CN106956289A - A kind of apery mechanical arm based under DC motor Driver - Google Patents

Abstract

The invention discloses a mechanism design of a humanoid mechanical arm driven by a DC motor. Including shoulder joint assembly, elbow joint assembly and forearm joint assembly, the two degrees of freedom of the shoulder joint can solve the flexibility problem of humanoid robot shoulder movement, the elbow joint is connected by a DC motor and a pair of helical cones The cooperation of the gears closely simulates the kinematic characteristics of the human elbow joint. The forearm joint adopts expansion sleeve couplings, angular contact ball bearings, and couplings to provide the rotational kinematic characteristics of the humanoid robot forearm joints. Under the optimal performance, the weight of the lower part of the forearm is transferred to the rotating motor housing of the forearm of the motor, which solves the problem that the motor shaft is not subject to axial and radial forces. The mechanical arm has the advantages of simple structure, stable operation, economical and practical, green and environmental protection, the spatial structure is close to the human arm, and is convenient for production and assembly.

Description

A Humanoid Manipulator Driven by a DC Motor

technical field

The invention belongs to the field of humanoid robots, and in particular relates to a humanoid mechanical arm driven by a DC motor.

Background technique

Most of the popular humanoid service robot arms on the market have fewer degrees of freedom, and the structure is relatively large, and the size of the human body mechanism is quite different; this mechanism can effectively solve the problem of the degree of freedom of the humanoid service robot arms. There are few problems, and the size of the mechanism is too large, and the overall structure is simple, and the processing cost is low.

Contents of the invention

In order to solve the problem of less degrees of freedom in the humanoid service robot mechanical arm in the prior art, the present invention provides a humanoid mechanical arm driven by a DC motor. The technical problem to be solved in the present invention is realized through the following technical solutions:

A humanoid mechanical arm driven by a DC motor, comprising: a shoulder joint, an elbow joint and a forearm joint, the shoulder joint is connected to the forearm joint through the elbow joint;

The shoulder joint comprises: a small spur gear shaft powered by a rotating motor, a large spur gear cooperating with the small spur gear shaft, a small spur bevel gear shaft arranged on the shoulder load-bearing part, and A large straight bevel gear shaft matched with a small straight bevel gear, the large straight bevel gear is fixed on the outer wall of the shoulder load-bearing member, and the end of the small straight bevel gear shaft is connected with an expansion sleeve coupling;

One end of the large straight-toothed bevel gear shaft is fixed and supported axially and radially by the large bevel gear straddle fixture; the other end of the large straight-toothed bevel gear shaft passes through the inner cavity of the shoulder load-bearing part, The chest fixing part is connected with the rotary motor behind, and the shoulder load-bearing part is fixedly connected with the shoulder load-bearing part; the rotary motor is fixed on the rotary motor fixing plate that provides support for the rotary motor; the small straight-toothed cylinder The end of the gear shaft is connected to the rotating motor fixed on the rotating fixture through a rigid coupling;

The elbow joint includes an elbow motor built in the elbow motor housing, the elbow motor is fixedly connected with the expansion sleeve coupling, and the output shaft of the elbow motor is connected with the small helical bevel gear shaft of the elbow through the expansion sleeve. The shaft is fixedly connected, one end of the upper connecting part of the elbow joint is fixedly connected with the motor housing of the elbow, the other end of the upper connecting part of the elbow joint is connected with the intermediate part of the elbow joint, and one end of the central axis of the elbow passes through the upper connecting part of the elbow joint It is connected with the large helical bevel gear, and the other end of the elbow central axis is connected with the elbow bearing fixing part. A deep groove ball bearing is fixed inside the middle part of the elbow joint through the elbow central axis and the elastic ring, and the right side of the elbow central axis It is fixedly connected with the large bevel gear, and the left side of the central axis of the elbow is fixed with the elastic retaining ring, and a deep groove ball bearing is fixed in the elbow bearing fixture;

The forearm joint includes a forearm rotating motor fixed in the forearm rotating motor housing, the upper part of the forearm rotating motor housing is connected with the elbow bearing fixture, and the lower end of the forearm rotating motor housing is provided with There is a forearm load-bearing part, the upper part of the forearm rotating motor housing is also connected with a large bevel gear connector, the forearm rotating motor is fixedly connected with the forearm rotating motor shaft coupling, and the forearm rotating motor shaft coupling The end is fixedly connected with the forearm expansion sleeve coupling, the end of the forearm expansion sleeve coupling is fixedly connected with the palm connector, and the forearm load-bearing part is movably connected with the forearm rotating motor shaft coupling.

In the aforementioned humanoid robotic arm driven by a DC motor, the large spur gear is fixed on the outer wall of the shoulder load-bearing part through a deep groove ball bearing, and a circlip is provided inside the deep groove ball bearing.

In the above-mentioned humanoid mechanical arm driven by a DC motor, the shoulder joint and the elbow joint are interference-fitted through an expansion sleeve coupling, so that the rear cover of the elbow motor is connected and fixed with the small straight bevel gear shaft.

In the aforementioned humanoid robotic arm driven by a DC motor, the palm connector is connected to the forearm rotary motor coupling through the forearm expansion sleeve coupling, and the weight of the palm connector is transmitted to the forearm rotary motor coupling. Shaft; between the forearm rotating motor coupling and the inner hole of the forearm load-bearing part, there is a deep groove ball bearing that matches the forearm rotating motor coupling, and the deep groove ball bearing connects the forearm rotating motor coupling The gravity on the arm is transferred to the forearm bearing load-bearing part, and the forearm bearing load-bearing part is connected with the forearm rotating motor housing, and the forearm bearing load-bearing part transmits the gravity to the forearm rotating motor housing.

Beneficial effects of the present invention:

Through the bionic design of the structure, the reasonable connection and cooperation between the structures, and the effective collocation between the power mechanisms, the invention successfully realizes the motion performance of the humanoid robot manipulator with a large range of motion. The structure is scientific and reasonable, the function is perfect, and the mechanism performance Stable and convenient for production debugging.

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

Description of drawings

Fig. 1 is the overall structure diagram of the present invention.

Fig. 2 is a structural diagram of the shoulder of the present invention.

Fig. 3 is a structural diagram of the elbow and the forearm of the present invention.

detailed description

In order to further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific implementation, structural features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and examples.

The problem to be solved in this embodiment is to provide a humanoid robot arm structure driven by a DC motor. Compared with the traditional humanoid robot arm mechanism, this mechanism has a simple structure, a size close to the human body size, stable operation, and functional Perfect, stable structure and performance, easy to assemble and adjust. With reference to Fig. 1, Fig. 2 and Fig. 3, the technical scheme that present embodiment adopts is:

A humanoid robotic arm driven by a DC motor, comprising:

A shoulder joint. The shoulder joint includes a pair of spur gears 1 and 46. The small spur gear 46 is presented in the form of a gear shaft. The small spur gear 46 is fixed in a cantilevered manner. At the fixed support end, first The gear shaft is fixed axially and radially through the cooperation of deep groove ball bearings, shaft shoulders, and elastic retaining rings. The end of the gear is fixedly connected to the rotating motor 14 through a rigid coupling 15, and the rotating motor 14 is connected to the rotating motor 16 through a rotating fixture 16. The cooperation of the screws is fixed, and the large spur gear 1 is fixed to the shoulder load-bearing member 6 by screws on its left side, and inside the large spur gear 1, the deep groove ball bearing is fixed through the circlip and the shaft shoulder. The large spur bevel gear 1 is presented in the form of a gear shaft, and the large spur bevel gear 47 is fixed by a straddle fixing method. On the left side of the large spur bevel gear, a structural inner hole is arranged, and a deep groove ball bearing is fixed in the inner hole , the left side of the deep groove ball is fixed by the corresponding circlip, the shaft and inner extension of the large bevel gear straddle fixture 45 and the inner hole of the large bevel gear 47 carry out axial and radial Fixed support, the other end of the large straight-toothed bevel gear 47 passes through the inner hole of the large cylindrical gear 1 and then passes through the deep groove ball bearing. The screw is fixedly connected with the flange plate 18, the rotary motor 17 is directly fixedly connected with the flange plate 18, and the rotary motor 17 is fixedly connected with the rotary motor fixing plate 19 by screws, and the rotary motor is fixedly supported. The small spur gear 46 is also presented in the form of a gear shaft. In the middle of the small spur gear 2, an angular contact ball bearing is fixed inside the shoulder load-bearing part 4 through a circlip, and the small spur gear 2 passes through the shaft shoulder in the vertical position. The gravity is unloaded on the inner ring surface of the angular contact ball bearing in the vertical direction, and the shoulder load-bearing part 4 is fixedly connected with the shoulder load-bearing part 6 through bolts. The end of the small straight bevel gear 2 is connected with the Z11 expansion sleeve coupling 37;

An elbow joint, an elbow joint, includes an elbow motor 21, the elbow motor 21 is built in the elbow motor housing 7, and the head end of the elbow motor 21 is fixed to the elbow motor housing 7 by countersunk screws , fixed at the end with the elbow motor rear cover 38 by screws, the elbow motor housing 7 cooperates with the elbow motor rear cover 38 to limit the axial and radial movement of the elbow motor, the elbow motor rear cover 38 and the shoulder The expansion sleeve coupling 37 in the joint is connected through a tight fit, the output shaft of the elbow motor 21 and the elbow small helical bevel gear shaft 20 are connected and fixed through the Z11 type expansion sleeve coupling 22, and the large helical bevel gear 48 is connected and fixed through the Z11 type expansion sleeve coupling 22. The screw is fixed to the large bevel gear connector 32, the upper elbow connector 23 is connected and fixed with the elbow motor housing 7 through screws, and the lower end of the upper elbow connector 23 is connected to the elbow middle part 24 through a screw. The inside of the middle piece 24 is fixed with a deep groove ball bearing through the elbow central axis 26 and the elastic retaining ring. The bearing is in the elbow bearing fixture 31;

The forearm joint includes the forearm rotation motor 34, the forearm rotation motor 34 is fixed in the forearm rotation motor housing 33, the upper part of the forearm rotation motor housing 33 is respectively connected with the elbow bearing fixture 31, the large bevel gear The connecting piece 32 is fixedly connected, the output shaft of the forearm rotating motor 34 is fixed with the shaft coupling 39 of the forearm rotating motor shaft through the jackscrew, the end of the coupling 39 is fixedly connected with the forearm expansion sleeve coupling 42, and the forearm expansion sleeve is connected The end of the shaft device 42 is fixedly connected with the palm connector 43 through a tight fit, and the forearm load-bearing part 41 cooperates with the output shaft coupling 39 of the forearm rotating motor through the inner hole to fix a deep groove ball bearing. The end of the forearm load-bearing part 41 is connected to The forearm rotating motor casing 33 is fixedly connected by screws.

Under the cooperation of four DC motors, bevel gears and cylindrical gears, and the different connection methods and cooperation of each component, the whole mechanical arm realizes two degrees of freedom of the shoulder, one degree of freedom of the elbow, and one degree of freedom of the forearm. A DC motor provides kinetic energy, and two pairs of bevel gears and a pair of cylindrical gears mesh and cooperate with the transmission, so that the mechanical arm can achieve a large range of motion space in a small structural design space, and complete the motion capability required by the humanoid service robot. .

A shoulder joint, the shoulder joint includes a pair of spur gears, the small spur gear is presented in the form of a gear shaft, the small spur gear is fixed in a cantilever-type fixed way, and the fixed support end is first passed through a deep groove ball bearing Cooperate with the shaft shoulder and elastic retaining ring to fix the gear shaft axially and radially. The end of the gear is fixedly connected with the rotating motor through a rigid coupling. The rotating motor is fixed through the cooperation of the rotating fixing part and the screw. The cylindrical gear is fixed to the shoulder load-bearing part on its left side by screws, and inside the large spur gear, the deep groove ball bearing is fixed by the circlip and the shaft shoulder. The large straight bevel gear is presented in the form of a gear shaft, and the large straight bevel gear is fixed by a straddle fixing method. On the left side of the large straight bevel gear, there is a structural inner hole, and the deep groove ball bearing is fixed in the inner hole. The left side of the deep groove ball is fixed by the corresponding elastic retaining ring, the shaft of the large bevel gear straddle fixing part extends inwardly and the inner hole of the large bevel gear, and the bevel gear is fixed and supported axially and radially through the shaft shoulder, and the shaft of the large bevel gear The other end of the shaft passes through the inner hole of the large cylindrical gear and then passes through the deep groove ball bearing. The elastic retaining ring is fixed in the chest cavity fixture, and the end of the gear shaft is fixedly connected with the flange through screws, and the rotary motor is directly fixed with the flange. Connection, the rotary motor and the rotary motor fixing plate are fixedly connected by screws, and the rotary motor is fixedly supported. The small spur gear is also presented in the form of a gear shaft. In the middle of the small spur bevel gear shaft, an angular contact ball bearing is fixed inside the shoulder load-bearing part through a circlip, and the small spur gear shaft passes through the shaft shoulder in the vertical direction. The gravity is unloaded on the inner ring surface of the angular contact ball bearing, and the shoulder load-bearing part is fixedly connected with the shoulder load-bearing part through bolts. The end of the small straight bevel gear shaft is connected with the Z11 expansion sleeve coupling;

An elbow joint. The elbow joint includes an elbow motor. The elbow motor is built into the elbow motor housing. The back cover of the elbow motor is fixed, and the elbow motor shell and the back cover of the elbow motor work together to limit the axial and radial movement of the elbow motor. Fitting connection, the elbow motor shaft and the elbow small helical bevel gear shaft are connected and fixed through the Z11 expansion sleeve coupling, the large helical bevel gear is fixed with the large bevel gear connecting piece through screws, and the upper connecting piece of the elbow joint is connected with the screw through the The elbow motor shell is connected and fixed, and the lower end of the upper connection part of the elbow joint is connected with the middle part of the elbow joint through screws. Inside the middle part of the shaft joint, a deep groove ball bearing is fixed through the central axis of the elbow and the elastic retaining ring. The right side of the central shaft is fixedly connected with the large bevel gear through screws, and the left side is fixed with the elastic retaining ring with a deep groove ball bearing in the elbow bearing fixture;

The forearm joint includes the forearm rotation motor. The forearm rotation motor is fixed in the forearm motor housing. The upper part of the forearm rotation motor housing is fixedly connected to the elbow bearing fixing part and the large bevel gear connecting part through screws respectively. The shaft of the arm rotation motor and the coupling of the forearm rotation motor are fixed by the top screw, the end of the coupling is fixedly connected with the forearm expansion sleeve coupling, and the end of the forearm expansion sleeve coupling is fixedly connected with the palm connector through a tight fit , the load-bearing part of the forearm cooperates with the output shaft coupling of the forearm rotating motor to fix a deep groove ball bearing through the inner hole, and the end of the load-bearing part of the forearm is fixedly connected with the shell of the forearm rotating motor through screws.

In some embodiments, the large bevel gear at the shoulder is built into the large spur gear, the rotary motor directly drives the large bevel gear to rotate through the flange, and meshes with the small bevel gear, and the rotary motor directly drives the small spur gear through the coupling The spur gear meshes with the large spur gear.

In some embodiments, wherein: the rotation motion and the rotation motion of the shoulder joint are coordinated through the deep groove ball bearing inside the structure, so that the rotation motion and the rotation motion have independent motion forms.

In some embodiments, an expansion sleeve coupling is used for the excessive connection between the shoulder joint and the elbow shutdown, and the elbow motor rear cover is connected and fixed to the small straight bevel gear shaft through tight fit.

In some embodiments, wherein: the weight of the palm connecting piece is transferred to the forearm rotation motor coupling through the forearm expansion sleeve coupling, and the forearm rotation motor coupling is transferred to the forearm rotation motor coupling through the deep groove ball bearing matched with it The weight is transferred to the jib bearing load bearing, which in turn transmits the gravity to the jib rotating motor housing.

Through the above technical solution, the beneficial effects of this embodiment are:

The different connection methods and cooperation of the various components in this embodiment realize two degrees of freedom of the shoulder, one degree of freedom of the elbow, and one degree of freedom of the forearm. Kinetic energy is provided by four DC motors, two pairs of bevel gears and a pair of cylindrical gears The meshing and transmission make the mechanical arm reach a larger range of motion space in a small structural design space, and complete the motion capability required by the humanoid service robot.

This embodiment discloses a mechanism design based on a humanoid robot arm driven by a DC motor. Including the shoulder joint assembly, elbow joint assembly and forearm joint assembly, the two degrees of freedom of the shoulder joint can solve the flexibility problem of the shoulder movement of the humanoid robot, and the elbow joint is connected by a DC motor and a pair of helical cones The cooperation of the gears closely simulates the kinematic characteristics of the human elbow joint. The forearm joint adopts expansion sleeve couplings, angular contact ball bearings, and couplings to provide the rotational kinematic characteristics of the humanoid robot forearm joints. Under the optimal performance, the weight of the lower part of the forearm is transferred to the rotating motor housing of the forearm of the motor, which solves the problem that the motor shaft is not subject to axial and radial forces. The mechanical arm has the advantages of simple structure, stable operation, economical and practical, green and environmental protection, the spatial structure is close to the human arm, and is convenient for production and assembly.

This embodiment has the advantages of complete functions, simple mechanism, strong purpose, stable movement, stable mechanism performance, and convenient assembly and adjustment.

In this embodiment, through the bionic design of the structure, the reasonable connection and cooperation between the structures, and the effective collocation between the power mechanisms, the motion performance of the humanoid robot arm with a large range of motion has been successfully realized. Stable performance, easy for production debugging.

The different connection methods and cooperation of the various components in this embodiment realize two degrees of freedom of the shoulder, one degree of freedom of the elbow, and one degree of freedom of the forearm. Kinetic energy is provided by four DC motors, two pairs of bevel gears and a pair of cylindrical gears The meshing and transmission make the mechanical arm reach a larger range of motion space in a small structural design space, and complete the motion capability required by the humanoid service robot. Moreover, this embodiment has the advantages of complete functions, simple mechanism, strong purpose, stable movement, stable mechanism performance, and easy assembly and adjustment.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (4)

1. A humanoid mechanical arm driven by a DC motor, comprising: a shoulder joint, an elbow joint and a forearm joint, and the shoulder joint is connected with the forearm joint through the elbow joint; The shoulder joint comprises: a small spur gear shaft powered by a rotating motor, a large spur gear cooperating with the small spur gear shaft, a small spur bevel gear shaft arranged on the shoulder load-bearing part, and A large straight bevel gear shaft matched with a small straight bevel gear, the large straight bevel gear is fixed on the outer wall of the shoulder load-bearing member, and the end of the small straight bevel gear shaft is connected with an expansion sleeve coupling; One end of the large straight-toothed bevel gear shaft is fixed and supported axially and radially by the large bevel gear straddle fixture; the other end of the large straight-toothed bevel gear shaft passes through the inner cavity of the shoulder load-bearing part, The chest fixing part is connected with the rotary motor behind, and the shoulder load-bearing part is fixedly connected with the shoulder load-bearing part; the rotary motor is fixed on the rotary motor fixing plate that provides support for the rotary motor; the small straight-toothed cylinder The end of the gear shaft is connected to the rotating motor fixed on the rotating fixture through a rigid coupling; The elbow joint includes an elbow motor built in the elbow motor housing, the elbow motor is fixedly connected with the expansion sleeve coupling, and the output shaft of the elbow motor is connected with the small helical bevel gear shaft of the elbow through the expansion sleeve. The shaft is fixedly connected, one end of the upper connecting part of the elbow joint is fixedly connected with the motor housing of the elbow, the other end of the upper connecting part of the elbow joint is connected with the intermediate part of the elbow joint, and one end of the central axis of the elbow passes through the upper connecting part of the elbow joint It is connected with the large helical bevel gear, and the other end of the elbow central axis is connected with the elbow bearing fixing part. A deep groove ball bearing is fixed inside the middle part of the elbow joint through the elbow central axis and the elastic ring, and the right side of the elbow central axis It is fixedly connected with the large bevel gear, and the left side of the central axis of the elbow is fixed with the elastic retaining ring, and a deep groove ball bearing is fixed in the elbow bearing fixture; The forearm joint includes a forearm rotating motor fixed in the forearm rotating motor housing, the upper part of the forearm rotating motor housing is connected with the elbow bearing fixture, and the lower end of the forearm rotating motor housing is provided with There is a forearm load-bearing part, the upper part of the forearm rotating motor housing is also connected with a large bevel gear connector, the forearm rotating motor is fixedly connected with the forearm rotating motor shaft coupling, and the forearm rotating motor shaft coupling The end is fixedly connected with the forearm expansion sleeve coupling, the end of the forearm expansion sleeve coupling is fixedly connected with the palm connector, and the forearm load-bearing part is movably connected with the forearm rotating motor shaft coupling. 2. The humanoid robot arm driven by a DC motor as claimed in claim 1, wherein the large spur gear is fixed on the outer wall of the shoulder bearing by a deep groove ball bearing, and the deep groove ball A circlip is provided inside the bearing. 3. The humanoid robotic arm driven by a DC motor as claimed in claim 1, wherein the shoulder joint and the elbow joint are interference-fitted through an expansion sleeve coupling, so that the elbow motor back cover and the small straight The bevel gear shaft is connected and fixed. 4. The humanoid robot arm driven by a DC motor as claimed in claim 1, wherein the palm connecting piece is connected with the forearm rotating motor coupling through the forearm expansion sleeve coupling, and the palm connecting piece The weight is transmitted to the forearm rotation motor coupling; there is a deep groove ball bearing matched with the forearm rotation motor coupling between the forearm rotation motor coupling and the inner hole of the forearm load-bearing part. The bearing transfers the gravity on the coupling of the forearm rotating motor to the load-bearing part of the forearm bearing. on the chassis.