CN109202954A - A kind of sixdegree-of-freedom simulation and service robot suitable for service robot - Google Patents
A kind of sixdegree-of-freedom simulation and service robot suitable for service robot Download PDFInfo
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- CN109202954A CN109202954A CN201811294202.6A CN201811294202A CN109202954A CN 109202954 A CN109202954 A CN 109202954A CN 201811294202 A CN201811294202 A CN 201811294202A CN 109202954 A CN109202954 A CN 109202954A
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- 238000004088 simulation Methods 0.000 title claims abstract description 43
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 184
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 182
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 172
- 210000000707 wrist Anatomy 0.000 claims abstract description 18
- 210000000245 forearm Anatomy 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 120
- 230000009467 reduction Effects 0.000 claims description 41
- 239000003638 chemical reducing agent Substances 0.000 claims description 38
- 239000000463 material Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 229910001095 light aluminium alloy Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 7
- 230000003993 interaction Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 230000000930 thermomechanical effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of sixdegree-of-freedom simulations suitable for service robot, wherein, the sixdegree-of-freedom simulation includes: shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component, and above-mentioned shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component are connect with robot body as a whole after being sequentially connected in series.There are six rotational freedoms, that is, six axis for present invention setting；Wherein, shoulder joint pitch freedom is first axle, and shoulder joint beat freedom degree is the second axis, elbow joint roll freedom is third axis, and elbow joint pitch freedom is the 4th axis, and wrist joint roll freedom is the 5th axis, wrist joint pitch freedom is the 6th axis, and all kinds of movements are completed in each axis linkage.The present invention has the joint configuration of apery to be laid out, and structure connection is compact, and operability is good, and operation precision is high.
Description
Technical field
The present invention relates to service robot fields, in particular to a kind of six degree of freedom suitable for service robot
Mechanical arm.
Background technique
Service robot is a kind of robot of semi-autonomous or full utonomous working, it can complete the healthy clothes that are beneficial to man
It works work, but does not include manufacturing-oriented equipment.Service robot is of wide application, and is mainly engaged in maintenance, repairing, fortune
The work such as defeated, cleaning, security personnel, rescue, monitoring.
Mechanical arm is widely used among automatic industrial manufacturing line and service robot, can undertake manipulation object, man-machine
The tasks such as cooperation and human-computer interaction.Operator, pedipulator foot for being derived by mechanical arm etc., which have become, constitutes all kinds of machines
The basic function module of device people.The common configuration of tandem mechanical arm include: the SRS type of seven freedom redundant mechanical arm, six from
By the SRU type and URS type of degree mechanical arm, the URU type of five degree-of-freedom manipulator, the URR type of four-degree-of-freedom mechanical arm and RRU type
Deng.The structure design of service robot mechanical arm needs to meet that compact-sized, flexible movements, motional inertia are small etc. requires.At a high speed,
High-precision and modularization are the main trends of the following mechanical arm development.
The existing generally existing robotic arm manipulation ability of mechanical arm is not good enough, and flexible movements degree is poor and operation precision is low asks
Topic.
Summary of the invention
In order to overcome mechanical arm poor operability in the prior art and the deficiencies such as operation precision is low, the present invention provides one
Kind is suitable for the sixdegree-of-freedom simulation of service robot, and the sixdegree-of-freedom simulation strong operability, operation precision is high, can answer
Used in scenes such as operation object, man-machine collaboration and gesture interactions.
Correspondingly, the embodiment of the invention provides a kind of sixdegree-of-freedom simulation suitable for service robot, described six
Degree-of-freedom manipulator includes shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component, above-mentioned
Shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component are used as one after being sequentially connected in series
It is whole to be connect with robot body；
The shoulder joint component includes shoulder joint tilting component, shoulder joint structural member and shoulder joint deflection component, described
Shoulder joint tilting component is connected with shoulder joint structural member, and the shoulder joint deflection component is arranged inside shoulder joint structural member,
The shoulder joint deflection component is connected with large arm structural member；
The wrist assembly includes elbow joint rolling component, elbow joint structure part and elbow joint tilting component, described
Elbow joint rolling component is connected with large arm structural member, and the elbow joint rolling component is connected with elbow joint structure part, described
Elbow joint tilting component is arranged inside elbow joint structure part, and the elbow joint structure part is connected with forearm structure part；
The wrist joint component includes wrist joint rolling component, wrist joint structure part, wrist joint tilting component and execution
Component, the wrist joint rolling component are connected with forearm structure part, the wrist joint rolling component and wrist joint structure part phase
Connection, the wrist joint tilting component are arranged inside wrist joint structure part, the executive module and the wrist joint structure part
It is connected.
Optional embodiment, the shoulder joint tilting component include shoulder joint pitching DC servo motor component and shoulder joint
Save pitching harmonic reduction device assembly；The shoulder joint deflection component includes shoulder joint beat DC servo motor component, shoulder joint
Beat Spur Gear Driving component, shoulder joint beat harmonic reduction device assembly and shoulder joint rotating assembly；
The elbow joint rolling component includes elbow joint rolling DC servo motor component and elbow joint rolling harmonic reduction
Device assembly；The elbow joint structure part includes the second structural member of elbow joint first structure part and elbow joint；The elbow joint pitching
Component includes elbow joint pitching DC servo motor component, elbow joint pitching Spur Gear Driving component, elbow joint harmonic speed reducer
Component and elbow joint rotating assembly；
The wrist joint rolling component includes wrist joint rolling DC servo motor component and wrist joint rolling harmonic reduction
Device assembly；The wrist joint tilting component includes wrist joint pitching DC servo motor component, wrist joint pitching Spur Gear Driving
Component, wrist joint shaft coupling and wrist joint rotating assembly.
Optional embodiment, the shoulder joint pitching DC servo motor component include sequentially connected shoulder joint pitching
Photoelectric encoder, shoulder joint pitching DC servo motor and shoulder joint pitching planetary reducer；
The shoulder joint beat DC servo motor component includes sequentially connected shoulder joint beat photoelectric encoder, shoulder joint
Save beat DC servo motor and shoulder joint beat planetary reducer；
The elbow joint rolling DC servo motor component includes sequentially connected elbow joint rolling photoelectric encoder, elbow pass
Save rolling DC servo motor and elbow joint rolling planetary reducer；
The elbow joint pitching DC servo motor component includes sequentially connected elbow joint pitching photoelectric encoder, elbow pass
Save pitching DC servo motor and elbow joint pitching planetary reducer；
The wrist joint rolling DC servo motor component includes sequentially connected wrist joint rolling photoelectric encoder, wrist pass
Save rolling DC servo motor and wrist joint rolling planetary reducer；
The wrist joint pitching DC servo motor component includes sequentially connected wrist joint pitching photoelectric encoder, wrist pass
Save pitching DC servo motor and wrist joint pitching planetary reducer.
Optional embodiment, the shoulder joint pitching harmonic reduction device assembly include sequentially connected shoulder joint pitching wave
Generator and shoulder joint pitching firm gear, shoulder joint pitching flexbile gear；
The shoulder joint beat harmonic reduction device assembly includes that sequentially connected shoulder joint beat wave producer, shoulder joint are inclined
Put firm gear and shoulder joint beat flexbile gear；
The elbow joint rolling harmonic reduction device assembly includes sequentially connected elbow joint rolling wave producer, elbow joint rolling
Turn firm gear and elbow joint rolling flexbile gear；
The elbow joint pitching harmonic reduction device assembly includes that sequentially connected elbow joint pitching wave producer, elbow joint are bowed
Face upward firm gear and elbow joint pitching flexbile gear；
The wrist joint rolling harmonic reduction device assembly includes sequentially connected wrist joint rolling wave producer, wrist joint rolling
Turn firm gear and wrist joint rolling flexbile gear.
Optional embodiment, the shoulder joint rotating assembly is by shoulder joint shaft, shoulder joint rolling bearing and shoulder joint
Bearings end cap composition；
The elbow joint rotating assembly is made of elbow joint shaft, elbow joint rolling bearing and elbow joint bearing (ball) cover；
The wrist joint component is made of wrist joint shaft, wrist joint rolling bearing and wrist joint bearing (ball) cover.
Optional embodiment, the shoulder joint beat Spur Gear Driving component include intermeshing shoulder joint beat master
Dynamic spur gear and the driven spur gear of shoulder joint beat；
The elbow joint pitching Spur Gear Driving component includes that intermeshing elbow joint pitching active spur gear and elbow close
Save the driven spur gear of pitching；
The wrist joint pitching Spur Gear Driving component includes that intermeshing wrist joint pitching active spur gear and wrist close
Save the driven spur gear of pitching.
Optional embodiment, the six-freedom degree of the sixdegree-of-freedom simulation be respectively shoulder joint pitch freedom,
Shoulder joint beat freedom degree, elbow joint roll freedom, elbow joint pitch freedom, wrist joint roll freedom and wrist joint
Pitch freedom；
Wherein, shoulder joint pitch freedom is first axle, and shoulder joint beat freedom degree is the second axis, and elbow joint rolling is free
Degree is third axis, and elbow joint pitch freedom is the 4th axis, and wrist joint roll freedom is the 5th axis, wrist joint pitch freedom
For the 6th axis.
Optional embodiment, the sixdegree-of-freedom simulation wrist joint element end are provided with execution connection component.
Optional embodiment, shoulder joint structural member, elbow joint structure part and wrist joint in the sixdegree-of-freedom simulation
The material of structural member is light aluminum alloy.
In addition, the present invention also provides a kind of service robot, including sixdegree-of-freedom simulation described in above-mentioned any one
Service robot.
In sixdegree-of-freedom simulation provided by the invention, shoulder joint component, large arm structural member, wrist assembly, forearm
Structural member and wrist joint component are sequentially connected in series, and the joint configuration of apery keeps mechanical arm compact-sized and transmission performance is good；Directly
The setting of flow servo motor component, improves the man-machine interaction of mechanical arm, and the photoelectric encoders of DC current components can will be electric
The action message of machine feeds back to system, while user or can also control as needed DC servo motor；Planetary gear
The setting of retarder and harmonic wave reducer assemblies, reduction of speed while, improve the torque of output, dramatically improve mechanical arm
Operation precision；Spur Gear Driving has many advantages, such as that reduction ratio is constant, transmitting torque is big, skin when can effectively avoid toothed belt transmission
The deficiencies of band easily relaxes, is easy to wear；The material of shoulder joint structural member, elbow joint structure part and wrist joint structure part is lightweight aluminium conjunction
Gold alleviates the weight of mechanical arm entirety, improves mechanical arm bearing capacity.It can be seen that provided by the invention a kind of applicable
There is structure connection compact in the sixdegree-of-freedom simulation of service robot, operation precision is high, and man-machine interaction is strong, light-weight, strong
Degree height and the good feature of corrosion resisting property.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the three-dimensional structure view of sixdegree-of-freedom simulation in the embodiment of the present invention；
Fig. 2 is the three-dimensional structure view of sixdegree-of-freedom simulation shoulder joint component in the embodiment of the present invention；
Fig. 3 is the three-dimensional structure view of sixdegree-of-freedom simulation wrist assembly in the embodiment of the present invention；
Fig. 4 is the three-dimensional structure view of sixdegree-of-freedom simulation wrist joint component in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the three-dimensional structure view of sixdegree-of-freedom simulation in the embodiment of the present invention.
As shown in Figure 1, the sixdegree-of-freedom simulation includes shoulder the embodiment of the invention provides a kind of sixdegree-of-freedom simulation
Joint assembly 1, large arm structural member 2, wrist assembly 3, forearm structure part 4 and wrist joint component 5.Specifically, this six degree of freedom
Mechanical arm is tandem mechanical arm, so shoulder joint component 1, large arm structural member 2, wrist assembly 3, forearm structure part 4 and wrist
Joint assembly 5 is re-used as a totality and connect with robot body after being sequentially connected.
Fig. 2 is the three-dimensional structure view of sixdegree-of-freedom simulation shoulder joint component in the embodiment of the present invention.
As shown in Fig. 2, the shoulder joint component 1 includes shoulder joint tilting component 11, shoulder joint structural member 12 and shoulder joint
Save deflection component 13.Wherein, shoulder joint tilting component 11 includes that shoulder joint pitching DC servo motor component 111 and shoulder joint are bowed
Face upward harmonic reduction device assembly 112；Specifically, the shell of DC servo motor component 111 is connect by screw with robot body,
The output shaft of DC servo motor component 111 is connect with the wave producer of shoulder joint pitching harmonic reduction device assembly 112；Specifically
, the shoulder joint pitching firm gear of shoulder joint pitching harmonic reduction device assembly 112, which is bolted, to be fixed on robot body,
Shoulder joint pitching flexbile gear is fixed by screw and shoulder joint structural member 12.Wherein, shoulder joint deflection component 13 includes that shoulder joint is inclined
Straighten flow servo motor component 131, shoulder joint beat Spur Gear Driving component 132, shoulder joint beat harmonic reduction device assembly 133
With shoulder joint rotating assembly 134；Specifically, the shell of shoulder joint beat DC servo motor component 131 is fixed by screws in
On shoulder joint structural member 12, output shaft transfers power to shoulder by shoulder joint beat Spur Gear Driving component band component 132
The shoulder joint beat wave producer input shaft of joint beat harmonic reduction device assembly 133；Shoulder joint beat reducer assemblies 133
Shoulder joint beat firm gear, which is bolted, to be fixed on shoulder joint structural member 12, and shoulder joint beat flexbile gear is bolted solid
It is scheduled on the side of 2 upper end of large arm structural member；Specifically, shoulder joint rotating assembly 134 is by shoulder joint shaft, shoulder joint rolling bearing
And shoulder joint bearing (ball) cover composition；The upper end other side of large arm structural member 2 is connected and fixed by screw and shoulder joint shaft, shoulder
Cooperate at the axle journal of joint shaft with shoulder joint bearing inner race, the shoulder joint bearing outer ring bearing hole with shoulder joint structural member 12 again
Cooperation, and by the outer ring of shoulder joint bearing (ball) cover compression shoulder joint bearings, the outer rim of shoulder joint bearing (ball) cover passes through screw and connects
It connects and is fixed on shoulder joint structural member 12.
Fig. 3 is the three-dimensional structure view of sixdegree-of-freedom simulation wrist assembly in the embodiment of the present invention.
As shown in figure 3, the wrist assembly 3 includes elbow joint rolling component 31, elbow joint structure part 32 and elbow joint
Tilting component 33.Wherein, elbow joint structure part 32 include elbow joint first structure part 321 and the second structural member of elbow joint 322, two
Person is connected with each other.Wherein, elbow joint rolling component 31 includes elbow joint rolling DC servo motor component 311 and elbow joint rolling
Harmonic reduction device assembly 312；Specifically, the shell of elbow joint rolling DC servo motor component 311 passes through screw and large arm knot
The lower end of component 2 is connected and fixed, the output shaft and elbow joint rolling harmonic reduction of elbow joint rolling DC servo motor component 311
The elbow joint rolling wave producer of device 312 connects；Specifically, the elbow joint rolling firm gear of elbow joint rolling harmonic speed reducer 312
It is connected by screw to and is fixed on large arm structural member 2, elbow joint rolling flexbile gear is connected by screw and elbow joint first structure part 321
Connect fixation.Wherein, elbow joint tilting component 33 includes elbow joint pitching DC servo motor component 331, elbow joint pitching straight-tooth
Take turns transmission component 332, elbow joint pitching harmonic reduction device assembly 333 and elbow joint rotating assembly 334；Specifically, elbow joint is bowed
The shell for facing upward DC servo motor component 331 is fixed by screws on elbow joint first structure part 321, and output shaft passes through elbow
Joint pitching spur gear arrangement 332 transfers power to the elbow joint wave producer of elbow joint pitching harmonic reduction device assembly 333
On input shaft；The elbow joint pitching steel wheel of elbow joint pitching harmonic reduction device assembly 333, which is connected by screw to, is fixed on elbow joint
On first structure part 321, elbow joint pitching flexbile gear, which is connected by screw to, to be fixed on the second structural member of elbow joint 322；Elbow joint
The shaft of rotating assembly 334 is connected by key structure and is connected and fixed with elbow joint first structure part 321；Specifically, elbow joint turns
Shaft assembly 334 is made of elbow joint shaft, elbow joint rolling bearing and elbow joint bearing (ball) cover；At the axle journal of elbow joint shaft
Cooperate with elbow joint bearing inner race, elbow joint bearing outer ring cooperates with the bearing hole of the second structural member of elbow joint 322 again, and passes through
Elbow joint bearing (ball) cover compresses the outer ring of bearing, and the outer rim of elbow joint bearing (ball) cover, which is connected by screw to, is fixed on elbow joint first
On structural member 321.Wherein, the second structural member of elbow joint 332 is connected and fixed by screw and 4 upper end of forearm structure part.
Fig. 4 is the three-dimensional structure view of sixdegree-of-freedom simulation wrist joint component in the embodiment of the present invention.
As shown in figure 4, the wrist joint component 5 is bowed including wrist joint rolling component 51, wrist joint structure part 52, wrist joint
It faces upward component 53 and executes connection component 54.Wherein, wrist joint rolling component 51 includes wrist joint rolling DC servo motor component
511 and wrist joint rolling harmonic reduction device assembly 512；Specifically, the output shaft of wrist joint rolling DC servo motor component 511
It is connect with the wrist joint rolling wave producer of wrist joint rolling harmonic reduction device assembly 512；Specifically, wrist joint rolling harmonic wave subtracts
The wrist joint rolling firm gear of fast device assembly 512 is connected and fixed by screw and 4 lower end of forearm structure part, and wrist joint rolling flexbile gear is logical
Screw is crossed to be connected and fixed with wrist joint structure part 52.Wherein, wrist joint tilting component 53 includes wrist joint pitching DC servo electricity
Thermomechanical components 531, wrist joint pitching Spur Gear Driving component 532, wrist joint pitching shaft coupling 533 and wrist joint rotating assembly 534；
Specifically, the shell of wrist joint pitching DC servo motor component 531 is fixed by screws on wrist joint structure part 52, it is defeated
Shaft transfers power to the output shaft of the driven spur gear of wrist joint pitching by wrist joint pitching Spur Gear Driving component 532
On, output shaft is connect with wrist joint pitching shaft coupling 533；Specifically, wrist joint component 534 is rolled by wrist joint shaft, wrist joint
Dynamic bearing and wrist joint bearing (ball) cover composition；Execute 54 one end of connection component by execute connection component bearing with it is driven synchronous
The output axis connection of wheel, and the outer ring by executing connection component bearing (ball) cover compression execution connection component bearing, execute connection
The outer rim of assembly bearing end cap is connected by screw to be fixed on and execute on connection component 54.54 other end of connection component is executed to pass through
Screw is connected and fixed with wrist joint pitching shaft coupling 533 and wrist joint shaft, in the axle journal and wrist joint bearing of wrist joint shaft
Circle cooperation, wrist joint bearing outer ring cooperates with the bearing hole of wrist joint structure part 52 again, and is compressed by wrist joint bearing (ball) cover
The outer ring of wrist joint bearing, the outer rim of wrist joint bearing (ball) cover, which is connected by screw to, to be fixed on wrist joint structure part 52.
It should be noted that DC servo motor component is by DC servo motor, planetary reducer and photoelectric coding
Device composition, three are coaxial integrated structure.Specifically, photoelectric encoder is by reading pattern or volume on photoelectric coded disk
Code information indicates the location information of the rotor that is connected with photoelectric encoder.Measured with photoelectric cell, can achieve compared with
In high precision, the mechanical location of the rotor of motor can be accurately reacted, to indirectly reflect that the machinery being connected to motor is negative
The accurate mechanical location carried, to achieve the purpose that accurately to control motor position.In use process, photoelectric encoder is by motor
Speed, position feedback to servo-driver or PLC, control is then made to the movement of motor by servo-driver or PLC；
Specifically, planetary reducer is a kind of power transfer mechanism, using the velocity transducer of gear, the revolving speed of motor is slowed down
To required compared with the slow-speed of revolution, and obtain the mechanism of larger torque.In the embodiment of the present invention, the movement of each mechanism is not needed too
High revolving speed and need biggish torque, therefore planetary reducer reduction of speed simultaneously improve output torque, keep robotic arm each
A movement can be normally carried out.
Wherein, the shoulder joint pitching DC servo motor component 111 is compiled including sequentially connected shoulder joint pitching photoelectricity
Code device, shoulder joint pitching DC servo motor and shoulder joint pitching planetary reducer, shoulder joint pitching photoelectric encoder are
111 head end of shoulder joint pitching DC servo motor component, shoulder joint pitching DC servo motor is in shoulder joint pitching DC servo
The middle position of electric machine assembly 111, shoulder joint pitching planetary reducer are shoulder joint pitching DC servo motor component 111
End；The shoulder joint beat DC servo motor component 131 includes sequentially connected shoulder joint beat photoelectric encoder, shoulder joint
Beat DC servo motor and shoulder joint beat planetary reducer are saved, shoulder joint beat photoelectric encoder is shoulder joint beat
131 head end of DC servo motor component, shoulder joint beat DC servo motor is in shoulder joint beat DC servo motor component 131
Middle position, shoulder joint beat planetary reducer be 131 end of shoulder joint beat DC servo motor component；The elbow
Joint rolling DC servo motor component 311 includes sequentially connected elbow joint rolling photoelectric encoder, elbow joint rolling direct current
Servo motor and elbow joint rolling planetary reducer, elbow joint rolling photoelectric encoder are elbow joint rolling DC servo electricity
311 head end of thermomechanical components, interposition of the elbow joint rolling DC servo motor in elbow joint rolling DC servo motor component 311
It sets, elbow joint rolling planetary reducer is 311 end of elbow joint rolling DC servo motor component；The elbow joint pitching
DC servo motor component 331 includes sequentially connected elbow joint pitching photoelectric encoder, elbow joint pitching DC servo motor
With elbow joint pitching planetary reducer, elbow joint pitching photoelectric encoder is that elbow joint DC servo motor component 311 is first
End, elbow joint pitching DC servo motor is in the middle position of elbow joint pitching DC servo motor component 311, elbow joint pitching
Planetary reducer is 311 end of elbow joint DC servo motor component；The wrist joint rolling DC servo motor component
511 include sequentially connected wrist joint rolling photoelectric encoder, wrist joint rolling DC servo motor and wrist joint rolling planet
Gear reduction unit, wrist joint rolling photoelectric encoder are 511 head end of wrist joint rolling DC servo motor component, wrist joint rolling
DC servo motor is in the middle position of wrist joint rolling DC servo motor component 511, wrist joint rolling planetary gear speed-reduction
Device is 511 end of wrist joint rolling DC servo motor component；The wrist joint pitching DC servo motor component 531 include according to
Wrist joint pitching photoelectric encoder, wrist joint pitching DC servo motor and the wrist joint pitching planetary gear speed-reduction of secondary connection,
Wrist joint pitching photoelectric encoder is 511 head end of wrist joint pitching DC servo motor component, wrist joint pitching DC servo electricity
For machine in the middle position of wrist joint pitching DC servo motor component 511, wrist joint pitching planetary reducer is wrist joint
511 end of pitching DC servo motor component.
It should be noted that harmonic speed reducer is a kind of by fixed internal circular spline, flexbile gear and to make flexbile gear that radial become occur
The wave producer of shape forms, and harmonic drive is one of gear reduction unit novel drive structure, it is to utilize flexibility
Gear generates controllable elastic deformation wave, and firm gear side set opposite with the between cog of flexbile gear is caused to transmit power and movement.It is this
Transmission has difference substantially with the transmitting of general gear, calculates in mesh theory, set and structure design aspect has spy
Different property.Harmonic gear reducer has many advantages, such as high-precision, high-bearing capacity, compares with common retarder, due to the material used
Lack 50%, volume and weight at least reduce 1/3.
Wherein, the shoulder joint pitching harmonic reduction device assembly 112 includes sequentially connected shoulder joint pitching wave producer
With shoulder joint pitching firm gear, shoulder joint pitching flexbile gear, shoulder joint pitching firm gear is fixing end, shoulder joint pitching wave producer is defeated
Enter end, shoulder joint pitching flexbile gear is output end；The shoulder joint beat harmonic reduction device assembly 133 includes sequentially connected shoulder joint
Beat wave producer, shoulder joint beat firm gear and shoulder joint beat flexbile gear are saved, shoulder joint beat firm gear is fixing end, shoulder joint is inclined
Pendulum wave producer is input terminal, shoulder joint beat flexbile gear is output end；The elbow joint rolling harmonic reduction device assembly 312 includes
Sequentially connected elbow joint rolling wave producer, elbow joint rolling firm gear and elbow joint rolling flexbile gear, elbow joint rolling firm gear are
Fixing end, elbow joint rolling wave producer are input terminal, elbow joint rolling flexbile gear is output end；The elbow joint pitching harmonic wave subtracts
Fast device assembly 333 includes sequentially connected elbow joint pitching wave producer, elbow joint pitching firm gear and elbow joint pitching flexbile gear, elbow
Joint pitching firm gear is fixing end, elbow joint pitching wave producer is input terminal, elbow joint pitching flexbile gear is output end；The wrist
Joint rolling harmonic reduction device assembly 512 includes sequentially connected wrist joint rolling wave producer, wrist joint rolling firm gear and wrist
Joint rolling flexbile gear, wrist joint rolling firm gear is fixing end, wrist joint rolling wave producer is the rolling of input terminal wrist joint, flexbile gear
For output end.
Wherein, the shoulder joint beat Spur Gear Driving component 132 includes intermeshing shoulder joint beat active straight-tooth
Wheel and the driven spur gear of shoulder joint beat, shoulder joint beat active spur gear are input terminal, and the driven spur gear of shoulder joint beat is
Output end；The elbow joint pitching Spur Gear Driving component 332 includes intermeshing elbow joint pitching active spur gear and elbow
The driven spur gear of joint pitching, elbow joint pitching active spur gear are input terminal, and the driven spur gear of elbow joint pitching is output end；
The wrist joint pitching Spur Gear Driving component 532 includes intermeshing wrist joint pitching active spur gear and wrist joint pitching
Driven spur gear, wrist joint pitching active spur gear are input terminal, and the driven spur gear of wrist joint pitching is output end.Spur gear passes
Dynamic to have many advantages, such as that reduction ratio is constant, it is big to transmit torque, belt easily loose, easy to wear etc. be not no when can effectively avoid toothed belt transmission
Foot.
There are six freedom degrees, that is, six axis for sixdegree-of-freedom simulation in the embodiment of the present invention.Wherein, shoulder joint pitching from
By spending for first axle, shoulder joint beat freedom degree is the second axis, and elbow joint roll freedom is third axis, and elbow joint pitching is free
Degree is the 4th axis, and wrist joint roll freedom is the 5th axis, and wrist joint pitch freedom is the 6th axis.Wherein, first and third, five
The driving method of axis use " DC servo motor → planetary reducer → harmonic speed reducer → driven member ", second,
Four axis are using " DC servo motor → planetary reducer → Spur Gear Driving → harmonic speed reducer → driven member "
Driving method, the 6th axis use the drive of " DC servo motor → planetary reducer → Spur Gear Driving → driven member "
Flowing mode.
Shoulder joint structural member 12, elbow joint structure part 32 and wrist joint knot in sixdegree-of-freedom simulation in the embodiment of the present invention
52 material of component is light aluminum alloy, has the characteristics that light-weight, intensity is high and corrosion resisting property is good, each structural member is all made of lightweight
It is designed with low inertia principle.
In addition, the service robot is implemented comprising foregoing invention the embodiment of the invention also provides a kind of service robot
Any one of sixdegree-of-freedom simulation, the other assemblies of the service robot are not construed as limiting in example.
In sixdegree-of-freedom simulation provided by the invention, shoulder joint component, large arm structural member, wrist assembly, forearm
Structural member and wrist joint component are sequentially connected in series, and the joint configuration of apery keeps mechanical arm compact-sized and transmission performance is good；Directly
The setting of flow servo motor component, improves the man-machine interaction of mechanical arm, and the photoelectric encoders of DC current components can will be electric
The action message of machine feeds back to system, while user or can also control as needed DC servo motor；Planetary gear
The setting of retarder and harmonic wave reducer assemblies, reduction of speed while, improve the torque of output, dramatically improve mechanical arm
Operation precision；Spur Gear Driving has many advantages, such as that reduction ratio is constant, transmitting torque is big, skin when can effectively avoid toothed belt transmission
The deficiencies of band easily relaxes, is easy to wear；The material of shoulder joint structural member, elbow joint structure part and wrist joint structure part is lightweight aluminium conjunction
Gold alleviates the weight of mechanical arm entirety, improves mechanical arm bearing capacity.It can be seen that provided by the invention a kind of applicable
There is structure connection compact in the sixdegree-of-freedom simulation of service robot, operation precision is high, and man-machine interaction is strong, light-weight, strong
Degree height and the good feature of corrosion resisting property.
In addition, be provided for the embodiments of the invention above a kind of sixdegree-of-freedom simulation suitable for service robot and
Service robot is described in detail, and should use specific case herein and carry out to the principle of the present invention and embodiment
It illustrates, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this field
Those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up
Described, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of sixdegree-of-freedom simulation suitable for service robot, which is characterized in that the sixdegree-of-freedom simulation includes
Shoulder joint component, large arm structural member, wrist assembly, forearm structure part and wrist joint component, above-mentioned shoulder joint component, large arm knot
Component, wrist assembly, forearm structure part and wrist joint component be sequentially connected in series after as a whole with robot body
Connection；
The shoulder joint component includes shoulder joint tilting component, shoulder joint structural member and shoulder joint deflection component, the shoulder joint
Section tilting component is connected with shoulder joint structural member, and the shoulder joint deflection component is arranged inside shoulder joint structural member, described
Shoulder joint deflection component is connected with large arm structural member；
The wrist assembly includes elbow joint rolling component, elbow joint structure part and elbow joint tilting component, and the elbow closes
Section rolling component is connected with large arm structural member, and the elbow joint rolling component is connected with elbow joint structure part, and the elbow closes
It saves tilting component to be arranged inside elbow joint structure part, the elbow joint structure part is connected with forearm structure part；
The wrist joint component includes wrist joint rolling component, wrist joint structure part, wrist joint tilting component and executive module,
The wrist joint rolling component is connected with forearm structure part, and the wrist joint rolling component is connected with wrist joint structure part,
The wrist joint tilting component is arranged inside wrist joint structure part, and the executive module is connected with the wrist joint structure part
It connects.
2. sixdegree-of-freedom simulation according to claim 1, which is characterized in that the shoulder joint tilting component includes shoulder joint
Save pitching DC servo motor component and shoulder joint pitching harmonic reduction device assembly；The shoulder joint deflection component includes shoulder joint
Beat DC servo motor component, shoulder joint beat Spur Gear Driving component, shoulder joint beat harmonic reduction device assembly and shoulder joint
Save rotating assembly；
The elbow joint rolling component includes elbow joint rolling DC servo motor component and elbow joint rolling harmonic speed reducer group
Part；The elbow joint structure part includes the second structural member of elbow joint first structure part and elbow joint；The elbow joint tilting component
Including elbow joint pitching DC servo motor component, elbow joint pitching Spur Gear Driving component, elbow joint harmonic reduction device assembly
With elbow joint rotating assembly；
The wrist joint rolling component includes wrist joint rolling DC servo motor component and wrist joint rolling harmonic speed reducer group
Part；The wrist joint tilting component include wrist joint pitching DC servo motor component, wrist joint pitching Spur Gear Driving component,
Wrist joint shaft coupling and wrist joint rotating assembly.
3. sixdegree-of-freedom simulation according to claim 2, which is characterized in that the shoulder joint pitching DC servo motor
Component includes sequentially connected shoulder joint pitching photoelectric encoder, shoulder joint pitching DC servo motor and shoulder joint pitching planet
Gear reduction unit；
The shoulder joint beat DC servo motor component includes that sequentially connected shoulder joint beat photoelectric encoder, shoulder joint are inclined
Straighten flow servo motor and shoulder joint beat planetary reducer；
The elbow joint rolling DC servo motor component includes sequentially connected elbow joint rolling photoelectric encoder, elbow joint rolling
Turn DC servo motor and elbow joint rolling planetary reducer；
The elbow joint pitching DC servo motor component includes that sequentially connected elbow joint pitching photoelectric encoder, elbow joint are bowed
Face upward DC servo motor and elbow joint pitching planetary reducer；
The wrist joint rolling DC servo motor component includes sequentially connected wrist joint rolling photoelectric encoder, wrist joint rolling
Turn DC servo motor and wrist joint rolling planetary reducer；
The wrist joint pitching DC servo motor component includes that sequentially connected wrist joint pitching photoelectric encoder, wrist joint are bowed
Face upward DC servo motor and wrist joint pitching planetary reducer.
4. sixdegree-of-freedom simulation according to claim 2, which is characterized in that the shoulder joint pitching harmonic speed reducer group
Part includes sequentially connected shoulder joint pitching wave producer and shoulder joint pitching firm gear, shoulder joint pitching flexbile gear；
The shoulder joint beat harmonic reduction device assembly includes that sequentially connected shoulder joint beat wave producer, shoulder joint beat are rigid
Wheel and shoulder joint beat flexbile gear；
The elbow joint rolling harmonic reduction device assembly includes that sequentially connected elbow joint rolling wave producer, elbow joint rolling are rigid
Wheel and elbow joint rolling flexbile gear；
The elbow joint pitching harmonic reduction device assembly includes that sequentially connected elbow joint pitching wave producer, elbow joint pitching are rigid
Wheel and elbow joint pitching flexbile gear；
The wrist joint rolling harmonic reduction device assembly includes that sequentially connected wrist joint rolling wave producer, wrist joint rolling are rigid
Wheel and wrist joint rolling flexbile gear.
5. sixdegree-of-freedom simulation according to claim 2, which is characterized in that the shoulder joint rotating assembly is by shoulder joint
Shaft, shoulder joint rolling bearing and shoulder joint bearing (ball) cover composition；
The elbow joint rotating assembly is made of elbow joint shaft, elbow joint rolling bearing and elbow joint bearing (ball) cover；
The wrist joint component is made of wrist joint shaft, wrist joint rolling bearing and wrist joint bearing (ball) cover.
6. sixdegree-of-freedom simulation according to claim 2, which is characterized in that the shoulder joint beat Spur Gear Driving group
Part includes intermeshing shoulder joint beat active spur gear and the driven spur gear of shoulder joint beat；
The elbow joint pitching Spur Gear Driving component includes that intermeshing elbow joint pitching active spur gear and elbow joint are bowed
Face upward driven spur gear；
The wrist joint pitching Spur Gear Driving component includes that intermeshing wrist joint pitching active spur gear and wrist joint are bowed
Face upward driven spur gear.
7. sixdegree-of-freedom simulation according to claim 1, which is characterized in that six of the sixdegree-of-freedom simulation are certainly
It is respectively shoulder joint pitch freedom, shoulder joint beat freedom degree, elbow joint roll freedom, elbow joint pitching freedom by degree
Degree, wrist joint roll freedom and wrist joint pitch freedom；
Wherein, shoulder joint pitch freedom is first axle, and shoulder joint beat freedom degree is the second axis, and elbow joint roll freedom is
Third axis, elbow joint pitch freedom are the 4th axis, and wrist joint roll freedom is the 5th axis, and wrist joint pitch freedom is the
Six axis.
8. sixdegree-of-freedom simulation according to claim 1, which is characterized in that the sixdegree-of-freedom simulation wrist joint group
Part end is provided with execution connection component.
9. sixdegree-of-freedom simulation according to claim 1, which is characterized in that shoulder joint in the sixdegree-of-freedom simulation
The material of structural member, elbow joint structure part and wrist joint structure part is light aluminum alloy.
10. a kind of service robot, which is characterized in that including sixdegree-of-freedom simulation described in claim 1 to 9 any one
Service robot.
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| CN201811294202.6A CN109202954A (en) | 2018-11-01 | 2018-11-01 | A kind of sixdegree-of-freedom simulation and service robot suitable for service robot |
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| CN111283691A (en) * | 2020-02-24 | 2020-06-16 | 湘潭大学 | Joint variable force driving structure and system of baby service robot |
| CN116079782A (en) * | 2023-02-24 | 2023-05-09 | 哈尔滨工程大学 | Three-degree-of-freedom rotary mechanism for full-automatic grabbing manipulator |
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