CN107116533A - Apery mechanical arm - Google Patents

Abstract

The invention discloses a humanoid mechanical arm, which comprises a base, a waist seat rotatably connected to the base around the vertical direction, a shoulder seat rotatably connected to the waist seat around the horizontal direction, and a shoulder seat arranged on the shoulder seat. The arm body and the mechanical claw driven by the arm body; the arm body has one or more quadrilateral linkage mechanisms, and the waist seat is provided with a driving device I for driving the action of the quadrilateral linkage mechanisms.

Description

Humanoid Robotic Arm

technical field

The invention relates to the field of a mechanical arm, in particular to a humanoid mechanical arm.

Background technique

The mechanical arm is usually used as a mechanical device for moving the actuator. In the existing mechanical arm, the connecting arms are connected by joints. The structure is relatively complicated, the parts precision and processing requirements are high, and the price is expensive. Most of the existing mechanical arms are used in industry, and the single-arm working structure is more common. For example, the Chinese patent application with the publication number CN205394539U provides a mechanical arm, which is composed of 8 connecting rods. A simple hinge mechanism is used to realize the assembly of the mechanical arm. The structure is simple and the cost is low. The principle of quadrilateral and lever makes the operation stable and reliable. However, the mechanical arm has the problems of cumbersome structure and complicated link movements. The interaction of the 8 links cannot independently control the movement of the connecting seat at the end.

Therefore, the dual-arm humanoid robotic arm with dual-arm collaborative operation capability can be used as a solution for a desktop-level robotic arm that is convenient and has strong service capabilities, and improves mature industrial robot technology to the field of service robots. This improves the practicality of service robots, expands the application prospects of service robots, rationally optimizes the structure of service-type robotic arms, and finally meets the individual needs of robots for home, office and service industries.

Contents of the invention

In view of this, the purpose of the present invention is to overcome the defects in the prior art and provide a dual-arm humanoid manipulator with dual-arm collaborative operation capability, thereby improving the practicality of service robots and expanding the application of service robots Prospects, rationally optimize the structure of the service robot arm, and finally meet the individual needs of the robot for home, office and service industries.

The humanoid mechanical arm of the present invention includes a base, a waist seat rotatably connected to the base around the vertical direction, an arm body arranged on the waist seat, and a mechanical claw arranged on the arm body; the arm body There are one or more quadrilateral linkage mechanisms, and the waist seat is provided with a driving device I for driving the actions of the quadrilateral linkage mechanisms;

Further, the arm body at least includes a boom, a small arm and a triangular member; the boom includes a boom I and a boom II arranged in parallel and of equal length; The arm bar I and the small arm bar II; the shoulder seat, the big arm bar I, the big arm bar II and a side of the triangular member jointly form a parallelogram linkage; the connecting frame of the mechanical claw, the small arm bar I, The small arm II and the other side of the triangular member jointly form another parallelogram linkage mechanism.

Further, the boom also includes a boom III hinged to the shoulder seat, a boom IV and a boom V arranged in parallel and having equal lengths; the small arm also includes a connection hinged to the mechanical claw The small boom III of the frame; the boom III, the boom IV, the boom V and the small boom III form a parallelogram linkage III parallel to the parallelogram linkage I;

Further, the mechanical claw includes a finger base, at least two mechanical fingers rotatably connected to the finger base, a driving device II for driving the finger base to rotate relative to the connecting frame, and a driving device II for driving the mechanical fingers to clamp drive unit III;

Further, there are two mechanical fingers, and the two mechanical fingers are provided with intermeshing sector teeth, and the rotating shaft of the drive device III is connected to one of the mechanical fingers for driving the mechanical finger to rotate;

The humanoid mechanical arm of the present invention also includes a driving device IV for driving the waist seat to rotate relative to the base, the body of the driving device IV is fixed in the waist seat, and the rotating shaft of the driving device IV is fixedly connected to the base;

Further, the waist seat is rotatably supported by the base through a thrust bearing;

Further, there are two arms and mechanical claws, which are symmetrically arranged on both sides of the waist seat.

The beneficial effects of the present invention are: 1. the dual-arm mechanical arm of the present invention has more degrees of freedom, and the driving device 1 for driving the action of the arm body is arranged on the shoulder seat, which reduces the weight of the mechanical arm end and makes the mechanical arm mechanically The structure is exquisite, and the requirements for the configuration and precision of the transmission mechanism are relatively low. 2. The robotic arm has two arms and two mechanical claws driven by the two arms respectively. The dual robotic arms themselves can work together to meet more environmental and work requirements. The entire robotic arm is humanoid and has It is beneficial to the general application and reception in the service field. 3. The robot arm of the present application can meet the individual needs of the robot for home use, office work and service industry.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment:

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

Fig. 2 is the structure of the arm body of the present invention;

Fig. 3 is the schematic diagram of parallelogram linkage I and parallelogram linkage II of the present invention;

Fig. 4 is the schematic diagram of parallelogram linkage III of the present invention;

detailed description

Figure 1 is a schematic diagram of the overall structure of the present invention. As shown in the figure, the humanoid robot arm in this embodiment includes a base 1, a waist seat 2 rotatably connected to the base 1 around the vertical direction, an arm body arranged on the waist seat 2, and an arm body arranged on the waist seat 2. The mechanical claw of the arm body; the arm body has one or more quadrilateral linkage mechanisms, and the waist seat 2 is provided with a driving device 1 for driving the action of the quadrilateral linkage mechanisms; in this embodiment, the base 1 It can be fixed on platforms such as desktops. The waist base 2 can rotate vertically relative to the base 1. The shoulder base 3 can rotate horizontally relative to the waist base 2. The arm body is set on the shoulder base 3 and drives the mechanical claws in the space. Therefore, this mechanical arm has the characteristics of more degrees of freedom. In addition, the driving device I (the device for outputting rotational power, usually a servo motor) used to drive the action of the arm body is arranged on the shoulder seat 3 , the weight of the end of the mechanical arm is reduced, the mechanical structure of the mechanical arm is exquisite, and the requirements for the configuration and precision of the transmission mechanism are relatively low.

In this embodiment, the arm body at least includes a boom 4, a small arm 6 and a triangular member 5; as shown in Figure 2, the boom 4 includes a boom I11 and a boom II12 arranged in parallel and having equal lengths ; The forearm 6 includes a forearm rod I15 and a forearm rod II14 that are arranged in parallel and have equal lengths, and the shoulder seat 3 includes a disc-shaped seat body, a support frame 10 fixed on the seat body, and a support frame fixed on the seat body. On the mounting plate for installing the motor, the support frame 10 of the shoulder seat 3, the boom I11, the boom II12 and one side of the triangular member 5 jointly form a parallelogram linkage, and the motor on the mounting plate is used for Drive the boom II12 to swing relative to the shoulder seat 3; the connecting frame 7 of the mechanical claw, the small arm I15, the small arm II14 and the other side of the triangular member 5 jointly form another parallelogram linkage mechanism, so in During the rotation of the boom lever I11, the angle of the connecting frame 7 of the mechanical claw relative to the ground remains unchanged all the time. Compared with the ordinary six-axis robot arm, the advantage of this end holding structure is that the movement between the big arm 4 and the small arm 6 is more independent, which simplifies the motion control process.

In this embodiment, the boom 4 also includes a boom III22 hinged to the shoulder seat 3, a boom IV23 and a boom V17 arranged in parallel and having equal lengths; The small arm bar III18 of the connecting frame 7 of the mechanical claw; I. Parallelogram linkage mechanism III parallel to each other. It should be noted that the small arm III18 is longer than the main arm III22. Therefore, the outer end of the main arm IV23 is hinged to the inner end of the small arm III18, and the outer end of the main arm V17 is Hinged to the middle part of the forearm rod III18, the outer end of the forearm rod III18 is hinged to the mechanical claw connecting frame 7; in this embodiment, two motor mounting plates of the shoulder seat 3 are arranged in parallel, and the motor on one of the motor mounting plates is used for To drive the boom rod II12 to swing relative to the shoulder base 3, the motor on the other motor mounting plate is used to drive the boom rod III22 to swing relative to the shoulder base 3, because the motor that controls the rotation of the big arm 4 and the small arm 6 of the mechanical arm is located at The shoulder seat 3 is not on the joint of the manipulator, which is beneficial to reduce the load on the motor. Compared with the ordinary six-axis manipulator, the manipulator can grasp a larger mass object under the same rated torque of the motor.

In this embodiment, the mechanical gripper includes a finger base 8, at least two mechanical fingers 9 rotatably connected to the finger base 8, a driving device II19 for driving the finger base 8 to rotate relative to the connecting frame 7, and In order to drive the driving device III clamped by the mechanical finger 9, both the driving device II19 and the driving device III are devices capable of outputting rotational power. The entire mechanical claw is driven by the arm body to move in the space, and the finger seat 8 of the mechanical claw is driven The drive of device II19 can rotate around the mechanical claw connecting frame 7 (ie the end structure of the arm body), further increasing the degree of freedom of the entire mechanical arm.

In this embodiment, there are two mechanical fingers 9, and the two mechanical fingers 9 are provided with intermeshing fan-shaped teeth, and the rotating shaft of the drive device III is connected to one of the mechanical fingers 9 for driving the rotation of the mechanical fingers 9. , when one of the mechanical fingers 9 is driven to rotate by the drive device III, the other mechanical finger 9 engaged with it can also be linked with it to realize the clamping or loosening of the mechanical fingers 9 .

The humanoid mechanical arm of the present invention also includes a driving device IV for driving the waist seat 2 to rotate relative to the base 1, the body of the driving device IV is fixed in the waist seat 2, and the rotating shaft of the driving device IV is fixedly connected In the base 1, as shown in Figure 4, a thrust bearing 20 is provided between the waist seat 2 and the base 1, and the waist seat 2 is rotatably supported by the thrust bearing 20 and the base 1, when the driving device IV outputs rotational power , the rotating shaft and the base 1 are mutually fixed, and the body of the driving device IV will drive the entire waist seat 2 to rotate relative to the base 1. The waist seat 2 of this embodiment includes the waist seat 2 bottom plate and two side plates fixed on the waist seat 2 bottom plate , the body of the driving device IV16 is located between the two side plates, and the two side plates are respectively connected with a disc that is rotatably matched with the seat body of the shoulder seat 3 through a plurality of connecting rods. The driving device V21 that rotates the disc around the horizontal direction.

In this embodiment, the arm body and the mechanical claw are two and symmetrically arranged on both sides of the waist seat 2. The two arm bodies can work together to meet more environmental and work requirements. The entire mechanical arm It has human-like nature, which is beneficial to the general application and reception in the service field.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (8)

1. A humanoid mechanical arm, characterized in that: comprising a base, a waist seat rotatably connected to the base around the vertical direction, a shoulder seat rotatably connected to the waist seat around the horizontal direction, arranged on the The arm body of the shoulder seat and the mechanical claw driven by the arm body; the arm body has one or more quadrilateral linkage mechanisms, and the waist seat is provided with a driving device 1 for driving the action of the quadrilateral linkage mechanism . 2. The humanoid mechanical arm according to claim 1, characterized in that: the arm body at least comprises a large arm, a small arm and a triangular member; The arm rod II; the forearm includes the forearm rod I and the forearm rod II which are arranged in parallel and have the same length; the shoulder seat, the boom rod I, the boom rod II and one side of the triangular member together form a parallelogram connection The rod mechanism I; the connecting frame of the mechanical claw, the forearm rod I, the forearm rod II and the other side of the triangular member together form a parallelogram linkage II. 3. The humanoid mechanical arm according to claim 2, characterized in that: said boom also comprises boom III hinged to said shoulder seat, boom IV and boom which are arranged in parallel and have equal lengths V; the forearm also includes a forearm bar III hinged to the connecting frame of the mechanical claw; the big arm bar III, the big arm bar IV, the big arm bar V and the small arm bar III form a parallelogram with the Link mechanism I is a parallelogram link mechanism III parallel to each other. 4. The humanoid robot arm according to claim 3, characterized in that: the mechanical gripper includes a finger base, at least two mechanical fingers rotatably connected to the finger base, used to drive the finger base relative to the connection The driving device II for rack rotation and the driving device III for driving the clamping of the mechanical fingers. 5. The humanoid robotic arm according to claim 3, characterized in that: there are two mechanical fingers, both of which are provided with intermeshing fan-shaped teeth, and the rotating shaft of the driving device III is connected to one of them The mechanical finger is used to drive the mechanical finger to rotate. 6. The humanoid robot arm according to claim 3, further comprising a driving device IV for driving the waist seat to rotate relative to the base, the body of the driving device IV is fixed in the waist seat , the rotating shaft of the driving device IV is fixedly connected to the base. 7. The humanoid robot arm according to claim 3, wherein the waist seat is rotatably supported on the base by a thrust bearing. 8 . The humanoid robot arm according to claim 3 , characterized in that: the arm body and the mechanical claws are two and symmetrically arranged on both sides of the waist seat.