CN107471197A - A kind of apery both arms multiple degrees of freedom industrial robot - Google Patents

Abstract

A humanoid dual-arm multi-degree-of-freedom industrial robot includes a trunk system, a robotic arm system, and a base system, the trunk system is fixed on the base system, the robotic arm system is fixedly connected to the trunk system, and the robotic arm system includes The left mechanical arm system and the right mechanical arm system, the left mechanical arm system includes a shoulder joint, an upper arm rod, an elbow joint, a forearm rod and a wrist joint, the shoulder joint and the elbow joint are fixedly connected by the upper arm rod, and the elbow joint and the wrist joint They are fixedly connected by the forearm rod, and the mechanism and connection relationship between the right mechanical arm system and the left mechanical arm system are the same. Compared with the existing industrial robots, the present invention introduces the parallel mechanism into the design of industrial robots, and combines the basic Based on the behavioral characteristics and the physiological structure of each joint of the arm, a humanoid dual-arm multi-degree-of-freedom industrial robot is designed. The structure is simple and reliable, and it can be used in low-load, high-precision work occasions for assembly, welding and other tasks.

Description

A humanoid dual-arm multi-degree-of-freedom industrial robot

technical field

The invention relates to the field of robot design, in particular to a humanoid dual-arm multi-degree-of-freedom industrial robot.

Background technique

The research of humanoid robot is one of the hotspots in robotics research. Humanoid robot refers to the imitation of human muscle structure and organ function, such as humanoid hand, arm, humanoid robot, etc.

At present, the transmission mechanism of industrial robots usually adopts a single-axis transmission mode in which the motor drives the reducer. Robots in this mode are mostly composed of series mechanisms. In order to overcome the defects of large load and large inertia of each joint during high-speed movement, the parallel mechanism is introduced into the design of industrial robots, and a simulation model is designed by combining the basic behavior characteristics of the human arm and the physiological structure of each joint of the arm. Human dual-arm multi-degree-of-freedom industrial robot.

Contents of the invention

The purpose of the present invention is to provide a humanoid double-arm multi-degree-of-freedom industrial robot, which can overcome the defects of existing industrial robots such as weak rigidity and large joint load near the base; the humanoid double-arm multi-degree-of-freedom The industrial robot includes a trunk system, a robotic arm system, and a base system. The trunk system is fixed on the base system. The robotic arm system is fixedly connected to the trunk system. The robotic arm system includes a left robotic arm system and a right robotic arm system. The left mechanical arm system includes a shoulder joint, an upper arm rod, an elbow joint, a forearm rod and a wrist joint. The shoulder joint and the elbow joint are fixedly connected through the upper arm rod, and the elbow joint and the wrist joint are fixedly connected through the forearm rod. The mechanism and connection relationship of the arm system and the left mechanical arm system are the same; the humanoid dual-arm multi-degree-of-freedom industrial robot can be used in low-load, high-precision operation occasions for tasks such as assembly and welding.

The present invention achieves the above object through the following technical solutions: a humanoid dual-arm multi-degree-of-freedom industrial robot, including a torso system, a mechanical arm system, and a base system.

The torso system includes a torso support, the base system includes a torso mount, and the robotic arm system includes a left robotic arm system and a right robotic arm system, and the left robotic arm system includes a shoulder joint, an upper arm bar, an elbow joint, a forearm Rod and wrist joint, the upper arm rod is fixedly connected between the shoulder joint and the elbow joint, and the forearm rod is fixedly connected between the elbow joint and the wrist joint. The shoulder joint includes a first drive motor for the shoulder, a second drive motor for the shoulder, The third driving motor of the shoulder, the shoulder motion platform, the arc-shaped connecting rod, the moving planetary gear, the fixed central gear and the horizontal connecting rod, the shoulder motion platform is hinged with the circular-arc-shaped connecting rod, and the circular-arc-shaped connecting rod is hinged with the horizontal connecting rod , the shoulder drive motor is fixed on the horizontal connecting rod, and is connected with the fixed sun gear through the moving planetary gear.

The elbow joint includes the first elbow electric cylinder, the second elbow electric cylinder, the first electric cylinder push rod, the second electric cylinder push rod, the first spherical joint, the second spherical joint, the third spherical joint, the fourth Spherical joint, elbow motion platform, rotary hinge and electric cylinder mount, the first drive electric cylinder and the second drive electric cylinder are connected to the electric cylinder mount through the first spherical joint and the second spherical joint, and the elbow motion platform is connected through the rotary hinge It is connected with the upper arm rod, the first electric cylinder push rod is connected with the elbow motion platform through the third spherical joint, and the second electric cylinder push rod is connected with the elbow motion platform through the fourth spherical joint.

The wrist joint includes a small gear, a large gear, a first drive motor for the wrist, a second drive motor for the wrist, a hinge, a base for the wrist, a ball joint, a first arc push rod, a second arc push rod and an end The actuator mounting rod, the first driving motor of the wrist and the second driving motor of the wrist are fixed on the base of the wrist, the end of the first arc push rod is fixedly connected with the large gear, and the end effector mounting rod is installed on the first arc Between the push rod and the second arc push rod, the end effector mounting rod is connected to the wrist base through a ball joint.

The outstanding advantages of the present invention are:

1. During the movement of the humanoid dual-arm multi-degree-of-freedom industrial robot, the wrist joint of the mechanical arm has two rotational degrees of freedom, and the motor drives the pinion to rotate respectively, and the pinion drives the semicircular large gear through meshing Movement, the large gear drives the arc-shaped push rod to rotate around the hinge, and when the wrist joint is fixed, the end-effector mounting rod can move at multiple angles.

2. The humanoid dual-arm multi-degree-of-freedom industrial robot adopts multiple parallel mechanisms to replace the usual serial structure of the original industrial robot, which improves the robot's operational performance and is suitable for high-precision and complex operations.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of a humanoid dual-arm multi-degree-of-freedom industrial robot according to the present invention.

Fig. 2 is a structural schematic diagram of a mechanical arm of a humanoid dual-arm multi-degree-of-freedom industrial robot according to the present invention.

Fig. 3 is a schematic diagram of the shoulder joint structure of a humanoid dual-arm multi-degree-of-freedom industrial robot according to the present invention.

Fig. 4 is a schematic diagram of the elbow joint structure of a humanoid dual-arm multi-degree-of-freedom industrial robot according to the present invention.

Fig. 5 is a schematic diagram of the wrist joint structure of a humanoid dual-arm multi-degree-of-freedom industrial robot according to the present invention.

The meanings of the marks in the figure:

1: Trunk bracket, 2: Left robotic arm system, 3: Right robotic arm system, 4: Torso mount, 5: Left shoulder joint, 501: First drive motor for shoulder, 502: Second drive motor for shoulder, 503: The third driving motor of the shoulder, 504: shoulder motion platform, 505: arc-shaped connecting rod, 506: motion planetary gear, 507: fixed central gear, 508: horizontal connecting rod, 6: left upper arm, 7: left elbow joint, 701: Elbow first drive electric cylinder, 702: Elbow second drive electric cylinder, 703: First spherical joint, 704: Second spherical joint, 705: Third spherical joint, 706: Fourth spherical joint, 707: Elbow movement Joint, 708: rotary hinge, 709: electric cylinder mount, 710: first electric cylinder push rod, 711: second electric cylinder push rod, 8: left forearm, 9: left wrist joint, 901: small gear, 902: large Gear, 903: first driving motor of wrist, 904: second driving motor of wrist, 905: hinge, 906: ball joint, 907: first arc push rod, 908: second arc push rod, 909: wrist Ministry base, 910: end effector mounting rod, 10: right shoulder joint, 11: right upper arm, 12: right elbow joint, 13: right forearm, 14: right wrist joint.

detailed description

The technical solutions of the present invention will be fully described below in conjunction with the accompanying drawings and embodiments, and the accompanying drawings are only part of the embodiments of the present invention, rather than complete embodiments. Based on the implementation of the present invention, all other implementations obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to Figure 1, a humanoid dual-arm multi-degree-of-freedom industrial robot according to the present invention includes a trunk system, a mechanical arm system, and a base system. The specific structure and connection relationship are as follows:

The trunk system includes a trunk bracket 1, the base system includes a trunk mount 4, the robotic arm system includes a left robotic arm system 2 and a right robotic arm system 3, and the left robotic arm system 2 includes a shoulder joint 5, an upper arm Rod 6, elbow joint 7, forearm rod 8 and wrist joint 9, shoulder joint 5 and elbow joint 7 are fixedly connected by upper arm rod 6, elbow joint 7 and wrist joint 9 are fixedly connected by forearm rod 8, and the shoulder Joint 5 comprises shoulder first drive motor 501, shoulder second drive motor 502, shoulder third drive motor 503, shoulder motion platform 504, arc-shaped connecting rod 505, motion planetary gear 506, fixed sun gear 507 and level Connecting rod 508, shoulder motion platform 504 is hinged with circular arc connecting rod 505, circular arc connecting rod 505 is hinged with horizontal connecting rod 508, shoulder driving motor 501 is fixed on the horizontal connecting rod, through motion planetary gear 506 and fixed center Gear 507 is connected.

The elbow joint 7 includes a first elbow electric cylinder 701, a second elbow electric cylinder 702, a first electric cylinder push rod 710, a second electric cylinder push rod 711, a first spherical joint 703, a second spherical joint 704, The third spherical joint 705, the fourth spherical joint 706, the elbow motion platform 707, the rotary hinge 708 and the electric cylinder mount 709, the first driving electric cylinder 701 and the second driving electric cylinder 702 pass through the first spherical joint 703 and the second spherical joint The joint 704 is connected on the electric cylinder mount 709, the elbow motion platform 707 is connected with the upper arm rod 6 through the rotary hinge 708, the first electric cylinder push rod 710 is connected with the elbow motion platform 707 through the third spherical joint 705, and the second electric cylinder push The rod 711 is connected with the elbow motion platform 707 through the fourth spherical joint 706, and pushes the elbow motion platform 707 to move at different angles through the first elbow electric cylinder 701 and the second elbow electric cylinder 702.

The wrist joint 9 includes a small gear 901, a large gear 902, a first wrist drive motor 903, a second wrist drive motor 904, a hinge 905, a wrist base 909, a ball joint 906, and a first arc push rod 907. , the second arc-shaped push rod 908 and the end effector mounting rod 910, the first drive motor 903 of the wrist and the second drive motor 904 of the wrist are fixed on the wrist base 909, the end of the first arc-shaped push rod 907 is connected with the large The gear 902 is fixedly connected, and the end effector mounting rod 910 is installed between the first arc-shaped push rod 907 and the second arc-shaped push rod 908 , and the end effector mounting rod 910 is connected to the wrist base 909 through a ball joint 906 .

Claims (6)

1. A humanoid dual-arm multi-degree-of-freedom industrial robot is characterized in that it comprises a trunk system, a mechanical arm system, and a base system. The specific structure and connection relationship are: the mechanical arm system includes a left mechanical arm system and a right mechanical arm system, the left mechanical arm system includes a shoulder joint, an upper arm rod, an elbow joint, a forearm rod and a wrist joint, the shoulder joint and the elbow joint are fixedly connected through the upper arm rod, and the elbow joint and the wrist joint are fixedly connected through the forearm rod, The mechanism and connection relationship of the right mechanical arm system and the left mechanical arm system are the same. 2. A kind of humanoid dual-arm multi-degree-of-freedom industrial robot according to claim 1, characterized in that, the shoulder joint includes a first drive motor for the shoulder, a second drive motor for the shoulder, and a third drive motor for the shoulder , shoulder motion platform, arc-shaped connecting rod, moving planetary gear, fixed central gear and horizontal connecting rod, the shoulder motion platform is hinged with the circular-arc-shaped connecting rod, the circular-arc-shaped connecting rod is hinged with the horizontal connecting rod, and the shoulder drive motor is fixed On the horizontal link, it is connected with the fixed sun gear through the moving planetary gear. 3. A kind of humanoid dual-arm multi-degree-of-freedom industrial robot according to claim 1, wherein the elbow joint includes a first electric cylinder for elbow, a second electric cylinder for elbow, and a push rod for the first electric cylinder. , the second electric cylinder push rod, the first spherical joint, the second spherical joint, the third spherical joint, the fourth spherical joint, the elbow motion platform, the rotary hinge and the electric cylinder mount, the elbow first drives the electric cylinder and the elbow second The driving electric cylinder is connected to the electric cylinder mounting base through the first spherical joint and the second spherical joint, the elbow motion platform is connected to the upper arm rod through the rotary hinge, the push rod of the first electric cylinder is connected to the elbow motion platform through the third spherical joint, and the second The push rod of the second electric cylinder is connected with the elbow motion platform through the fourth spherical joint. 4. A kind of humanoid dual-arm multi-degree-of-freedom industrial robot according to claim 1, characterized in that, the wrist joint comprises a pinion, a bull gear, a first driving motor of the wrist, a second driving motor of the wrist, Hinge, wrist base, ball joint, first arc push rod, second arc push rod and end effector mounting rod, wrist first drive motor and wrist second drive motor are fixed on the wrist base , the end of the first arc-shaped push rod is fixedly connected with the large gear, the end effector mounting rod is installed in the middle of the first arc-shaped push rod and the second arc-shaped push rod, and the end effector mounting rod is connected with the wrist base through a ball joint . 5. A kind of humanoid dual-arm multi-degree-of-freedom industrial robot according to claim 1, characterized in that, the wrist joint of the mechanical arm has two degrees of freedom of rotation, and the pinion is driven by the motor to rotate respectively, and the pinion drives the half through meshing. The circular large gear moves, and the large gear drives the arc-shaped push rod to rotate around the hinge. 6. A humanoid dual-arm multi-degree-of-freedom industrial robot according to claim 1, characterized in that there is a lubricating groove in the middle of the first arc-shaped push rod of the wrist joint of the mechanical arm, and the end effector mounting rod can be placed in the lubricating groove Sliding, the second arc push rod has the same structure as the first arc push rod.