CN109397330B - Mechanical arm wrist layout structure - Google Patents
Mechanical arm wrist layout structure Download PDFInfo
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- CN109397330B CN109397330B CN201811602232.9A CN201811602232A CN109397330B CN 109397330 B CN109397330 B CN 109397330B CN 201811602232 A CN201811602232 A CN 201811602232A CN 109397330 B CN109397330 B CN 109397330B
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- wrist
- driving device
- wrist driving
- mechanical arm
- shoulder
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 191
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 239000012636 effector Substances 0.000 claims description 27
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 230000002035 prolonged effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000003754 machining Methods 0.000 abstract 1
- 239000011664 nicotinic acid Substances 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 230000003592 biomimetic effect Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 102200082908 rs33947457 Human genes 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention discloses a mechanical arm wrist layout structure which comprises a wrist driving device I, a wrist driving device II and a wrist driving device III, wherein the wrist driving device III is arranged in a space between the wrist driving device I and the wrist driving device II, and the extending direction of the wrist driving device II is opposite to the extending direction of an end executing mechanism. The beneficial effects are as follows: the invention reduces the distance from the triaxial intersection center of the wrist driving device to the end actuating mechanism and improves the flexibility of the end actuating mechanism; by adopting the wrist layout structure, the driving device of independent freedom degree of the wrist is more backward, the gravity center of the mechanical arm is closer to the shoulder, and the moment of inertia of the mechanical arm is reduced under the condition that the total weight is unchanged, so that the working efficiency of the mechanical arm is improved; the transmission chain is not required to be additionally added or changed, and the contradiction problems between the transmission backlash of the special gearbox for three-axis convergence and the machining assembly, such as the kinematic dead zone of the parallelogram mechanism and the motion hysteresis of the synchronous belt, are not introduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a layout structure of a wrist of a bionic human mechanical arm.
Background
In the mechanical arm research, an important branch is a bionic human-like mechanical arm, and the structure and the kinematic characteristics of the human-like mechanical arm are very similar to those of a human arm, different from the traditional industrial mechanical arm, so that the bionic human-like mechanical arm can be better integrated into a daily living environment. As shown in fig. 1-3, the conventional bionic human-like mechanical arm adopts an S-R-S layout, namely: the shoulder has three independent rotational degrees of freedom, such as shoulder driving device I10, shoulder driving device II11 and shoulder driving device III12 in the illustration, and the axes of the driving devices with the three independent rotational degrees of freedom are orthogonal in pairs and meet at one point to form a spherical hinge; the elbow is an independent degree of rotational freedom, as shown by elbow drive 20; the wrist has three independent degrees of rotational freedom similar to the shoulder, such as wrist driving device a30A, wrist driving device B31A and wrist driving device C32A in the drawing, and axes of the driving devices of the three independent degrees of rotational freedom are orthogonal two by two and meet at one point to form a spherical hinge. The layout is closest to the human arm freedom distribution.
The wrist spherical hinge mechanism of the S-R-S layout relates to the flexibility degree of the arm end effector (the mechanism connected by the reference numeral 40A in fig. 2 and 3), which requires that the mounting flange 40A of the end effector is as close as possible to the three-axis intersection point 33A of the spherical hinge, so that three independent rotational degrees of freedom of the end can better adjust the posture of the end effector (such as a manipulator) while rotating, and the position change of the end effector is less caused, thereby improving the flexibility of the end.
However, as shown in fig. 4, the layout of the conventional wrist structure is a serial structure, and the distance between the three-axis intersection point and the mounting flange 41A of the end effector is larger, and the distance between the final-stage driving device (wrist driving device a 30A), the mounting flange 41A of the end effector and the three-axis intersection point 33A of the structure (in the figure, the intersection positions of the wrist rotation axis a30A, the wrist rotation axis B31A and the wrist rotation axis C32A) is larger, so that the above-mentioned degree-of-freedom arrangement requirement is difficult to be satisfied, and therefore, the structural advantage of the wrist of the bionic human-like mechanical arm is difficult to be represented to the greatest extent in the specific movement process of the mechanical arm.
In engineering practice, the problems to be solved are: on the premise of not changing the kinematic layout of the mechanical arm S-R-S, the position of the end effector mounting flange 40A is made to be as close to the convergence center point 33A of the three rotating shafts as possible by reasonably arranging the driving mechanism of the wrist. At the same time, the layout should not additionally increase the weight, the appearance size and the transmission structure of the wrist mechanism (a new motion mechanism is not introduced, so as not to increase the non-linear factors such as backlash, dead zone and the like on the transmission chain to influence the control performance, and the efficiency problem of the motion mechanism itself influences the transmission efficiency).
Therefore, a solution to the above-mentioned problems needs to be proposed.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an objective of the present invention is to provide a wrist layout structure of a robot arm, so as to solve the above-mentioned problems in the prior art.
In order to solve the above problems, the present invention provides a robot arm wrist layout structure, which includes a wrist driving device I, a wrist driving device II, and a wrist driving device III, where the wrist driving device I is connected with the wrist driving device II and an elbow driving device of the robot arm through flanges, the wrist driving device III is connected with the wrist driving device II and an end effector of the robot arm through flanges, the wrist driving device III is disposed in a space between the wrist driving device I and the wrist driving device II, and an extending direction of the wrist driving device II extends opposite to the end effector, so that a distance from a triaxial intersection center of the wrist driving device I, the wrist driving device II, and the wrist driving device III to the end effector is reduced, so as to improve flexibility of the end effector.
Further, the wrist driving device I, the wrist driving device II, and the wrist driving device III are connected in series.
Further, the wrist driving device I, the wrist driving device II and the wrist driving device III which are connected in series are rotation driving devices, and the rotation shafts of the three wrist driving devices meet at a point and are the intersection center of the rotation shafts.
Further, the offset distance from the end effector to the intersection center of the rotating shafts is equal to the radius and the allowance of the wrist driving device II.
Further, the connection flange between the wrist driving device I and the wrist driving device II is extended at the flange portion of the wrist driving device II to a space capable of accommodating the wrist driving device III.
Further, the flange of the end actuating mechanism is of a U-shaped structure, and the wrist driving device II is arranged in the U-shaped space to prevent the end actuating mechanism from interfering with other mechanisms of the wrist when the wrist driving device III rotates.
Further, the wrist driving device I, the wrist driving device II and the wrist driving device III each include a stator portion and a rotor portion, and the flange is connected to the stator portion or the rotor portion.
The application also claims a mechanical arm, including shoulder drive arrangement, elbow drive arrangement and wrist drive arrangement, shoulder drive arrangement, elbow drive arrangement and wrist drive arrangement series connection, the wrist drive arrangement adopts aforesaid wrist overall arrangement structure setting.
By implementing the mechanical arm wrist layout structure provided by the invention, the mechanical arm wrist layout structure has the following technical effects:
(1) According to the invention, the mounting flange of the end actuating mechanism is closer to the kinematic triaxial intersection, so that the wrist motion of the mechanical arm changes the posture of the end actuating mechanism as little as possible, and simultaneously, the position of the end actuating mechanism is changed, so that the wrist mechanism of the mechanical arm is closer to the motion characteristic of human, and the design original purpose of the bionic mechanical arm is better met;
(2) When the wrist layout structure is adopted, the driving device of the independent degree of freedom of the wrist is more backward objectively arranged, so that the gravity center of the mechanical arm is closer to the shoulder, the moment of inertia of the mechanical arm is reduced under the condition that the total weight is unchanged, and the working efficiency of the mechanical arm is improved;
(3) Unlike available mechanical arm with parallelogram mechanism, synchronous belt mechanism or three-shaft crossed special speed reducing box, the present invention has no need of adding or changing transmission chain and no introduction of motion dead zone of the parallelogram mechanism, i.e. the parallelogram mechanism may not transfer load effectively in certain specific positions; the motion lag of the synchronous belt, namely the belt has larger deformation and larger damping characteristic in transmission, thereby affecting the dynamic characteristic of the system; and the contradiction problem between the transmission back clearance of the special gearbox with three-axis intersection and the processing assembly, namely, the special gearbox with three-axis intersection usually adopts bevel gear transmission, and the bevel gear transmission has high requirements on the processing and assembly precision of the gearbox body, and has larger back clearance of gear engagement.
Drawings
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
FIG. 1 is a perspective view of a conventional bionic human-like mechanical arm in the background of the invention;
FIG. 2 is a front view of a conventional biomimetic robotic arm in accordance with the background of the present invention;
FIG. 3 is a top view of a conventional biomimetic robotic arm in accordance with the background of the present invention;
fig. 4 is a schematic diagram of a wrist hinge structure of a conventional bionic human-like mechanical arm in the background art of the invention;
FIG. 5 is a perspective view of a wrist layout of a robot in accordance with an embodiment of the present invention;
figure 6 is a front view of a robot wrist layout in accordance with an embodiment of the present invention;
figure 7 is a top view of a robot wrist layout in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical scheme of the present invention is described in detail below by using the following specific embodiments.
Fig. 5-7 show a mechanical arm wrist layout structure, which comprises a wrist driving device 3, specifically comprises a wrist driving device I30, a wrist driving device II31 and a wrist driving device III32, wherein the wrist driving device I30 is respectively connected with the wrist driving device II31 and an elbow driving device 2 of the mechanical arm through flanges, the wrist driving device III32 is respectively connected with the wrist driving device II32 and an end actuating mechanism of the mechanical arm through flanges, the wrist driving device III32 is arranged in a space between the wrist driving device I30 and the wrist driving device II31, and the extending direction of the wrist driving device II31 is opposite to the end actuating mechanism, so that the distance from the triaxial intersection center of the wrist driving device I30, the wrist driving device II31 and the wrist driving device III32 to the end actuating mechanism is reduced, and the flexibility of the end actuating mechanism is improved.
Further, the wrist driving device I30, the wrist driving device II31, and the wrist driving device III32 are connected in series.
Further, the wrist driving device I30, the wrist driving device II31 and the wrist driving device III32 connected in series are rotation driving devices, and the rotation axes of the three wrist driving devices meet at a point and are the intersection center 33 of the rotation axes.
Further, the offset of the end effector from the axis of rotation intersection center 33 is equal to the radius and margin of the wrist drive II 31.
Further, the flange of the end effector is configured as a U-shaped structure, and the wrist driving device II31 is disposed in the U-shaped space, so as to prevent the end effector from interfering with other mechanisms of the wrist when the wrist driving device III32 rotates.
Further, the wrist driving device I30, the wrist driving device II31 and the wrist driving device III32 each include a stator portion and a rotor portion, and the stator portion or the rotor portion is flanged.
Based on the above-described scheme, the following will be described in detail.
Referring to fig. 5-7, a wrist layout structure of a mechanical arm is shown, and in combination with a shoulder driving device 1 and an elbow driving device 2 of the mechanical arm shown in fig. 1-3, the mechanical arm adopts an S-R-S layout, and comprises the shoulder driving device 1, the elbow driving device 2, the wrist driving device 3 and an end actuating mechanism, wherein the shoulder driving device 1 and the elbow driving device 2 are connected in series through a large arm connecting rod 5, the elbow driving device 2 and the wrist driving device 3 are connected in series through a small arm connecting rod 6, and the wrist driving device 3 is connected with the end actuating mechanism 4.
The shoulder driving device 1 comprises a shoulder driving device I10, a shoulder driving device II11 and a shoulder driving device III12 with three independent rotational degrees of freedom, the rotating shafts of the shoulder driving device I10, the shoulder driving device II11 and the shoulder driving device III12 are orthogonal in pairs, and the three shoulder driving devices are converged at one point to form a spherical hinge which is the intersection center of the rotating shafts of the shoulders.
The shoulder driving device I10 comprises a shoulder stator I100, a shoulder rotor I101 and a shoulder flange I102; the shoulder driving device II11 includes a shoulder stator II110 and a shoulder rotor II111; the shoulder drive III12 comprises a shoulder stator III120, a shoulder rotor III121, and a shoulder flange III122; shoulder flange I102 is connected with shoulder stator II110 and shoulder rotor I101 respectively, shoulder stator I100 is connected with shoulder rotor I101, shoulder flange II112 is connected with shoulder rotor III120 and shoulder stator II111 respectively, shoulder flange III122 is connected with shoulder rotor II111 and shoulder stator III120 respectively, shoulder stator III120 is connected with shoulder rotor III121, shoulder rotor III121 is connected with big arm connecting rod 5, realize shoulder drive's rotation.
The elbow driving device 1 comprises an elbow driving device I20 and an elbow driving device II21 with two independent rotation degrees of freedom, and the rotation axes of the elbow driving device I20 and the elbow driving device II21 are orthogonal.
The elbow driving device I20 comprises an elbow stator I200, a large arm connecting rod 5 and an elbow flange I201; the elbow driving device II21 comprises a forearm connecting rod 6, an elbow rotator II211 and an elbow flange II212; the elbow flange I201 is respectively connected with the large arm connecting rod 5 and the elbow stator I200, and the elbow flange II212 is respectively connected with the elbow rotator II211 and the small arm connecting rod 6, so that the elbow driving device rotates.
The wrist driving device 1 comprises a wrist driving device I30, a wrist driving device II31 and a wrist driving device III32 with three independent rotational degrees of freedom, wherein the wrist driving device I30, the wrist driving device II31 and the wrist driving device III32 are connected in series; the rotation axes of the wrist driving device I30, the wrist driving device II31 and the wrist driving device III32 are orthogonal in pairs, and the three wrist driving devices meet at one point to form a spherical hinge which is a wrist rotation axis intersection center 33.
The wrist driving device I30 includes a wrist stator I300, a wrist rotor I301, and a wrist flange I302; the wrist driving device II31 includes a wrist stator II310, a wrist rotor II311, and a wrist flange II312; the wrist driving device III32 includes a wrist stator III320 and a wrist rotor III321; the wrist flange I302 is respectively connected with the wrist stator II310 and the wrist stator I300, the wrist stator I300 is connected with the forearm connecting rod 6 through the wrist rotor I301, and the wrist flange II312 is respectively connected with the wrist rotor II311 and the wrist stator III320, so that the rotation of the wrist driving device is realized.
Wherein, each part flange of shoulder drive arrangement, wrist drive arrangement and elbow drive arrangement is "L" type structure.
The end effector comprises an end effector flange 40, the end effector flange 40 is of a U-shaped structure, and the end effector flange 40 is connected with the wrist rotor III321 to drive the end effector.
The flange portion of the wrist flange I302 connected to the wrist stator II310 is extended to a space capable of accommodating the wrist driving device III32, and the wrist driving device III32 is disposed in the space between the wrist driving device I30 and the wrist driving device II 31.
The wrist driving device II31 is located in the U-shaped space of the end effector flange 40, so as to prevent the end effector from interfering with other mechanisms of the wrist when the wrist driving device III32 rotates; the wrist extension direction of the wrist driving device II31 extends opposite to the end effector, so that the distance from the triaxial intersection center of the wrist driving device I30, the wrist driving device II31 and the wrist driving device III32 to the end effector 4 is reduced, so as to improve the flexibility of the end effector.
Wherein, the offset distance from the end effector to the rotation shaft intersection center 33 is equal to the radius and the allowance of the wrist driving device II 31.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (5)
1. The mechanical arm wrist layout structure comprises a wrist driving device I, a wrist driving device II and a wrist driving device III, wherein the wrist driving device I is respectively connected with the wrist driving device II and an elbow driving device of the mechanical arm through flanges, and the wrist driving device III is respectively connected with an end actuating mechanism of the wrist driving device II and the mechanical arm through flanges; the wrist driving device I, the wrist driving device II and the wrist driving device III are connected in series; the connecting flange between the wrist driving device I and the wrist driving device II is prolonged at the flange part of the wrist driving device II to a space capable of accommodating the wrist driving device III; the flange of the end actuating mechanism is of a U-shaped structure, and the wrist driving device II is arranged in the U-shaped space to prevent the end actuating mechanism from interfering with other mechanisms of the wrist when the wrist driving device III rotates.
2. The robot wrist layout structure according to claim 1, wherein the wrist driving device I, the wrist driving device II, and the wrist driving device III connected in series are rotation driving devices, and rotation axes of the three wrist driving devices meet at a point, which is a center of intersection of the rotation axes.
3. The robot wrist layout of claim 2, wherein the offset of the end effector from the center of intersection of the axes of rotation is equal to the radius of the wrist drive II and the margin.
4. The robot wrist layout structure according to claim 1, wherein the wrist driving device I, the wrist driving device II, and the wrist driving device III each include a stator portion and a rotor portion, and the flange is connected to the stator portion or the rotor portion.
5. A mechanical arm comprising a shoulder drive, an elbow drive and a wrist drive, said shoulder drive, elbow drive and wrist drive being connected in series, characterized in that said wrist drive is provided with a wrist arrangement according to any one of the preceding claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811602232.9A CN109397330B (en) | 2018-12-26 | 2018-12-26 | Mechanical arm wrist layout structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811602232.9A CN109397330B (en) | 2018-12-26 | 2018-12-26 | Mechanical arm wrist layout structure |
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| Publication Number | Publication Date |
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| CN109397330A CN109397330A (en) | 2019-03-01 |
| CN109397330B true CN109397330B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811602232.9A Active CN109397330B (en) | 2018-12-26 | 2018-12-26 | Mechanical arm wrist layout structure |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875845B (en) * | 2019-04-01 | 2023-10-24 | 安徽理工大学 | Shoulder center variable upper limb rehabilitation mechanical arm |
| CN113277127B (en) * | 2021-06-15 | 2022-10-11 | 北京邮电大学 | Space soft butt joint device based on gyroscope structure |
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| CN101272886A (en) * | 2005-09-27 | 2008-09-24 | 株式会社安川电机 | Multi-joint manipulator |
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
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| CN107322582A (en) * | 2017-08-14 | 2017-11-07 | 南京工程学院 | A kind of six degree of freedom biomimetic manipulator |
| CN209289322U (en) * | 2018-12-26 | 2019-08-23 | 上海岭先机器人科技股份有限公司 | A kind of machinery wrist layout structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10092359B2 (en) * | 2010-10-11 | 2018-10-09 | Ecole Polytechnique Federale De Lausanne | Mechanical manipulator for surgical instruments |
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2018
- 2018-12-26 CN CN201811602232.9A patent/CN109397330B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5155423A (en) * | 1986-02-18 | 1992-10-13 | Robotics Research Corporation | Industrial robot with servo |
| CN101272886A (en) * | 2005-09-27 | 2008-09-24 | 株式会社安川电机 | Multi-joint manipulator |
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN104552289A (en) * | 2013-10-29 | 2015-04-29 | 精工爱普生株式会社 | Robot |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
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| CN109397330A (en) | 2019-03-01 |
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