CN110524522B - Multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm - Google Patents
Multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm Download PDFInfo
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- CN110524522B CN110524522B CN201910888861.0A CN201910888861A CN110524522B CN 110524522 B CN110524522 B CN 110524522B CN 201910888861 A CN201910888861 A CN 201910888861A CN 110524522 B CN110524522 B CN 110524522B
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 59
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 58
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 29
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 22
- 210000000245 forearm Anatomy 0.000 claims abstract description 16
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 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
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 16
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 239000012636 effector Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention discloses a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm, which comprises a shoulder joint, an elbow joint and a wrist joint, wherein the elbow joint comprises an upper arm part and a forearm part; the shoulder joint is connected with the upper end of the upper arm part, the lower end of the upper arm part is connected with the upper end of the forearm part, and the lower end of the forearm part is connected with the upper end of the wrist joint; the shoulder joint is composed of two rotary mechanisms to form a two-degree-of-freedom serial mechanism, the elbow joint is composed of a harmonic reducer and a bevel gear to form a two-degree-of-freedom serial mechanism, and the wrist joint is composed of a six-degree-of-freedom parallel mechanism. The shoulder joint, the elbow joint and the wrist joint are fixedly connected in sequence, the advantages of the serial mechanism and the parallel mechanism are fully utilized, and the device has the advantages of large working space, strong bearing capacity, flexible movement, good dynamic performance and the like, and is simple in structure, reasonable in design and easy to process and assemble; meanwhile, the mechanical arm has ten degrees of freedom, can avoid odd gesture and realize space arbitrary gesture conversion with high precision, and is provided with different end effectors, thereby meeting the application of various technical fields.
Description
Technical Field
The invention relates to the field of anthropomorphic mechanical arms, in particular to a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm.
Background
Anthropomorphic mechanical arms are widely applied in the fields of industrial manufacture, medical treatment and the like, and the mechanical arms play an important role in stably improving the product quality, the production efficiency and the labor condition.
At present, most of anthropomorphic mechanical arms adopt a series mechanism, and the series mechanism has the advantages of large working space, flexible movement and the like, but has the problems of error accumulation effect, small bearing capacity, poor dynamic characteristics and the like. The parallel mechanism has the advantages of strong bearing capacity, small motion inertia, good dynamic characteristics and the like, effectively overcomes the defects of the serial mechanism, but has the defect of smaller working space, and the parallel-serial mechanism has the advantages of the two mechanical arms. Most anthropomorphic mechanical arms have fewer degrees of freedom than seven, and the mechanism often has singular configurations and has great impact on the mechanism and a driver, so that the control precision of the mechanical arms is low, and the redundant degree of freedom mechanism can avoid the singular configurations and has better rigidity characteristics and better dynamic performance.
Aiming at the problems of the anthropomorphic mechanical arm, it is particularly necessary to design a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm, so that the defects are effectively overcome.
Disclosure of Invention
The invention aims to solve the problems of large motion inertia and low precision of most anthropomorphic mechanical arms at present, and provides a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm, which ensures that the anthropomorphic mechanical arm can efficiently, precisely and high-quality finish tasks under different working conditions.
The invention realizes the above purpose through the following technical scheme: a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm comprises a shoulder joint, an elbow joint and a wrist joint, wherein the elbow joint comprises an upper arm part and a forearm part, and the elbow joint comprises the upper arm part and the forearm part; the shoulder joint is connected with the upper end of the upper arm part, the lower end of the upper arm part is connected with the upper end of the forearm part, and the lower end of the forearm part is connected with the upper end of the wrist joint;
the shoulder joint comprises a base fixing plate, a first motor, a first speed reducer, a first L-shaped connecting plate, a first coupler, a second L-shaped connecting plate, a third L-shaped connecting plate, a first output shaft, a first arc plate, a second motor, a second speed reducer, a fourth L-shaped connecting plate, a triangular reinforcing rib, a second coupler, a second output shaft and a second arc plate; the first speed reducer is fixedly connected to the first L-shaped connecting plate through a bolt, the first motor is fixed to the first speed reducer, and an output shaft of the first motor is connected with one end of the first output shaft through the first speed reducer and the first coupler in sequence; the other end of the first output shaft is embedded in the second L-shaped connecting plate and the third L-shaped connecting plate through bearings, the first L-shaped connecting plate, the second L-shaped connecting plate and the third L-shaped connecting plate are all fixed in the base fixing plate through bolts, the first arc plate is connected with the first output shaft through keys, the fourth L-shaped connecting plate is fixedly connected with the first arc plate through bolts, the second speed reducer is fixed on the fourth L-shaped connecting plate through bolts, the second motor is fixed on the second speed reducer through bolts, an output shaft of the second motor is connected with one end of the second output shaft through the second speed reducer and the second coupler, the other end of the second output shaft is embedded in the first arc plate through bearings, and the second arc plate is connected with the second output shaft through keys; when the first motor moves, the first arc plate, the second motor, the second reducer and the fourth L-shaped connecting plate are driven by the first reducer, the first coupler and the first output shaft, the whole body formed by the triangular reinforcing ribs, the second coupler and the second output shaft rotates around the first output shaft, and when the second motor moves, the second arc plate is driven by the second reducer, the second coupler and the second output shaft to rotate around the second output shaft;
the elbow joint comprises a first upper arm, a second upper arm, a first U-shaped connecting plate, a third motor, a second U-shaped connecting plate, a harmonic reducer, a third U-shaped connecting plate, a fourth motor, a third reducer, a fourth U-shaped connecting plate, a driving bevel gear, a driven bevel gear, a third output shaft, a front arm and a fifth U-shaped connecting plate; the first U-shaped connecting plate is fixedly connected with the second arc plate through bolts, the first upper arm is fixedly connected with the first U-shaped connecting plate and the second U-shaped connecting plate, the whole body formed by the first upper arm, the first U-shaped connecting plate and the second U-shaped connecting plate is used as a shoulder joint moving platform, the movement of a shoulder joint is transferred to an elbow joint and a wrist joint, the third motor is fixed on the second U-shaped connecting plate, the harmonic reducer is connected with an output shaft of the third motor through a key, the harmonic reducer is fixed on the second U-shaped connecting plate through bolts, the third U-shaped connecting plate and the fourth U-shaped connecting plate are fixedly connected with each other through two second upper arms, the fourth motor is connected with the third reducer, the third reducer is fixed on the fourth U-shaped plate through bolts, the output shaft of the third reducer is connected with a driving conical gear through a key, the driving conical gear is meshed with a driven conical gear, the driven conical gear is connected on the third output shaft through a key, two ends of the third output shaft penetrate through the second upper arm and the front arm, the third output shaft is embedded in the second upper arm and is connected with the fifth U-shaped connecting plate through bolts;
the wrist joint has six degrees of freedom, the structure of the wrist joint comprises a wrist joint fixing platform, a wrist joint moving platform, a first branched chain, a second branched chain and a branched chain supporting plate, wherein the fixed end of the first branched chain is connected with the wrist joint fixing platform, the fixed end of the second branched chain is connected with the branched chain supporting plate, the output ends of the first branched chain and the second branched chain are connected with the wrist joint moving platform, the number of the first branched chain is five, and one second branched chain is arranged;
the first branched chain comprises a fifth motor, a sixth U-shaped connecting plate, a third coupler, a lead screw nut connecting plate, a fifth L-shaped connecting plate, a seventh U-shaped connecting plate, an eighth U-shaped connecting plate, a branched chain supporting plate, a first spherical hinge support, a ball head fixed length rod, a second spherical hinge support and a guide rod, wherein the wrist joint fixed platform is connected with the sixth U-shaped connecting plate through bolts, the sixth U-shaped connecting plate is fixedly connected with the fifth U-shaped connecting plate through bolts, the fifth motor is fixedly connected with the wrist joint fixed platform through bolts, one end of the lead screw is connected with the fifth motor through the third coupler, the other end of the lead screw is embedded in the seventh U-shaped connecting plate through a bearing, one end of the fifth L-shaped connecting plate is fixedly connected with the seventh U-shaped connecting plate through bolts, and two ends of the guide rod are respectively fixed on the wrist joint fixed platform and the seventh U-shaped connecting plate; the screw nut is connected with the screw through screw thread fit, one end of the screw nut connecting plate is fixed on the screw nut through a screw, the other end of the screw nut connecting plate is fixedly connected with an eighth U-shaped connecting plate, the first spherical hinge support is fixedly connected on the eighth U-shaped connecting plate through a bolt, one end of the ball head fixed length rod is connected with the first spherical hinge support through a ball pair, the other end of the ball head fixed length rod is connected with a second spherical hinge support through a ball pair, and the second spherical hinge support is fixedly connected on the wrist joint fixed platform through a bolt;
the second branched chain comprises a branched chain supporting plate, a third spherical hinge support, a first spherical head rod, a first spherical head connecting piece, a linear motor, a second spherical head connecting piece and a second spherical head rod, wherein the branched chain supporting plate is fixed on five seventh U-shaped connecting plates through bolts, the third spherical hinge support is connected on the branched chain supporting plate through bolts, one end of the first spherical head rod is connected with the third spherical hinge support through a spherical hinge, the other end of the first spherical head rod is fixedly connected with the first spherical head connecting piece through a fastening screw, the linear motor connecting piece is fixedly connected with the first spherical head connecting piece through bolts, one end of the linear motor is connected with the linear motor connecting piece through bolts, the other end of the linear motor is fixedly connected with the second spherical head connecting piece through bolts, and one end of the second spherical head rod is fixedly connected with the second spherical head connecting piece through fastening screws.
Further, bearing end covers are arranged on the outer sides of the first output shaft penetrating through the second L-shaped connecting plate and the third L-shaped connecting plate.
Further, the whole hollow box body of first circular arc board, the end is square about, has three key slotted holes, and the front and back end is semicircular and is higher than left and right ends, and the front and back end has the round hole, embedded bearing.
Further, the upper end of the second arc plate is semicircular, the lower end of the second arc plate is square, the upper end of the second arc plate is provided with a key slot hole, and the lower end of the second arc plate is provided with a square hole.
Further, the first output shaft is located above the second output shaft, and an included angle of 90 degrees is formed in the space.
Further, the third output shaft of the elbow joint is positioned through the large end of the driven bevel gear and the shaft sleeve, the driving bevel gear is positioned on the third output shaft through a key, and the bearing end covers are arranged on the outer sides of the third output shaft penetrating through the second upper arm.
Furthermore, the upper ends of the second upper arm and the forearm of the elbow joint are square, the lower end is round, and the whole elbow joint is Z-shaped.
Furthermore, the wrist joint fixing platform is of a regular pentagon structure, five round holes are uniformly formed in the outer side of the wrist joint fixing platform and are connected with the motor, ten round holes are formed in the center of the wrist joint fixing platform and are fixedly connected with a fifth U-shaped connecting plate, and the wrist joint fixing platform is fixedly connected with an elbow joint through the five U-shaped connecting plates.
Furthermore, the wrist joint branched chain supporting seat is in a pentagram-like shape and is fixed on the six U-shaped plate through bolts.
The shoulder joint and the elbow joint have four degrees of freedom and are mainly used for positioning the position of the mechanical arm, and the space position has only three parameters, so that the shoulder fixing joint and the elbow joint are redundant by one degree of freedom, the singular position can be avoided, the positioning task of the mechanical arm is completed, and the mechanical arm has the advantages of high bearing capacity and good dynamic performance.
The wrist joint is arranged as a 5-PSS/SPS parallel mechanism, has six degrees of freedom, can realize random transformation of space pose, can realize adjustment of micro pose based on positioning characteristics of shoulder joints and elbow joints, and has the advantages of strong bearing capacity, small dead weight load ratio, high precision and the like.
The invention has the beneficial effects that: the invention fully utilizes the advantages of the series and parallel mechanisms, has the advantages of large working space, strong bearing capacity, flexible movement, good dynamic performance and the like, has simple structure and reasonable design, and is easy to process and assemble; meanwhile, the mechanical arm has ten degrees of freedom, can avoid odd gesture and realize space arbitrary gesture conversion with high precision, and is provided with different end effectors, so that the application of various technical fields can be met.
Drawings
FIG. 1 is a schematic diagram of a multiple degree of freedom redundant serial-parallel anthropomorphic mechanical arm.
Fig. 2 is a schematic view of the structure of the shoulder joint of the present invention.
Fig. 3 is a schematic view of the elbow joint of the present invention.
Fig. 4 is a schematic view of the wrist joint of the present invention.
Fig. 5 is a schematic diagram of the structure of the second branch of the wrist joint of the present invention.
In the drawings, 1-shoulder joint, 2-upper arm part, 3-forearm part, 4-wrist joint, 201-profile channel outlet, 202-first L-shaped connection plate, 203-first speed reducer, 204-first coupling, 205-first output shaft, 206-second L-shaped connection plate, 207-first motor, 208-first circular arc plate, 209-second circular arc plate, 210-second motor, 211-second speed reducer, 212-second coupling, 213-second output shaft, 214-fourth L-shaped connection plate, 215-triangular reinforcing rib, 216-third L-shaped connection plate, 301-first U-shaped connection plate, 302-third motor, 303-first upper arm, 304-second U-shaped connection plate, 305-harmonic speed reducer, 306-third U-shaped connection plate 307-fourth motor, 308-second upper arm, 309-third speed reducer, 310-fourth U-shaped connecting plate, 311-driving conical gear, 312-third output shaft, 313-driven conical gear, 314-forearm, 315-fifth U-shaped connecting plate, 401-sixth U-shaped connecting plate, 402-fifth motor, 403-wrist fixing platform, 404-guide rod, 405-fifth L-shaped connecting plate, 406-lead screw nut connecting plate, 407-eighth U-shaped connecting plate, 408-first spherical hinge support, 409-spherical hinge fixing rod, 410-linear motor, 411-second spherical hinge support, 412-second spherical hinge support, 413-wrist moving platform, 414-second spherical joint connecting piece, 415-linear motor connecting piece, 416-first ball joint connecting piece, 417-seventh U-shaped connecting plate, 418-first ball head rod, 419-branched support plate, 420-lead screw nut, 421-lead screw, 422-third coupling, 423-third spherical hinge support.
Description of the embodiments
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1-5, a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm comprises a shoulder joint 1, an elbow joint and a wrist joint 4, wherein the elbow joint comprises an upper arm part 2 and a forearm part 3; the shoulder joint 1 is connected with the upper end of the upper arm part 2, the lower end of the upper arm part 2 is connected with the upper end of the forearm part 3, and the lower end of the forearm part 3 is connected with the upper end of the wrist joint 4.
The shoulder joint 1 comprises a base fixing plate 201, a first motor 207, a first speed reducer 203, a first L-shaped connecting plate 202, a first coupler 204, a second L-shaped connecting plate 206, a third L-shaped connecting plate 216, a first output shaft 205, a first circular arc plate 208, a second motor 210, a second speed reducer 211, a fourth L-shaped connecting plate 214, triangular reinforcing ribs 215, a second coupler 212, a second output shaft 213 and a second circular arc plate 209; the first speed reducer 203 is fixedly connected to the first L-shaped connecting plate 202 through a bolt, the first motor 207 is fixed to the first speed reducer 203, and an output shaft of the first motor 207 is connected with one end of the first output shaft 205 through the first speed reducer 203 and the first coupler 204 in sequence; the other end of the first output shaft 205 is embedded in the second L-shaped connecting plate 206 and the third L-shaped connecting plate 216 through bearings, the first L-shaped connecting plate 202, the second L-shaped connecting plate 206 and the third L-shaped connecting plate 216 are all fixed in the base fixing plate 201 through bolts, the first arc plate 208 and the first output shaft 205 are connected through keys, the fourth L-shaped connecting plate 214 is fixedly connected with the first arc plate 208 through bolts, the second speed reducer 211 is fixed on the fourth L-shaped connecting plate 214 through bolts, the second motor 210 is fixed on the second speed reducer 211 through bolts, the output shaft of the second motor 210 is connected with one end of the second output shaft 213 through the second speed reducer 211 and the second coupling 212, the other end of the second output shaft 213 is embedded in the first arc plate 208 through bearings, and the second arc plate 209 is connected with the second output shaft 213 through keys; when the first motor 207 moves, the first arc plate 208, the second arc plate 209, the second motor 210, the second speed reducer 211 and the fourth L-shaped connecting plate 214 are driven by the first speed reducer 203, the first coupler 204 and the first output shaft 205, the triangular reinforcing rib 215, the second coupler 212 and the second output shaft 213 form a whole to rotate around the first output shaft 205, and when the second motor 210 moves, the second arc plate 209 is driven by the second speed reducer 211, the second coupler 212 and the second output shaft 213 to rotate around the second output shaft 213.
The elbow joint comprises a first upper arm 303, a second upper arm 308, a first U-shaped connecting plate 301, a third motor 302, a second U-shaped connecting plate 304, a harmonic reducer 305, a third U-shaped connecting plate 306, a fourth motor 307, a third reducer 309, a fourth U-shaped connecting plate 310, a driving bevel gear 311, a driven bevel gear 313, a third output shaft 312, a front arm 314 and a fifth U-shaped connecting plate 315; the first U-shaped connecting plate 301 is fixedly connected with the second arc plate 209 through bolts, the first upper arm 303 is fixedly connected with the first U-shaped connecting plate 301 and the second U-shaped connecting plate 304, the whole body formed by the first upper arm 303, the first U-shaped connecting plate 301 and the second U-shaped connecting plate 304 is used as a shoulder joint moving platform, the movement of shoulder joints is transferred to elbow joints and wrist joints, the third motor 302 is fixed on the second U-shaped connecting plate 304, the harmonic reducer 305 is connected with an output shaft of the third motor 302 through a key, the harmonic reducer 305 is fixed on the second U-shaped connecting plate 304 through bolts, the third U-shaped connecting plate 306 and the fourth U-shaped connecting plate 310 are fixedly connected with two second upper arms 308, the fourth motor 307 is connected with the third reducer 309 through bolts, the third reducer 309 is fixed on the fourth U-shaped plate 310 through bolts, an output shaft of the third reducer 309 is connected with a driving conical gear 311 through a key, the driving conical gear 311 is meshed with a driven conical gear 313, the driven conical gear 313 is connected with a third output shaft through a key, the third output shaft is connected with a third output shaft 312 through a third upper arm 312 and a front end of the third output shaft is connected with a fifth output shaft 308 through a fifth output shaft through a first arm 314 and a second end of the third arm 308 through a front end of a third arm 308 and a front end of a third output shaft of a third arm 308 is connected with a fifth output shaft through a third arm 308 through a front end of a joint through a joint of a joint is connected with a third arm 308 through a front end of a joint is fixed.
The wrist joint has six degrees of freedom, and its structure includes wrist joint fixed platform 403, wrist joint movable platform 413, first branch, second branch, branched chain backup pad 419, the fixed end of first branch connects wrist joint fixed platform 403, the fixed end of second branch connects branched chain backup pad 419, and the output of first branch and second branch connects wrist joint movable platform 413, first branch has five, the second branch has one.
The first branched chain comprises a fifth motor 402, a sixth U-shaped connecting plate 401, a third coupler 422, a lead screw 421, a lead screw nut 420, a lead screw nut connecting plate 406, a fifth L-shaped connecting plate 405, a seventh U-shaped connecting plate 417, an eighth U-shaped connecting plate 407, a branched chain supporting plate 419, a first spherical hinge support 408, a ball head fixed length rod 409, a second spherical hinge support 411 and a guide rod 404, wherein the wrist joint fixed platform 403 is connected with the sixth U-shaped connecting plate 401 through bolts, the sixth U-shaped connecting plate 401 is fixedly connected with the fifth U-shaped connecting plate 315 through bolts, the fifth motor 402 is fixedly connected with the wrist joint fixed platform 403 through bolts, one end of the lead screw 421 is connected with the fifth motor 402 through the third coupler 422, the other end of the lead screw 421 is embedded in the seventh U-shaped connecting plate 417 through a bearing, one end of the fifth L-shaped connecting plate 405 is fixedly connected with the seventh U-shaped connecting plate 417 through bolts, and two ends of the guide rod 404 are respectively fixed on the wrist joint fixed platform 403 and the seventh U-shaped connecting plate 417; the screw nut 420 is connected with a screw through screw thread fit, one end of the screw nut connecting plate 406 is fixed on the screw nut 420 through a screw, the other end of the screw nut connecting plate 406 is fixedly connected with the eighth U-shaped connecting plate 407, the first spherical hinge support 408 is fixedly connected on the eighth U-shaped connecting plate 407 through a bolt, one end of the ball head fixed length rod 409 is connected with the first spherical hinge support 408 through a ball pair, the other end of the ball head fixed length rod 409 is connected with the second spherical hinge support 411 through a ball pair, and the second spherical hinge support 411 is fixedly connected on the wrist fixed platform 403 through a bolt.
The second branched chain comprises a branched chain supporting plate 419, a third spherical hinge support 423, a first spherical hinge support 418, a first spherical joint connector 416, a linear motor connector 415, a linear motor 410, a second spherical joint connector 414 and a second spherical joint connector 412, wherein the branched chain supporting plate 419 is fixed on five seventh U-shaped connecting plates 417 through bolts, the third spherical hinge support 423 is connected on the branched chain supporting plate 419 through bolts, one end of the first spherical joint rod 418 is connected with the third spherical hinge support 423 through a spherical hinge, the other end of the first spherical joint rod 418 is fixedly connected with the first spherical joint connector 416 through a fastening screw, the linear motor connector 415 is fixedly connected with the first spherical joint connector 416 through a bolt, one end of the linear motor 410 is connected with the linear motor connector 415 through a bolt, the other end of the linear motor 410 is fixedly connected with the second spherical joint connector 414 through a bolt, one end of the second spherical joint rod 412 is fixedly connected with the second spherical joint connector through a fastening screw, and the other end of the second spherical joint rod 412 is connected with the second spherical hinge support 411 through a spherical pair.
Bearing end caps are mounted on the outer sides of the first output shaft 205, which passes through the second L-shaped connecting plate 206 and the third L-shaped connecting plate 216.
The first circular arc plate 208 is a hollow box body, the left and right ends are square, three key slots are arranged, the front and rear ends are semicircular and higher than the left and right ends, the front and rear ends are provided with round holes, and the bearings are embedded.
The upper end of the second circular arc plate 209 is semicircular, the lower end is square, the upper end is provided with a key slot hole, and the lower end is provided with a square hole.
The first output shaft 205 is located above the second output shaft 214 and forms a 90 degree angle in space.
The third output shaft 312 of the elbow joint is positioned by the large end of the driven conical gear 313 and the shaft sleeve, the driving conical gear 311 is positioned on the third output shaft 312 by a key, and the third output shaft 312 passes through the outer side of the second upper arm 308 and is provided with a bearing end cover.
The upper ends of the second upper arm 308 and the forearm 314 are square, the lower ends are round, and the whole is Z-shaped.
The wrist joint fixing platform 403 is of a regular pentagon structure, five round holes are uniformly formed in the outer side of the wrist joint fixing platform and are connected with a motor, ten round holes are formed in the center of the wrist joint fixing platform and are fixedly connected with a fifth U-shaped connecting plate, and the wrist joint fixing platform is fixedly connected with an elbow joint through the five U-shaped connecting plates.
The wrist branch support 419 is shaped like a five-pointed star and is fixed on the seventh U-shaped connecting plate 417 by bolts.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (7)
1. A multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm is characterized in that: a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm comprises a shoulder joint (1), an elbow joint and a wrist joint (4), wherein the elbow joint comprises an upper arm part (2) and a forearm part (3); the shoulder joint (1) is connected with the upper end of the upper arm part (2), the lower end of the upper arm part (2) is connected with the upper end of the forearm part (3), and the lower end of the forearm part (3) is connected with the upper end of the wrist joint (4);
the shoulder joint (1) comprises a base fixing plate (201), a first motor (207), a first speed reducer (203), a first L-shaped connecting plate (202), a first coupler (204), a second L-shaped connecting plate (206), a third L-shaped connecting plate (216), a first output shaft (205), a first arc plate (208), a second motor (210), a second speed reducer (211), a fourth L-shaped connecting plate (214), a triangular reinforcing rib (215), a second coupler (212), a second output shaft (213) and a second arc plate (209); the first speed reducer (203) is fixedly connected to the first L-shaped connecting plate (202) through a bolt, the first motor (207) is fixed to the first speed reducer (203), and an output shaft of the first motor (207) is connected with one end of the first output shaft (205) through the first speed reducer (203) and the first coupler (204) in sequence; the other end of the first output shaft (205) is embedded in the second L-shaped connecting plate (206) and the third L-shaped connecting plate (216) through bearings, the first L-shaped connecting plate (202), the second L-shaped connecting plate (206) and the third L-shaped connecting plate (216) are all fixed on the base fixing plate (201) through bolts, the first arc plate (208) and the first output shaft (205) are connected through keys, the fourth L-shaped connecting plate (214) is fixedly connected with the first arc plate (208) through bolts, the second speed reducer (211) is fixed on the fourth L-shaped connecting plate (214) through bolts, the second motor (210) is fixed on the second speed reducer (211) through bolts, the output shaft of the second motor (210) is connected with one end of the second output shaft (213) through the second speed reducer (211) and the second coupling (212), the other end of the second output shaft (213) is embedded in the first arc plate (208) through bearings, and the second output shaft (209) is connected with the second arc plate (213) through keys; when the first motor (207) moves, the first arc plate (208), the second arc plate (209), the second motor (210), the second reducer (211) and the fourth L-shaped connecting plate (214) are driven by the first speed reducer (203), the first coupler (204) and the first output shaft (205), the whole body formed by the triangular reinforcing ribs (215), the second coupler (212) and the second output shaft (213) rotates around the first output shaft (205), and when the second motor (210) moves, the second arc plate (209) is driven by the second speed reducer (211), the second coupler (212) and the second output shaft (213) to rotate around the second output shaft (213);
the elbow joint comprises a first upper arm (303), a second upper arm (308), a first U-shaped connecting plate (301), a third motor (302), a second U-shaped connecting plate (304), a harmonic reducer (305), a third U-shaped connecting plate (306), a fourth motor (307), a third reducer (309), a fourth U-shaped connecting plate (310), a driving conical gear (311), a driven conical gear (313), a third output shaft (312), a front arm (314) and a fifth U-shaped connecting plate (315); the first U-shaped connecting plate (301) is fixedly connected with the second circular arc plate (209) through bolts, the first upper arm (303) is fixedly connected with the first U-shaped connecting plate (301) and the second U-shaped connecting plate (304), the whole formed by the first upper arm (303), the first U-shaped connecting plate (301) and the second U-shaped connecting plate (304) is used as a shoulder joint moving platform to transfer the motion of a shoulder joint to an elbow joint and a wrist joint, the third motor (302) is fixed on the second U-shaped connecting plate (304), the harmonic reducer (305) is connected with an output shaft of the third motor (302) through a key, the harmonic reducer (305) is fixed on the second U-shaped connecting plate (304) through bolts, the third U-shaped connecting plate (306) and the fourth U-shaped connecting plate (310) are fixedly connected through two second upper arms (308), the fourth motor (307) is connected on the third reducer (309), the third reducer (309) is fixed on the fourth U-shaped connecting plate (310) through bolts, the third motor (302) is connected with a third conical gear (311) through a third conical reducer (312) through a key, the third output shaft (312) is meshed with the two ends of the third output shaft (313) through a third conical gear (311), two ends of a third output shaft (312) are embedded on the second upper arm (308) through bearings, and the fifth U-shaped connecting plate (315) is fixedly connected with the front arm (314) through bolts;
the wrist joint has six degrees of freedom, the structure of the wrist joint comprises a wrist joint fixing platform (403), a wrist joint moving platform (413), a first branched chain, a second branched chain and a branched chain supporting plate (419), wherein the fixed end of the first branched chain is connected with the wrist joint fixing platform (403), the fixed end of the second branched chain is connected with the branched chain supporting plate (419), the output ends of the first branched chain and the second branched chain are connected with the wrist joint moving platform (413), the number of the first branched chain is five, and the number of the second branched chain is one;
the first branched chain comprises a fifth motor (402), a sixth U-shaped connecting plate (401), a third coupler (422), a lead screw (421), a lead screw nut (420), a lead screw nut connecting plate (406), a fifth L-shaped connecting plate (405), a seventh U-shaped connecting plate (417), an eighth U-shaped connecting plate (407), a branched chain supporting plate (419), a first spherical hinge support (408), a ball head fixed length rod (409), a second spherical hinge support (411) and a guide rod (404), the wrist joint fixing platform (403) is connected with the sixth U-shaped plate (401) through bolts, the sixth U-shaped plate (401) is fixedly connected with the fifth U-shaped connecting plate (315) through bolts, the fifth motor (402) is fixedly connected with the wrist joint fixing platform (403) through bolts, one end of the lead screw (421) is connected with the fifth motor (402) through the third coupler (422), the other end of the lead screw (421) is embedded in the seventh U-shaped connecting plate (417) through a bearing, one end of the fifth L-shaped connecting plate (405) is fixedly connected with the fifth U-shaped connecting plate (403) through bolts, and the other end of the fifth U-shaped connecting plate (405) is fixedly connected with the wrist joint fixing platform (403) through bolts; the screw nut (420) is connected with a screw through screw thread fit, one end of the screw nut connecting plate (406) is fixed on the screw nut (420) through a screw, the other end of the screw nut connecting plate (406) is fixedly connected with an eighth U-shaped connecting plate (407), the first spherical hinge support (408) is fixedly connected on the eighth U-shaped connecting plate (407) through a bolt, one end of the ball head fixed length rod (409) is connected with the first spherical hinge support (408) through a ball pair, the other end of the ball head fixed length rod (409) is connected with the second spherical hinge support (411) through a ball pair, and the second spherical hinge support (411) is fixedly connected on the wrist joint fixed platform (403) through a bolt;
the second branched chain comprises a branched chain supporting plate (419), a third spherical hinge support (423), a first spherical hinge support (418), a first spherical head connecting piece (416), a linear motor connecting piece (415), a linear motor (410), a second spherical head connecting piece (414) and a second spherical head connecting piece (412), wherein the branched chain supporting plate (419) is fixed on five seventh U-shaped connecting pieces (417) through bolts, the third spherical hinge support (423) is connected on the branched chain supporting plate (419) through bolts, one end of the first spherical head rod (418) is connected with the third spherical hinge support (423) through a spherical hinge, the other end of the first spherical head rod (418) is fixedly connected with the first spherical head connecting piece (416) through a fastening screw, one end of the linear motor (410) is fixedly connected with the linear motor connecting piece (415) through bolts, the other end of the linear motor (410) is fixedly connected with the second spherical head connecting piece (414) through bolts, one end of the second spherical head rod (412) is fixedly connected with the second spherical head connecting piece (411) through a fastening screw pair;
bearing end covers are arranged on the outer sides of the first output shaft (205) penetrating through the second L-shaped connecting plate (206) and the third L-shaped connecting plate (216);
the first output shaft (205) is positioned above the second output shaft (213) and forms a 90-degree included angle in space.
2. The multiple degree of freedom redundant serial-parallel anthropomorphic robotic arm of claim 1, wherein: the whole hollow box body of first circular arc board (208), the end is square about, has three key slotted hole, and the front and back end is semicircular and is higher than the end about, and the front and back end has the round hole, embedded bearing.
3. The multiple degree of freedom redundant serial-parallel anthropomorphic robotic arm of claim 1, wherein: the upper end of the second arc plate (209) is semicircular, the lower end of the second arc plate is square, the upper end of the second arc plate is provided with a key slot hole, and the lower end of the second arc plate is provided with a square hole.
4. The multiple degree of freedom redundant serial-parallel anthropomorphic robotic arm of claim 1, wherein: the third output shaft (312) of the elbow joint is positioned through the large end of the driven conical gear (313) and the shaft sleeve, the driving conical gear (311) is positioned on the third output shaft (312) through a key, and the third output shaft (312) penetrates through the outer side of the second upper arm (308) and is provided with a bearing end cover.
5. The multiple degree of freedom redundant serial-parallel anthropomorphic robotic arm of claim 1, wherein: the upper ends of the second upper arm (308) and the forearm (314) are square, the lower ends are round, and the whole is Z-shaped.
6. The multiple degree of freedom redundant serial-parallel anthropomorphic robotic arm of claim 1, wherein: the wrist joint fixing platform (403) is of a regular pentagon structure, five round holes are uniformly formed in the outer side of the wrist joint fixing platform and are connected with a motor, ten round holes are formed in the center of the wrist joint fixing platform and are fixedly connected with a fifth U-shaped connecting plate, and the wrist joint fixing platform is fixedly connected with an elbow joint through the five U-shaped connecting plates.
7. The multiple degree of freedom redundant serial-parallel anthropomorphic robotic arm of claim 1, wherein: the wrist joint branched support plate (419) is in a pentagram-like shape and is fixed on a seventh U-shaped connecting plate (417) through bolts.
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| CN111687834B (en) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | System and method for controlling reverse priority impedance of redundant mechanical arm of mobile mechanical arm |
| CN111687833B (en) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | System and method for controlling impedance of inverse priority of manipulator |
| CN111687832B (en) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | System and method for controlling inverse priority impedance of redundant mechanical arm of space manipulator |
| CN111687835B (en) * | 2020-04-30 | 2023-06-02 | 广西科技大学 | System and method for controlling reverse priority impedance of redundant mechanical arm of underwater mechanical arm |
| CN113183148A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method |
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