CN101372096A - Multiple-joint service robot arm capable of implementing translational decoupling at Z direction - Google Patents
Multiple-joint service robot arm capable of implementing translational decoupling at Z direction Download PDFInfo
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- CN101372096A CN101372096A CNA2008100216072A CN200810021607A CN101372096A CN 101372096 A CN101372096 A CN 101372096A CN A2008100216072 A CNA2008100216072 A CN A2008100216072A CN 200810021607 A CN200810021607 A CN 200810021607A CN 101372096 A CN101372096 A CN 101372096A
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Abstract
The invention provides a multi-joint service robot arm which can achieve translational decoupling along the Z direction; the structure of the arm uses a U RR+R type which consists of a shoulder joint which has two swing pairs, an elbow joint which has a swing pair, a wrist joint which has a rotation pair and a swing pair, a large arm which is connected between the shoulder joint and the elbow joint, a small arm which is connected between the elbow joint and the wrist joint, and paws which are connected with the wrist joint; the shoulder joint comprises a parallelogram mechanism and a shoulder connecting body; the driving arm of the shoulder joint is connected with a motor connecting shaft sleeve which is connected with the motor output shaft; the shoulder connecting body is arranged on the connecting arm of the parallelogram mechanism; the shoulder connecting body comprises a bracket which consists of a supporting plate and a supporting angle aluminium; the bracket is connected with a shoulder actuator and a transmission plate; the actuator is fixed on the bracket; the shoulder transmission plate is connected with the bracket; the actuator output shaft is connected with the transmission plate; the transmission plate is connected with one end of the large arm.
Description
One, technical field
The present invention relates to simple in structure, the cheaply robot arm of a kind of Z of realization to (vertical direction) translational decoupling, be fit to be installed in the mechanical arm in a kind of service of helping the disabled (accompanying and attending to) robot that helps the elderly cheaply, relate in particular to the multi-joint service robot arm of a kind of Z of realization to translational decoupling.
Two, background technology
Robotics is that major contribution has been made in the development of modern manufacturing industry.In recent years, the application of Robotics is progressively expanded to human lives field more widely by existing production field, and miniaturization, lightweight and constantly being developed near practical artificial intelligence service robot more developed.Current, along with the serious day by day of global social senilization problem with improve pressing for of disabled person's quality of life, the main robot of accompanying and attending to, assistant robot, healing robot, intelligent wheel chair etc. towards old and disabled person, be referred to as the great attention that " service robot of helping the elderly/help the disabled " begun to be subjected to each developed country of the world, become worldwide research focus.
At present, business-like robot mainly is the industrial robot that is applied to the field of manufacturing, and the joint of robot arm drives most straight/AC servo motors that adopt, and robot also mostly is the operation of joint type single armed.Usually, the one armed robot only is suitable for the operation of rigidity workpiece, and is limited by working environment, and this service robot of helping the disabled for helping the elderly needs for the occasion of both arms coordinative operation, and the single armed operation is not enough.In addition, the most structures of existing robots joint type arm are single, cost is high; And, the robot arm of general pure revolute pair, manipulator needs the coordination control in each joint of mechanical arm in the translation of Z direction, realize the translation of manipulator even select moving sets as the shoulder joint in the Z direction, also need to select realizations such as ball-screw or line slideway for use, this certainly will increase the manufacturing cost of mechanical arm.
Three, summary of the invention
The objective of the invention is to overcome general robot arm under the situation that does not change a plurality of joints of mechanical arm attitude, can't realize the deficiency of manipulator at the Z direction translational, and provide a kind of have big working space simple in structure, can realize the multi-joint service robot arm of Z cheaply to translational decoupling, the present invention can be realized pure flat moving by pure rotation, promptly realize the one-dimensional translation of manipulator on the Z direction of space, guarantee that simultaneously the manipulator spatial attitude is constant.
The present invention adopts the description below scheme:
A kind of multi-joint service robot arm from Z to (vertical direction) translational decoupling that realize, employing be the U^RR+R configuration.
Multi-joint service robot arm of the present invention by have secondary shoulder joint (the universal hinge of translation-rotations U^) A of two swings, have the secondary ancon joint C of swing, have a rotary pair and a swing pair the wrist joint E, be connected big arm B between shoulder joint A and the ancon joint C, be connected the forearm D between ancon joint C and the wrist joint E, the paw F that is connected with the wrist joint E and form.The terminal manipulator of carrying out is made up of wrist joint E and paw F, promptly support E4, be installed in wrist steering wheel E5, a pair of master/slave moving gear E6/E7 that is installed in paw matrix E3 one side, a pair of output shaft E8 that is installed in paw matrix E3 opposite side and respective fixation axle sleeve E9 in the matrix, form with a pair of paw F1/F2 that a pair of gear E6/E7 is fixedlyed connected with a pair of output sleeve E8/E9 respectively by paw matrix E3, wrist steering wheel, paw F1/F2 is positioned at the outside of paw matrix E3, is used to pick and place object.Shoulder joint A is made up of parallel-crank mechanism and shoulder connector, wherein, the driving of parallel-crank mechanism is realized that by the revolute pair that is fixed on robot body type of drive adopts DC servo motor, all adopts steering wheel to realize for the driving in other joints of shoulder connector and arm.
The configuration mode in the shoulder joint of this multi-joint service robot arm adopts is translation-rotate universal hinge, has two frees degree; Parallel-crank mechanism drives (120 ° of range of movement) by the revolute pair that is installed in the robot body bottom, drives shoulder connector and arm then along the Z direction translational; The shoulder connector can be realized the rotation around the Z direction under the driving of steering wheel, drive big arm B then around Z direction swing (180 ° of range of movement).Ancon joint C has one degree of freedom, and under the driving of steering wheel, elbow joint C can drive forearm D around Z direction swing (180 ° of range of movement).If realize big arm B and forearm D swing simultaneously, can increase the terminal working space (perpendicular to the plane of Z direction) of carrying out manipulator in the Z direction.Big arm B and forearm D have spatially constituted translational decoupling on the Z direction with parallel-crank mechanism, that is: parallel-crank mechanism is as moving input, with irrelevant at the forms of motion that constitutes the plane perpendicular to big arm B and forearm D.Adopt the thought of this translational decoupling can realize conversion, satisfy the requirement (as: steadily picking and placeing tea) of service robot arm smooth transfer object by pure rotation-translation.The wrist joint E has two frees degree, paw matrix E3 links to each other with forearm D by wrist steering wheel flange E2, thereby realize carrying out the revolution (range of movement 360 °) of manipulator at directions X, paw F1/F2 carries out on-off action (grasping movement) by the steering wheel E5 driven gear E6/E7 that is installed in the matrix E3.
Multi-joint service robot arm of the present invention, but left-right symmetry be installed in the robot, move by the computer control tunable; Also can cooperate other simple and easy robot arms to use.This robot arm compact mechanical structure, length and people's arm are similar; The main part of mechanical arm all adopts aluminium section bar or lightweight aluminium sheet to form, and weight is light; Each joint connects reliable, convenient disassembly; Motor and sensor connecting line are built in the mechanical arm body, and drive connection is simple and clear.Arm has the characteristics of five degree of freedom, and the arm motion scope is big, accessibility is strong, it is strong to keep away the barrier ability, and can realize the translational decoupling of manipulator in the Z direction; In addition, operation arm energy consumption is low, adopts direct current 24v storage battery power supply, applicable to the service robot of movable type; The maximum weight capacity of single job arm: 2.0Kg.
Concrete advantage of the present invention is as follows:
The most structures of existing robots joint type arm are single, cost is high (joint most adopt be servomotor); Under the constant situation of each joint attitude of robot arm, can't realize the translation of manipulator in the Z direction.This if realize that manipulator steadily grasps, transmits article (as: improved water tumbler, remote controller etc.), then needs the coordination in each joint of mechanical arm just can finish for the service robot of helping the disabled of helping the elderly cheaply, and this also certainly will increase the control difficulty.Adopt the robot arm of invention then can only drive the shoulder joint, can finish the translation of manipulator Z direction, and can after setting Z direction position, realize any operation of arm in corresponding vertical plane.In addition, most robot arms adopt revolute pair configuration form more, DC servo motor is adopted in the driving of revolute pair, this has also increased the cost of robot arm design, it is obviously unfavorable to serve the people for helping the elderly cheaply/helping the disabled, and the robot arm of this invention is except that the shoulder joint, and other joints have all adopted controlled steering wheel to realize, can under the situation that does not change the control requirement, reduce manufacturing cost.
Five degree of freedom service robot arm of the present invention has big working space, and simple in structure, low-cost, can realize the Z direction translational, this arm can apish arm function carry out the different operations that require, and finishes actions such as the taking, putting of article, transmission as helping old man/disabled person.
Four, description of drawings:
Fig. 1 is that the multi-joint service robot arm is installed in robot operation schematic diagram on one's body.
Fig. 2 is the node configuration schematic diagram of robot arm.
Fig. 3 and Fig. 4 are the structure charts of robot arm.
Fig. 5, Fig. 6, Fig. 7 and Fig. 8 are the structure charts of shoulder joint A.
Fig. 9, Figure 10 and Figure 11 are the structure charts of arm and elbow joint.
Figure 12, Figure 13, Figure 14 and Figure 15 are the terminal structure charts (comprising wrist joint and paw) of carrying out manipulator.
Five, the specific embodiment
A kind of multi-joint service robot arm of realizing Z direction (vertical direction) translational decoupling, what arm structure adopted is the U^6RR+R configuration.
The U^RR+R configuration is by having two shoulder joints (A) that swing is secondary, has an ancon joint (C) that swing is secondary, have a rotary pair and the wrist joint (E) that swing is secondary, be connected the big arm (B) between shoulder joint and the ancon joint, be connected the forearm (D) between ancon joint and the wrist joint, the paw (F) that is connected with the wrist joint is formed, the shoulder joint comprises parallel-crank mechanism and shoulder connector, go up connection motor connecting bushing (A1) at the actuating arm (A3) of parallel-crank mechanism, motor connecting bushing (A1) links to each other with motor output shaft, the shoulder connector is located on the linking arm (A6) of parallel-crank mechanism, the shoulder connector comprises support, support is by gripper shoe (A7) and strut angle aluminium (A8, A14) form, support and shoulder steering wheel (A12), driver plate (A9) links to each other, steering wheel (A12) is fixed on the support, shoulder driver plate (A9) is connected with support, steering wheel (A12) output shaft is connected with driver plate (A9), and driver plate (A9) is connected with an end of described big arm (B).
The elbow joint of arm (C) comprises ancon steering wheel (C2) and ancon driver plate (C4), ancon steering wheel (C2) is fixed on the other end of described big arm (B), ancon steering wheel (C2) output shaft is connected with ancon driver plate (C4), and ancon driver plate (C4) is connected with described forearm (D).
Terminal carry out manipulator by paw matrix (E3), be installed in wrist steering wheel (E5) in the paw matrix (E3), be installed in a pair of master/slave moving gear (E6/E7) of paw matrix (E3) side, a pair of paw (F1/F2) of fixedlying connected with a pair of master/slave moving gear (E6/E7) respectively forms, paw (F1/F2) is positioned at the outside of paw matrix (E3), and the output shaft of wrist steering wheel (E5) is connected with driving gear (E6).
With reference to the accompanying drawings, and taking into account on the basis of factors such as considering structure optimization, manufacturing process, the present invention made more detailed description:
The most basic, the most direct means that service robot carries out service operation are exactly to carry out various operations by the operation arm to finish actions such as the taking, putting of article, switch, transmission.
Operation type articulated robot arm of the present invention is by having the secondary shoulder joint of two swings (translation-rotate universal hinge) A, have the secondary ancon joint C of swing, have the secondary wrist joint E of a rotary pair and swing, be connected big arm B between shoulder joint A and the ancon joint C, be connected the forearm D between ancon joint C and the wrist joint E, the paw F that is connected with the wrist joint E and form (referring to Fig. 3).
Articulated robot arm of the present invention has the function that shoulder changes, takes on pendulum, elbow pendulum, wrist pendulum, wrist rotation, and the mechanism principle of robot arm adopts the U^RR+R configuration as shown in Figure 2.Wherein, that shoulder joint adopts is the universal hinge of translation-rotation U^, and the input of translation is driven by DC servo motor by broad sense moving sets parallel-crank mechanism and realizes (Fig. 4), and the swing of shoulder joint can drive the translational decoupling that entire arms realizes the Z direction.Shoulder joint A forms (Fig. 6) by parallel-crank mechanism and shoulder connector.Wherein, parallel-crank mechanism is made up of motor connecting bushing A1, actuating arm A3, (shoulder changes) bearing cap A2, (shoulder changes) bearing holder (housing, cover) A4, rotary output axis A5 and linking arm A6.The shoulder connector by gripper shoe A7, strut angle aluminium (on) A8, driver plate A9, steering wheel flange A10, connect support A11, shoulder steering wheel A12, concentric output shafts A13, strut angle aluminium (descend) A14, concentric output shafts overlaps A15 and bearing cap A16 forms.
The concrete connected mode in shoulder joint: choose any motor connecting bushing A1 and be fixed on the actuating arm A3, another connecting bushing and corresponding connecting axle constitute the servo-actuated cradle head; (shoulder changes) bearing holder (housing, cover) A4, bearing cap A2 is connected across on the actuating arm A3 by (shoulder changes) connecting axle, whole (shoulder changes) joint servo-actuated; Linking arm A6 connects two actuating arm A3 by rotary output axis A5, constitutes the parallelogram driving mechanism; Linking arm A6 constitutes the shoulder connector by gripper shoe A7, joint angle aluminium etc., promptly at first by parallel-crank mechanism linking arm A6 and gripper shoe A7, strut angle aluminium (on) A8, strut angle aluminium (descending) be connected; In addition, steering wheel A12 and strut angle aluminium (on) A8, steering wheel flange A10, shoulder driver plate A9 and be connected and support the first half that A11 forms the shoulder connector; Concentric output shafts A13 is with strut angle aluminium (descending) A14, shoulder driver plate A9, output sleeve A15, bearing cap A16 and be connected the Lower Half that support A11 forms the shoulder connector.The connected mode of concrete shoulder joint is referring to shown in Figure 5.
Big arm B is made up of matrix B1 and reinforcement B2; Big arm one end is connected with driver plate A9 by supporting A11 with being connected of shoulder joint A, and in order to the input of motion, the other end of big arm links to each other with elbow joint C, constitutes the rotation output of next stage.
The connected mode of elbow joint C is similar to the shoulder connector of shoulder joint A, and promptly elbow joint C is at first overlapped C5, bearing cap C6 and is connected with big arm B, ancon driver plate C4, concentric output shafts by concentric shafts C1 and supports the first half that C7 forms elbow joint; In addition, ancon steering wheel C2 and steering wheel flange C3, driver plate C4 and be connected and support the Lower Half that C7 forms elbow joint.Concrete connected mode is referring to shown in Figure 7.
Forearm D is made up of matrix D2 and reinforcement D1; Forearm one end is connected with ancon driver plate C4 by supporting C7 with being connected of elbow joint C, and in order to the input of motion, the other end of forearm links to each other with wrist joint E, constitutes the rotation output of next stage.
The wrist joint E has two frees degree, paw matrix E3 links to each other with forearm D by steering wheel flange E2, thereby realize revolution (360 ° of range of movement) around directions X, drive whole manipulator and rotate, paw F1/F2 carries out on-off action (grasping movement) by the wrist steering wheel E5 driven gear E6/E7 that is installed in the matrix E3.The terminal manipulator of carrying out is made up of wrist joint E and paw F, promptly support E4, be installed in wrist steering wheel E5, a pair of master/slave moving gear E6/E7 that is installed in paw matrix E3 one side, a pair of output shaft E8 that is installed in paw matrix E3 opposite side and respective fixation axle sleeve E9 in the matrix, form with a pair of paw F1/F2 that a pair of gear E6/E7 is fixedlyed connected with a pair of output sleeve E8/E9 respectively by paw matrix E3, steering wheel, paw F1/F2 is positioned at the outside of paw matrix E3, is used to pick and place object.
The connected mode of service robot arm of the present invention is simple, quick detachable, and each junction all adopts standard component (screw, bolt etc.) to implement.
Claims (4)
1. the multi-joint service robot arm that can realize Z direction (vertical direction) translational decoupling, what it is characterized in that the robot arm configuration adopts is the U^RR+R configuration.
2. the realized Z that requires according to right 1 is to the multi-joint service robot arm of (vertical direction) translational decoupling, it is characterized in that the U^RR+R configuration is by having two shoulder joints (A) that swing is secondary, has an ancon joint (C) that swing is secondary, have a rotary pair and the wrist joint (E) that swing is secondary, be connected the big arm (B) between shoulder joint and the ancon joint, be connected the forearm (D) between ancon joint and the wrist joint, the paw (F) that is connected with the wrist joint is formed, shoulder joint (A) comprises parallel-crank mechanism and shoulder connector, go up connection motor connecting bushing (A1) at the actuating arm (A3) of parallel-crank mechanism, motor connecting bushing (A1) links to each other with motor output shaft, the shoulder connector is located on the linking arm (A6) of parallel-crank mechanism, the shoulder connector comprises support, support is by gripper shoe (A7) and strut angle aluminium (A8, A14) form, support and shoulder steering wheel (A12), driver plate (A9) links to each other, steering wheel (A12) is fixed on the support, shoulder driver plate (A9) is connected with support, steering wheel (A12) output shaft is connected with driver plate (A9), and driver plate (A9) is connected with an end of described big arm (B).
3. multi-joint service robot arm from Z to (vertical direction) translational decoupling that realize according to claim 2, it is characterized in that elbow joint (C) comprises ancon steering wheel (C2) and ancon driver plate (C4), ancon steering wheel (C2) is fixed on the other end of described big arm (B), ancon steering wheel (C2) output shaft is connected with ancon driver plate (C4), and ancon driver plate (C4) is connected with described forearm (D).
4. multi-joint service robot arm from Z to (vertical direction) translational decoupling that realize according to claim 2, it is characterized in that terminal carry out manipulator by paw matrix (E3), be installed in wrist steering wheel (E5) in the paw matrix (E3), be installed in a pair of master/slave moving gear (E6/E7) of paw matrix (E3) side, a pair of paw (F1/F2) of fixedlying connected with a pair of master/slave moving gear (E6/E7) respectively forms, paw (F1/F2) is positioned at the outside of paw matrix (E3), and the output shaft of wrist steering wheel (E5) is connected with driving gear (E6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100216072A CN101372096B (en) | 2008-08-05 | 2008-08-05 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
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| CN2008100216072A CN101372096B (en) | 2008-08-05 | 2008-08-05 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
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| CN101372096A true CN101372096A (en) | 2009-02-25 |
| CN101372096B CN101372096B (en) | 2010-12-08 |
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Cited By (9)
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| CN102525693A (en) * | 2012-01-18 | 2012-07-04 | 山东科技大学 | Steering engine driving type shoulder disarticulation type upper prosthesis |
| CN103990285A (en) * | 2014-05-12 | 2014-08-20 | 祁国祥 | Acting robot |
| CN105014671A (en) * | 2015-08-14 | 2015-11-04 | 哈尔滨工大服务机器人有限公司 | Multi-degree-of-freedom shoulder joint driving device of clothes model robot |
| CN106120891A (en) * | 2016-08-22 | 2016-11-16 | 南京理工大学 | Multifunction manipulator |
| CN106346456A (en) * | 2016-11-24 | 2017-01-25 | 成都炬石科技有限公司 | Humanoid mechanical arm and robot |
| CN107030729A (en) * | 2017-06-14 | 2017-08-11 | 东北大学 | A kind of apery elbow joint |
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
| CN109048959A (en) * | 2018-09-10 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot hand arm flexibly turned to |
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| US4828453A (en) * | 1987-04-21 | 1989-05-09 | The United States Of America As Represented By The United States Department Of Energy | Modular multimorphic kinematic arm structure and pitch and yaw joint for same |
| US5528955A (en) * | 1994-09-08 | 1996-06-25 | Hannaford; Blake | Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint |
| CN2595537Y (en) * | 2002-12-26 | 2003-12-31 | 哈尔滨工业大学 | Multiple joint human stimulation robot arm |
| CN2691802Y (en) * | 2004-04-12 | 2005-04-13 | 上海科技馆 | Robot capable of playing piano |
| JP4774964B2 (en) * | 2005-12-06 | 2011-09-21 | ソニー株式会社 | Robot equipment |
| JP2006315176A (en) * | 2006-08-28 | 2006-11-24 | Toshiba Mach Co Ltd | Robot arm |
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| CN102525693A (en) * | 2012-01-18 | 2012-07-04 | 山东科技大学 | Steering engine driving type shoulder disarticulation type upper prosthesis |
| CN103990285A (en) * | 2014-05-12 | 2014-08-20 | 祁国祥 | Acting robot |
| CN105014671A (en) * | 2015-08-14 | 2015-11-04 | 哈尔滨工大服务机器人有限公司 | Multi-degree-of-freedom shoulder joint driving device of clothes model robot |
| CN106120891B (en) * | 2016-08-22 | 2018-07-03 | 南京理工大学 | Multifunction manipulator |
| CN106120891A (en) * | 2016-08-22 | 2016-11-16 | 南京理工大学 | Multifunction manipulator |
| CN106346456A (en) * | 2016-11-24 | 2017-01-25 | 成都炬石科技有限公司 | Humanoid mechanical arm and robot |
| CN107030729B (en) * | 2017-06-14 | 2019-11-29 | 东北大学 | A kind of apery elbow joint |
| CN107030729A (en) * | 2017-06-14 | 2017-08-11 | 东北大学 | A kind of apery elbow joint |
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
| CN109048959A (en) * | 2018-09-10 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot hand arm flexibly turned to |
| CN109048959B (en) * | 2018-09-10 | 2022-02-08 | 广东宏穗晶科技服务有限公司 | Arm for robot capable of flexibly steering |
| CN113183135A (en) * | 2021-05-10 | 2021-07-30 | 北京化工大学 | Seven-degree-of-freedom humanoid mechanical arm device based on series-parallel connection |
| CN113183135B (en) * | 2021-05-10 | 2023-12-15 | 北京化工大学 | Seven-degree-of-freedom humanoid mechanical arm device based on serial-parallel series-parallel connection |
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