CN112873266A - Humanoid robot and two-degree-of-freedom modular humanoid robot joint thereof - Google Patents
Humanoid robot and two-degree-of-freedom modular humanoid robot joint thereof Download PDFInfo
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- CN112873266A CN112873266A CN202110090237.3A CN202110090237A CN112873266A CN 112873266 A CN112873266 A CN 112873266A CN 202110090237 A CN202110090237 A CN 202110090237A CN 112873266 A CN112873266 A CN 112873266A
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/10—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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Abstract
The invention provides a humanoid robot and a two-degree-of-freedom modular humanoid robot joint thereof, and belongs to the technical field of humanoid robots. The two-degree-of-freedom modular humanoid robot joint comprises two groups of same driving and transmission mechanisms, wherein the driving and transmission mechanisms are as follows: the motor shaft is connected with one end of the screw rod, the middle hole of the sliding block is meshed with the screw rod, the through hole at the lower end of the sliding block is sleeved with one end of the first connecting rod, the other end of the first connecting rod is connected with one end of the second connecting rod through the first cross shaft assembly, the other end of the second connecting rod is fixedly connected with the joint bearing assembly, and the joint bearing assembly is fixedly connected with the execution end of the U-shaped frame. The invention can reduce the moment of inertia of the mechanism when the arm or leg joint of the humanoid robot moves, has stable structure and high flexibility, and can select different types of lead screws for targeted design according to different use requirements.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a humanoid robot and a two-degree-of-freedom modular humanoid robot joint thereof.
Background
With the continuous development of robotics, humanoid mechanical joints are increasingly applied to various industries. However, the following problems still exist in the current humanoid mechanical joint: the anthropomorphic degree is low, so that some specific tasks cannot be completed, or the anthropomorphic degree is achieved, but the load, the mechanical strength and the motion space are insufficient, so that the anthropomorphic mechanical joint only has some demonstration functions or is applied to occasions with low load; these problems have limited the widespread use of humanoid mechanical joints.
When the humanoid robot uses a mechanical joint terminal to execute tasks, particularly loaded tasks, a wrist joint or an ankle joint is used as a connecting part of an execution end, is far away from a trunk, needs to reduce the weight as much as possible, can bear certain force and moment, and also needs enough freedom degree, motion space and flexibility, so that the design of the wrist joint and the ankle joint is one of key points and difficulties in the design of the humanoid mechanical joint.
The existing humanoid mechanical joint mainly has a series type and a parallel type, and the main problems of the series type joint are that the gravity center of the structure is easy to be close to an execution end, the rotational inertia of the mechanism is large, and the cable layout difficulty is high. The parallel joint also has some problems, such as: the working space is small, the rigidity is low, or the structure is too complex, and the assembly and disassembly are difficult.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a humanoid robot and a two-degree-of-freedom modular humanoid robot joint thereof.
The present invention achieves the above-described object by the following technical means.
A two-degree-of-freedom modularized humanoid robot joint comprises two groups of same driving and transmission mechanisms, wherein each group of driving and transmission mechanisms comprises a motor, a lead screw, a sliding block, a first connecting rod, a first cross shaft assembly, a second connecting rod, a joint bearing assembly and a U-shaped frame, and the sliding block is provided with 3 through holes on the same straight line;
the output shaft of the motor is connected with one end of the screw rod, the middle hole of the sliding block is meshed with the screw rod, the through hole at the lower end of the sliding block is sleeved with one end of the first connecting rod, the other end of the first connecting rod is connected with one end of the second connecting rod through the first cross shaft assembly, the other end of the second connecting rod is fixedly connected with the joint bearing assembly, and the joint bearing assembly is fixedly connected with the execution end of the U-shaped frame.
Further, motor fixed mounting is inside motor frame, motor frame inboard has linked firmly the bearing frame, install lead screw bearing on the bearing frame, lead screw bearing is used for supporting lead screw one end, the lead screw other end supports through the lead screw bearing of installing on the terminal support frame.
Furthermore, the tail end supporting frame is connected with the opening end of the U-shaped frame through a second cross shaft assembly.
Furthermore, a guide rod is fixedly connected between the bearing seat and the tail end supporting frame, the guide rod penetrates through an upper end through hole of the sliding block, and the guide rod is in clearance fit with the upper end through hole of the sliding block.
Furthermore, a through hole at the lower end of the sliding block is sleeved with one end of the first connecting rod through a locking screw.
Furthermore, the joint bearing assembly comprises a joint bearing nut, a joint bearing, a pressing ring and a joint bearing shaft, wherein the joint bearing is fixedly connected with the closed end of the U-shaped frame through the joint bearing shaft and is axially positioned and locked through the pressing ring and the joint bearing nut.
Furthermore, the first cross shaft assembly and the second cross shaft assembly are both composed of 4 cross shaft thread sleeves and 1 cross shaft, the 4 cross shaft thread sleeves are respectively installed in a pair of connecting holes of the two connecting pieces, and the cross shaft thread sleeves are fixedly connected with the cross shafts.
Further, joint bearing assembly links firmly with the execution end of U type frame, specifically is: the positions where the two groups of joint bearing assemblies are fixedly connected with the execution end of the U-shaped frame are positioned on the diagonal line of the connection surface of the execution end of the U-shaped frame.
Furthermore, the lead screw is a ball screw or a trapezoidal lead screw.
A humanoid robot comprises the two-degree-of-freedom modular humanoid robot joint.
The invention has the beneficial effects that:
(1) the two-degree-of-freedom modular humanoid robot joint comprises two groups of same driving and transmission mechanisms, wherein the driving and transmission mechanisms are as follows: the motor shaft is connected with one end of the screw rod, the middle hole of the sliding block is meshed with the screw rod, the through hole at the lower end of the sliding block is sleeved with one end of the first connecting rod, the other end of the first connecting rod is connected with one end of the second connecting rod through the first cross shaft assembly, the other end of the second connecting rod is fixedly connected with the joint bearing assembly, and the joint bearing assembly is fixedly connected with the execution end of the U-shaped frame; the driving mechanism is far away from the execution end, so that the rotary inertia of the humanoid robot during arm or leg movement is reduced, and the difficulty of cable layout is reduced.
(2) The invention adopts a parallel transmission mode of 2PUS + U, controls the movement of the execution end by controlling the coupling movement of 2 motors, realizes the pitching and yawing movement of the arm or leg, and has larger joint movement space and high flexibility.
(3) The positions where the two groups of joint bearing assemblies are fixedly connected with the execution end of the U-shaped frame are positioned on the diagonal line of the connection surface of the execution end of the U-shaped frame, so that the structure is simple, and the stability is high.
(4) According to the invention, different types of lead screws can be selected according to different use requirements, for example, a ball screw can be selected to obtain higher transmission efficiency, and a trapezoidal lead screw can be selected to realize structure self-locking by selecting a proper thread lead angle, so that the safety of the humanoid robot joint is improved.
Drawings
FIG. 1 is an isometric view of a joint of a two-degree-of-freedom modular humanoid robot according to the present invention;
FIG. 2 is an exploded view of a joint of a two-degree-of-freedom modular humanoid robot according to the present invention;
in the figure, 1, a motor frame; 2. a motor; 3. a coupling; 4. a lead screw bearing; 5. a bearing seat; 6. a lead screw; 7. locking the screw; 8. a slider; 9. a guide bar; 10. a first connecting rod; 11. a first cross shaft assembly; 12. a second connecting rod; 13. an articulating bearing assembly; 14. a tail end support frame; 15. a cross shaft assembly II; 16. a U-shaped frame; 111. a first cross shaft is sleeved by a screw; 112. a first cross shaft; 131. a joint bearing nut; 132. a knuckle bearing; 133. pressing a ring; 134. a joint bearing shaft; 151. a cross shaft thread sleeve II; 152. and a cross shaft II.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Example 1
As shown in fig. 1, the two-degree-of-freedom modular humanoid robot joint comprises two groups of identical driving and transmission mechanisms, wherein each group of driving and transmission mechanisms comprises a motor 2, a coupler 3, a lead screw 6, a locking screw 7, a sliding block 8, a first connecting rod 10, a first cross shaft assembly 11, a second connecting rod 12, a joint bearing assembly 13 and a lead screw bearing 4. Each group of driving and transmission mechanisms is fixedly arranged on a structural frame consisting of a motor frame 1, a guide rod 9 and a tail end support frame 14; the motion tail ends of the two groups of driving and transmission mechanisms are connected with the execution end of the U-shaped frame 16 and drive the U-shaped frame 16 to move together.
As shown in fig. 1, motor 2 is fixedly mounted inside motor frame 1, the motor shaft is connected with lead screw 6 through shaft coupling 3, lead screw 6 provides the support through lead screw bearing 4 at both ends, 2 lead screw bearings 4 are respectively mounted in the bearing holes of bearing block 5 and end support frame 14, bearing block 5 is fixedly connected with motor frame 1, and the rotation of the output shaft of motor 2 can be converted into the stable rotation of lead screw 6. The sliding block 8 is provided with 3 parallel through holes, the middle hole is meshed with the external thread of the lead screw 6 through internal threads, and the through holes at the two ends are respectively matched with the guide rod 9 and the first connecting rod 10; the through hole at the upper end is in clearance fit with the guide rod 9, and under the positioning and guiding effects of the guide rod 9, when the lead screw 6 rotates, the slide block 8 can perform axial linear motion along the lead screw 6 to form a P-shaped motion joint; two ends of the guide rod 9 are fixedly connected with the bearing seat 5 and the tail end support frame 14 respectively; the lower end through hole is fixedly connected with one end of the first connecting rod 10 through the locking screw 7, the sliding block 8 can move linearly relative to the first connecting rod 10, and the first connecting rod 10 is driven to move in the same manner when the sliding block 8 moves linearly. One pair of shafts of the first cross shaft assembly 11 is connected with the other end of the first connecting rod 10, the other pair of shafts of the first cross shaft assembly 11 is connected with one end of the second connecting rod 12, and the first cross shaft assembly 11 can rotate relative to the first connecting rod 10 and the second connecting rod 12 simultaneously; the first connecting rod 10 is connected with the second connecting rod 12 through the first cross shaft assembly 11 to form a U-shaped motion joint. The other end of the second connecting rod 12 is fixedly connected with the joint bearing assembly 13, and meanwhile, a joint bearing shaft 134 of the joint bearing assembly 13 is fixedly connected with the U-shaped frame 16 to form an S-shaped motion joint. One pair of shafts of the cross shaft assembly II 15 is connected with the open end of the U-shaped frame 16, the other pair of shafts is connected with the two tail end support frames 14, and the cross shaft assembly II 15 can rotate relative to the U-shaped frame 16 and the tail end support frames 14 simultaneously to form a U-shaped motion joint. The U-shaped frame 16 can be fixedly connected with the execution end (a manipulator or a mechanical foot) through a threaded hole on the execution end connection surface.
The U-shaped moving joints of the two driving and transmission mechanisms are respectively positioned at the diagonal positions of the connecting surfaces of the execution ends of the U-shaped frames 16, when the first connecting rod 10 moves linearly, the second connecting rod 12 is driven to move through the first cross shaft assembly 11, and then the U-shaped frames 16 are driven to rotate around the axes of the two pairs of shafts of the second cross shaft assembly 15 through the joint bearing assembly 13. When the motion states of the two motors 2 are changed, the sliding blocks 8 are driven to change the motion states, so that the U-shaped frame 16 is driven to rotate together, and finally the tail end connected with the execution end connecting surface of the U-shaped frame 16 is driven to realize expected compound motion.
The lead screw 6 can be a ball lead screw or a trapezoidal lead screw.
As shown in fig. 2, the joint bearing assembly 13 is composed of a joint bearing nut 131, a joint bearing 132, a pressing ring 133, and a joint bearing shaft 134; the knuckle bearing 132 is connected to the U-shaped frame 16 by a knuckle bearing shaft 134 and is axially positioned and locked by a clamping ring 133 and a knuckle bearing nut 131. The first cross shaft assembly 11 is composed of 4 first cross shaft thread sleeves 111 and 1 first cross shaft 112, the 4 first cross shaft thread sleeves 111 are respectively installed in a pair of connecting holes of the first connecting rod 10 and the second connecting rod 12, the first cross shaft thread sleeves 111 are axially positioned through bosses at the end portions and can rotate in the connecting holes, and the first cross shaft thread sleeves 111 are fixedly connected with external threads corresponding to the first cross shaft 112 through internal threads. The cross shaft assembly II 15 is composed of 4 cross shaft thread sleeves II 151 and 1 cross shaft II 152, the 4 cross shaft thread sleeves II 151 are respectively installed in a pair of connecting holes of the tail end supporting frame 14 and the U-shaped frame 16, the cross shaft thread sleeves II 151 are axially positioned through bosses at the end parts and can rotate in the connecting holes, and the cross shaft thread sleeves II 151 are fixedly connected with external threads of the cross shaft II 152 through internal threads.
The conditions under which the drive and transmission mechanism has a defined movement are: the number of the prime movers of the mechanism is equal to the number of degrees of freedom F of the mechanism; the calculation formula of the number of degrees of freedom of the mechanism is as follows:
F＝6n-5P5-4P4-3P3-2P2-P1
wherein: f is the number of degrees of freedom of the mechanism, n is the number; p5 is a kinematic pair with 1 degree of freedom and 5 constraints; p4 is a kinematic pair with 2 degrees of freedom and 4 constraints; p3 is a kinematic pair with 3 degrees of freedom and 3 constraints; p2 is a kinematic pair with 4 degrees of freedom and 2 constraints; p1 is a kinematic pair with 5 degrees of freedom, 2 constraints.
The number of the movable components is 5, and the movable components specifically comprise a component consisting of a sliding block 8 and a connecting rod I10, a component consisting of a cross shaft component I11, a connecting rod II 12 and a joint bearing component 13, a cross shaft component II 15 and a U-shaped frame 16.
The invention adopts a parallel transmission mode of 2PUS + U (two-degree-of-freedom spherical parallel shoulder girdle mechanism), a component consisting of a slider 8 and a connecting rod I10, a screw 6 and a guide rod 9 form P5-level moving pairs (2 in total), a component consisting of the slider 8 and the connecting rod I10, a cross shaft component I11, a component consisting of a connecting rod II 12 and a joint bearing component 13, a cross shaft joint formed by the components and the U-shaped frame 16 form P4-level moving pairs (2 in total), a component consisting of the connecting rod II 12 and the joint bearing component 13 and the U-shaped frame 16 form P3-level spherical pairs (2 in total), and a cross shaft joint formed by a tail end support frame 14, a cross shaft component II 15 and the U-shaped frame 16 is P4-level moving pairs (1 in total). The number of degrees of freedom is therefore:
F＝6x5-5x2-4x3-3x2＝2
the invention drives two lead screws 6 to rotate by two motors 2, the number of the prime movers is the same as the number of degrees of freedom, and the prime movers have determined motion tracks. By adjusting the motion state of the motor 2, the execution end fixedly connected with the U-shaped frame 16 can be controlled to realize the compound motion of pitch and yaw in two directions.
Example 2
A humanoid robot, comprising the two-degree-of-freedom modular humanoid robot joint in embodiment 1, the structure and working process of which are described in detail in embodiment 1 and are not described herein again.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A two-degree-of-freedom modularized humanoid robot joint is characterized by comprising two groups of identical driving and transmission mechanisms, wherein each group of driving and transmission mechanisms comprises a motor (2), a lead screw (6), a sliding block (8), a first connecting rod (10), a first cross shaft assembly (11), a second connecting rod (12), a joint bearing assembly (13) and a U-shaped frame (16), and the sliding block (8) is provided with 3 through holes on the same straight line;
the output shaft of the motor (2) is connected with one end of the screw rod (6), the middle hole of the sliding block (8) is meshed with the screw rod (6), the through hole at the lower end of the sliding block (8) is sleeved with one end of the first connecting rod (10), the other end of the first connecting rod (10) is connected with one end of the second connecting rod (12) through the first cross shaft assembly (11), the other end of the second connecting rod (12) is fixedly connected with the joint bearing assembly (13), and the joint bearing assembly (13) is fixedly connected with the execution end of the U-shaped frame (16).
2. The two-degree-of-freedom modular humanoid robot joint according to claim 1, characterized in that the motor (2) is fixedly installed inside a motor frame (1), a bearing seat (5) is fixedly connected to the inner side of the motor frame (1), a lead screw bearing (4) is installed on the bearing seat (5), the lead screw bearing (4) is used for supporting one end of a lead screw (6), and the other end of the lead screw (6) is supported by the lead screw bearing (4) installed on a terminal supporting frame (14).
3. The two-degree-of-freedom modular humanoid robot joint of claim 2, characterized in that the end support frame (14) is connected with an open end of a U-shaped frame (16) through a cross shaft assembly two (15).
4. The two-degree-of-freedom modular humanoid robot joint according to claim 2, characterized in that a guide rod (9) is fixedly connected between the bearing seat (5) and the end support frame (14), the guide rod (9) passes through an upper end through hole of the slide block (8), and the guide rod (9) is in clearance fit with the upper end through hole of the slide block (8).
5. The two-degree-of-freedom modular humanoid robot joint as claimed in claim 1, characterized in that a lower end through hole of the sliding block (8) is sleeved with one end of the first connecting rod (10) through a locking screw (7).
6. The two-degree-of-freedom modular humanoid robot joint of claim 1, characterized in that the joint bearing assembly (13) comprises a joint bearing nut (131), a joint bearing (132), a pressure ring (133) and a joint bearing shaft (134), wherein the joint bearing (132) is fixedly connected with the closed end of the U-shaped frame (16) through the joint bearing shaft (134) and is axially positioned and locked through the pressure ring (133) and the joint bearing nut (131).
7. The two-degree-of-freedom modular humanoid robot joint as claimed in claim 3, wherein the first cross-shaft assembly (11) and the second cross-shaft assembly (15) are both composed of 4 cross-shaft thread sleeves and 1 cross shaft, the 4 cross-shaft thread sleeves are respectively installed in a pair of connecting holes of the two connecting pieces, and the cross-shaft thread sleeves are fixedly connected with the cross shafts.
8. The two-degree-of-freedom modular humanoid robot joint according to claim 1, characterized in that the joint bearing assembly (13) is fixedly connected with an execution end of a U-shaped frame (16), and specifically comprises: the positions where the two groups of joint bearing assemblies (13) are fixedly connected with the execution end of the U-shaped frame (16) are positioned on the diagonal line of the connection surface of the execution end of the U-shaped frame (16).
9. The two-degree-of-freedom modular humanoid robot joint according to claim 1, characterized in that the lead screw (6) is selected from a ball screw or a trapezoidal lead screw.
10. A humanoid robot comprising the two-degree-of-freedom modular humanoid robot joint of any one of claims 1 to 9.
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| CN202110090237.3A CN112873266B (en) | 2021-01-22 | 2021-01-22 | Humanoid robot and two-degree-of-freedom modularized humanoid robot joint thereof |
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| CN202110090237.3A CN112873266B (en) | 2021-01-22 | 2021-01-22 | Humanoid robot and two-degree-of-freedom modularized humanoid robot joint thereof |
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| CN112873266B CN112873266B (en) | 2022-05-17 |
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| US20210162602A1 (en) * | 2018-04-25 | 2021-06-03 | Mitsubishi Electric Corporation | Rotation connecting mechanism, robot, robot arm, and robot hand |
| CN113893137A (en) * | 2021-12-13 | 2022-01-07 | 中国科学院自动化研究所 | Force position sensing device for two-degree-of-freedom limb joint and robot |
| CN113910289A (en) * | 2021-09-02 | 2022-01-11 | 宁波巾山微型精密机器人有限公司 | Ring joint |
| CN114620162A (en) * | 2022-04-13 | 2022-06-14 | 中兵智能创新研究院有限公司 | Single-degree-of-freedom continuum bionic spine mechanism for four-legged robot |
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
| EP4364901A1 (en) * | 2022-11-03 | 2024-05-08 | Rolls-Royce plc | Micromanipulator |
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