CN106426134A

CN106426134A - Biomimetic mechanical arm and robot

Info

Publication number: CN106426134A
Application number: CN201611011186.6A
Authority: CN
Inventors: 李�杰
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-11-17
Filing date: 2016-11-17
Publication date: 2017-02-22

Abstract

The invention discloses a biomimetic mechanical arm. The biomimetic mechanical arm comprises a rack assembly, a shoulder assembly, a big arm assembly and a small arm assembly. The small arm assembly is similar to the forearm of the human hand, and the big arm assembly is arranged on the rear portion of the small arm assembly. The big arm assembly is similar to the big arm of the human hand, the shoulder assembly is arranged on the rear portion of the big arm assembly, and the shoulder assembly is similar to the human shoulder structure and is arranged on the rack assembly. The rack assembly comprises a support and a rolling bearing. The shoulder assembly comprises a shoulder fulcrum bar, a shoulder swinging arm and a shoulder drive device. The big arm assembly comprises a front big arm, a rear big arm, a big arm drive device and a big arm rotating mechanism. The small arm assembly comprises a front small arm, a rear small arm, a small arm drive device and a small arm rotating mechanism. A tongs base is arranged on the front small arm and can be connected with different types of tongs for finishing various grabbing actions. The biomimetic mechanical arm has the similar freedom of motion with the human arm, and is compact in structure, easy and convenient to maintain and large in relative load. The invention further discloses a robot comprising the biomimetic mechanical arm.

Description

Biomimetic manipulator and robot

Technical field

The present invention relates to robotics, more particularly, to a kind of biomimetic manipulator and robot.

Background technology

In recent years, robot is widely used to each field, wherein especially extensive in industry manufacture field.Industrial machine The application of people greatly reduces the labor intensity of workman, improves industrial efficiency and safety coefficient.Industrial machine at present The mechanical arm that human body adopts generally has multiple joints, and the rotation in each joint is all by motor or servomotor Realize, because the volume of motor or servomotor is generally larger, this is accomplished by each articular portion of mechanical arm has relatively Big volume, in order to install motor or servomotor, thus the industrial machinery arm of routine suffers from the drawback that：Structure Too fat to move, take up room big, single function, relative load is little etc..Due to these shortcomings so that general industry robot can not or It is not suitable for robot volume and be loaded with the occasion being strict with, such as engineering, education experiment, amusement and home services etc. Industry.

Biomimetic manipulator, due to imitating human arm motion's action, compact conformation, takes up room little, applied widely.Mesh Before, the bionic mechanical arm body quality using industrial machinery arm Model Design is big, and structure is too fat to move, and control system is complicated；And adopt The biomimetic manipulator relative load that rope drives and bionic muscle drives is little, and stability is poor.

Accordingly, it would be desirable to a kind of body is lightweight, mechanism is simple, and relative load is big, the biomimetic manipulator of stable and reliable operation, Meet the demand that robot applies in each field.

Content of the invention

The purpose of the present invention is that design provides a kind of biomimetic manipulator, reaches that structure is simple, low cost, stable, phase The purpose big to load.It is a further object of the present invention to provide a kind of robot including above-mentioned biomimetic manipulator.

Technical scheme is as follows：

A kind of biomimetic manipulator, including housing assembly, shoulder components, big arm component and little arm component；

Described little arm component is similar to staff forearm, is provided with thereafter big arm component；Described big arm component is similar to staff large arm, sets thereafter There is shoulder components, described shoulder components is similar to people's shoulder structure, is arranged on housing assembly；

Described housing assembly includes bearing and rolling bearing；Whole bionic mechanical arm assembly can be fixedly installed to machine by described bearing On device people, which is provided with rolling bearing, described housing assembly is used for supporting described shoulder components；

Described shoulder components includes takeing on pole, shoulder swing arm, shoulder driving means；

Described shoulder pole is arranged on rolling bearing and through rolling bearing inner ring, and its one end is connected with big arm component, is located at Support outer, the other end is provided with shoulder swing arm, and described shoulder swing arm one end is fixedly connected with shoulder pole, and the other end is cut with scissors with shoulder driving means Connect, described shoulder driving means are arranged inside described bearing, and one end is connected with bearing, the other end is hinged with shoulder swing arm, drives shoulder Swing arm motion, driving shoulder pole is relatively rotated with bearing；

Described big arm component includes front large arm, rear large arm, large arm driving means, large arm rotating mechanism；Described rear large arm and shoulder Bar is hinged, and described large arm driving means are arranged inside shoulder pole, and its one end is connected with shoulder pole, and the other end is cut with scissors with rear large arm Connect, after driving, large arm is along the rotation of shoulder pole axial direction；Described large arm rotating mechanism is arranged between front large arm and rear large arm, by big Arm rotating support shaft is held, large arm electric rotating machine and large arm rotary speed shifting mechanism form；Described large arm rotating support shaft hold one end with Front large arm connects, and the other end is connected with rear large arm, by the driving of described large arm electric rotating machine, the biography of large arm rotary speed shifting mechanism Dynamic, front large arm and rear large arm relative rotary motion；

Described little arm component includes front forearm, rear forearm, forearm driving means, forearm rotating mechanism；Described rear forearm is big with front Arm is hinged, and described forearm driving means one end is connected with front large arm, and the other end is hinged with rear forearm, and after driving, forearm is along front large arm The rotation of axial direction；Described forearm rotating mechanism is arranged between front forearm and rear forearm, is held by forearm rotating support shaft, forearm revolves Rotating motor and forearm rotary speed shifting mechanism composition；Described forearm rotating support shaft is held one end and is connected with front forearm, the other end with after Forearm connects, and by the driving of described forearm electric rotating machine, the transmission of forearm rotary speed shifting mechanism, front forearm is relative with rear forearm Rotary motion；It is provided with handgrip base on described front forearm, by handgrip base, different types of handgrip can be connected, complete each Plant grasping movement.

Described shoulder pole is hollow structure, and described large arm driving means are hidden and are arranged in shoulder pole hollow structure, drive Large arm, along while shoulder pole axially-movable, is relatively rotated around described bearing together with described shoulder pole afterwards.

Described shoulder driving means, large arm driving means and forearm driving means are straight line performs device；The straight line being used Performs device can be hydraulic jack, cylinder, electric pushrod or Electrohydraulic push rod isoline motion actuators.

Preferably, described large arm rotating mechanism and described forearm rotating mechanism have identical structure, the rotation being adopted Spring bearing is the bearing that can simultaneously bear axial load and radial load, the rotary drive motor being adopted and rotation variable-speed motor Structure is arranged inside arm configuration.

Described shoulder pole and rear large arm connection end, rear large arm end, front large arm end, rear forearm end are U-shape structure, with Front end and backend mechanism articulated manner connect.

The present invention also provides a kind of robot, and including control system and biomimetic manipulator, described biomimetic manipulator is specially Biomimetic manipulator described in above-mentioned any one.

The biomimetic manipulator that the present invention provides, imitates staff arm configuration, has multiple degree of freedom：Shoulder driving means drive shoulder Swing arm motion, drives shoulder pole to rotate on rolling bearing；Large arm driving means drive large arm along the swing of shoulder pole axial direction, same When with shoulder pole relative seat rotary motion；The large arm rotating mechanism front large arm of driving is rotated against with rear large arm, makes little Arm has rotary motion；Forearm driving means drive forearm along the swing of large arm axial direction；Forearm rotating mechanism drive before forearm with The rotating against of forearm afterwards, the rotation of driving mechanical handgrip.

Biomimetic manipulator and the robot with this biomimetic manipulator that the present invention provides, the motion mode phase with human arm Seemingly, drive mechanism is arranged in arm mechanism, compact conformation；Using straight line performs device actuating arm joint motions, relative load is big, Control easy；Connected mode hinged between assembly in front and back is convenient to be combined and safeguards；There is applied range, energy consumption is low, safeguard The features such as facilitate.

Brief description

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings Accompanying drawing.

Fig. 1 is the structural representation of the specific embodiment of biomimetic manipulator of the present invention.

Fig. 2 is the structure decomposition figure of the large arm rotating mechanism of the specific embodiment of the invention.

Fig. 3 is the structure decomposition figure of the forearm rotating mechanism of the specific embodiment of the invention.

In figure：1st, little arm component, 2, big arm component, 3, shoulder components, 4, housing assembly, 101, front forearm, 102, rear forearm, 103rd, forearm driving means, 104, forearm rotating mechanism, 105, forearm rotating support shaft hold, 106, forearm rotation master gear, 107th, forearm electric rotating machine, 108, forearm electric rotating machine base, 109, handgrip base, 201, front large arm, 202, rear large arm, 203, Large arm driving means, 204, large arm rotating mechanism, 205, large arm rotating support shaft hold, 206, large arm rotation master gear, 207, big Arm electric rotating machine, 208, large arm electric rotating machine base, 301, shoulder pole, 302, shoulder swing arm, 303, shoulder driving means, 401, Seat, 402, rolling bearing.

Specific embodiment

Below in conjunction with the accompanying drawings and embodiment is described in further detail to the biomimetic manipulator of the present invention and robot.

Refer to Fig. 1 to Fig. 3, Fig. 1 is a kind of knot of specific embodiment of biomimetic manipulator provided by the present invention Structure schematic diagram；Fig. 2 is a kind of structural representation of specific embodiment of biomimetic manipulator large arm provided by the present invention； Fig. 3 is a kind of structural representation of specific embodiment of biomimetic manipulator forearm provided by the present invention.

The biomimetic manipulator that the specific embodiment of the invention is provided, including housing assembly 4, shoulder components 3, big arm component 2 With little arm component 1；

Described little arm component 1 is similar to staff forearm, is provided with thereafter big arm component 2；Described big arm component 2 is similar to staff large arm, its After be provided with shoulder components 3, described shoulder components 3 be similar to people shoulder structure, be arranged on housing assembly 4；

Described housing assembly 4 includes bearing 401 and rolling bearing 402；Described bearing 401 can be solid by whole bionic mechanical arm assembly Dingan County is attached in robot, which is provided with rolling bearing 402, and described housing assembly 4 is used for supporting described shoulder components 3；

Described shoulder components 3 includes takeing on pole 301, shoulder swing arm 302, shoulder driving means 303；

Described shoulder pole 301 is arranged on rolling bearing 402 and through rolling bearing 402 inner ring, its one end and big arm component 2 Connect, outside bearing 401, the other end is provided with shoulder swing arm 302；Described shoulder swing arm 302 one end is fixing with shoulder pole 301 even Connect, the other end is hinged with shoulder driving means 303；Described shoulder driving means 303 are arranged inside bearing 401, one end and bearing 401 Connect, the other end is hinged with shoulder swing arm 302, drive shoulder swing arm 302 to move, driving shoulder pole 301 is relative with bearing 401 to be turned Dynamic；

Described big arm component 2 includes front large arm 201, rear large arm 202, large arm driving means 203, large arm rotating mechanism 204；Described Large arm 202 is hinged with shoulder pole 301 afterwards, and described large arm driving means 203 are arranged inside shoulder pole 301, and its one end is propped up with shoulder Bar 301 connects, and the other end is hinged with rear large arm 202, and after driving, large arm 202 is along the rotation of shoulder pole 301 axial direction；

Described large arm rotating mechanism 204 is arranged between front large arm 201 and rear large arm 202, hold 205 by large arm rotating support shaft, Large arm rotation master gear 206, large arm electric rotating machine 207, large arm electric rotating machine fixed mount 208 form；Described large arm rotation supports Bearing 205 is the slewing bearing that can simultaneously bear axial load and radial load, and its inner ring is connected with rear large arm 202, outward Circle is connected with front large arm 201, and outer ring is provided with gear ring；Described large arm electric rotating machine 207 passes through large arm electric rotating machine fixed mount 208 are fixed in rear large arm 202, and its outfan is provided with large arm rotation master gear 206；Large arm rotation master gear 206 and large arm rotation The outer ring gear turning spring bearing 205 collectively forms large arm rotary speed shifting mechanism, by the drive of described large arm electric rotating machine 207 Dynamic, front large arm 201 rotates against rotation with rear large arm 202；

Described little arm component 1 includes front forearm 101, rear forearm 102, forearm driving means 103, forearm rotating mechanism 104；Described Forearm 102 is hinged with front large arm 201 afterwards, and described forearm driving means 103 one end is connected with front large arm 201, and the other end is little with rear Arm 102 is hinged, and after driving, forearm 102 is along the rotation of front large arm 201 axial direction；Described forearm rotating mechanism 104 is arranged at front forearm Between 101 and rear forearm 102,105, forearm rotation master gear 106, forearm electric rotating machine 107 and are held by forearm rotating support shaft Forearm electric rotating machine fixed mount 108 forms；Described forearm rotating support shaft is held 105 and can be born axial load and radial load simultaneously Slewing bearing, its inner ring is connected with rear forearm 102, and outer ring is connected with front forearm 101, and outer ring is provided with gear ring；Institute State forearm electric rotating machine 107 to be fixed on rear forearm 102 by forearm electric rotating machine fixed mount 108, its outfan is provided with forearm Rotation master gear 106；The outer ring gear that forearm rotation master gear 106 holds 105 with forearm rotating support shaft collectively forms forearm rotation Turn gear, by the driving of forearm electric rotating machine 107, front forearm 101 rotates against rotation with rear forearm 102；Before described Handgrip base 109 is provided with forearm 101, by handgrip base 109, different types of handgrip can be connected, complete various crawls Action.

Described shoulder pole 301 is hollow structure, and described large arm driving means 203 are hidden and are arranged at shoulder pole 301 hollow knot In structure, after driving large arm 202 along shoulder pole 301 axially-movable while, with described shoulder pole 301 together with around described bearing 401 Relatively rotate.

Described shoulder driving means 303, large arm driving means 203 and forearm driving means 103 are straight line performs device；Made Straight line performs device can be hydraulic jack, cylinder, electric pushrod or Electrohydraulic push rod isoline motion actuators.

Described shoulder pole 301 and rear large arm 202 connection end, rear large arm 202 end, front large arm 201 end, rear forearm 102 End is U-shape structure, is connected with front end and backend mechanism articulated manner.

The biomimetic manipulator that present embodiment provides, imitates human arm motion's mode：Shoulder driving means 303 drive shoulder pendulum Arm 302 moves, and drives shoulder pole 301 to rotate on rolling bearing 402；After large arm driving means 203 drive, large arm 202 is propped up along shoulder The swing of bar 301 axial direction, simultaneously with shoulder pole 301 relative seat 401 rotary motion；Before large arm rotating mechanism 204 drives Large arm 201 is rotated against with rear large arm 202, makes little arm component 1 have rotary motion；Forearm driving means 103 are little after driving Arm 102 is along the swing of front large arm 201 axial direction；Forearm rotating mechanism 104 drives rotating against of front forearm 101 and rear forearm 102, The rotation of driving mechanical handgrip.

Except above-mentioned biomimetic manipulator, the specific embodiment of the present invention also provides a kind of above-mentioned biomimetic manipulator of inclusion Robot, the structure of this other each several part of robot refer to prior art, repeats no more herein.

Above to biomimetic manipulator provided by the present invention and there is the robot of this biomimetic manipulator carried out detailed Jie Continue.Specific case used herein is set forth to the principle of the present invention and embodiment, the explanation of embodiment of above It is only intended to help and understand the method for the present invention and its core concept.It should be pointed out that the ordinary skill people for the art Member for, under the premise without departing from the principles of the invention, the present invention can also be carried out some improve and modify, these improve and Modify and also fall in the protection domain of the claims in the present invention.

Claims

1. a kind of biomimetic manipulator is it is characterised in that include：Housing assembly, shoulder components, big arm component and little arm component；Described Housing assembly includes bearing and rolling bearing；Whole bionic mechanical arm assembly can be fixedly installed in robot for described bearing, Which is provided with rolling bearing, described housing assembly is used for supporting described shoulder components；

Described shoulder components includes takeing on pole, shoulder swing arm and shoulder driving means；Described shoulder pole is arranged on rolling bearing and runs through In rolling bearing inner ring, its one end is connected with big arm component, and the other end is provided with shoulder swing arm, and described shoulder swing arm one end is solid with shoulder pole Fixed connection, the other end is hinged with shoulder driving means, and described shoulder driving means one end is connected with bearing, and the other end is cut with scissors with shoulder swing arm Connect, drive shoulder swing arm motion, drive shoulder pole is relatively rotated with bearing；Described big arm component includes front large arm, rear large arm, big Arm driving means and large arm rotating mechanism；Described rear large arm is hinged with shoulder pole, and described large arm driving means are arranged at shoulder pole Inside, its one end is connected with shoulder pole, and the other end is hinged with rear large arm, and after driving, large arm is along the rotation of shoulder pole axial direction；Described Large arm rotating mechanism is arranged between front large arm and rear large arm, is held by large arm rotating support shaft, large arm electric rotating machine and large arm revolve Turn gear composition；Described large arm rotating support shaft is held one end and is connected with front large arm, and the other end is connected with rear large arm, by institute State the driving of large arm electric rotating machine, the transmission of large arm rotary speed shifting mechanism, front large arm and rear large arm relative rotary motion；Described little Arm component includes front forearm, rear forearm, forearm driving means and forearm rotating mechanism；Described rear forearm is hinged with front large arm, institute State forearm driving means one end to be connected with front large arm, the other end is hinged with rear forearm, forearm turning along front large arm axial direction after driving Dynamic；Described forearm rotating mechanism is arranged between front forearm and rear forearm, held by forearm rotating support shaft, forearm electric rotating machine and Forearm rotary speed shifting mechanism forms；Described forearm rotating support shaft is held one end and is connected with front forearm, and the other end is connected with rear forearm, By the driving of described forearm electric rotating machine, the transmission of forearm rotary speed shifting mechanism, front forearm and rear forearm relative rotary motion； Described front forearm is provided with handgrip base, by handgrip base, can connect different types of handgrip, complete various grasping movement.

2. biomimetic manipulator according to claim 1 it is characterised in that described shoulder pole be hollow structure, described large arm Driving means are hidden and are arranged in shoulder pole hollow structure, after driving while the shoulder pole axially-movable of large arm edge, with described shoulder Pole rotates relative to described bearing together.

3. biomimetic manipulator according to claim 1 it is characterised in that described shoulder driving means, large arm driving means and Forearm driving means are straight line performs device；The straight line performs device being used includes but is not limited to hydraulic jack, cylinder, electronic Push rod or Electrohydraulic push rod.

4. biomimetic manipulator according to claim 1 is it is characterised in that described large arm rotating mechanism and described forearm rotate Rotating support shaft in mechanism holds the bearing for can bear axial load and radial load simultaneously.

5. biomimetic manipulator according to claim 1 is it is characterised in that described large arm rotating mechanism and described forearm rotate Rotating support shaft in mechanism is held, electric rotating machine and rotary speed shifting mechanism are hidden and be arranged in arm configuration.

6. biomimetic manipulator according to claim 1 is it is characterised in that described shoulder pole and rear large arm connection end, big afterwards Arm end, front large arm end, rear forearm end are U-shape structure, are connected with front end and backend mechanism articulated manner.

7. a kind of robot, including control system and biomimetic manipulator it is characterised in that including as any one in claim 1 ~ 6 Biomimetic manipulator described in.