control methods of robot dexterous hands have been studied at home and abroad. The main control methods are: using data gloves to control dexterous hands; installing spatial position trackers on dexterous fingers and palms , through the tracker to detect the gesture data of the dexterous hand, to achieve the purpose of controlling the dexterous hand; use the camera to capture the gesture of the op...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/1694
Inventor 许志林
Owner 许志林
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