CN118205009A - Mechanical arm and mechanical arm integrated system for rope traction - Google Patents

Abstract

The invention discloses a rope-traction mechanical arm and mechanical arm integrated system, wherein a smart hand driving device (3) is arranged in a forearm (15), a control rope penetrates through a wrist joint (2) to be connected and drives a rope-traction smart hand (1) to realize the action of each finger; the wrist joint driving device is arranged in the upper arm (10), and the control rope passes through the elbow joint (5) to be connected and drive the wrist joint (2) to realize the actions of one reciprocating rotation degree of freedom, one bending and stretching degree of freedom and one lateral unfolding degree of freedom; the elbow joint driving device (9) is arranged in the upper arm (10), and the control rope is connected with and drives the elbow joint (5) to realize the action of bending and stretching degrees of freedom; the shoulder joint includes three degrees of freedom of reciprocation. The rope traction transmission and driving mechanism is integrated in the arm, so that the arm does not occupy extra space, and meanwhile, the motion of the decoupling mechanical arm and the mechanical arm is realized, the structure is simple, the use is convenient and fast, the installation is easy, and the practicality is good.

Description

Mechanical arm and mechanical arm integrated system for rope traction

Technical Field

The invention relates to the technical field of mechanical structures, in particular to the field of cooperative robots, and in particular relates to a finger structure assembly for a rope traction humanoid dexterous hand.

Background

With the increasing demands of cooperating robotic arms for flexibility and load capacity of end effectors, a flexible multi-fingered dexterous hand with high flexibility and high load is necessary. The dexterous hand can bring more redundancy and flexibility to the cooperative mechanical arm, so that the cooperative robot can assist or replace human beings to complete more complex and fine operation tasks, and meanwhile, the safety of man-machine interaction and man-machine cooperation is ensured.

Compared with the traditional rigid integration scheme of the serial mechanical arm and the two-finger or three-finger clamp holder, the integrated integration scheme of the humanoid five-finger flexible hand and the mechanical arm pulled by the rope has the freedom degree and working space similar to those of hands and arms, can provide more flexibility for the cooperative operation task, and meanwhile, the inherent flexibility of the rope also ensures the passive flexibility of the whole machine of the cooperative robot. Tendon-like traction mechanism based on hands and arms realizes simulation of human muscle-tendon structure by utilizing tendon ropes, pulleys and tendon sheath structures, and drives devices such as motors and reels of the mechanical arms and the dexterous hands are placed at positions far away from joints after rope traction, so that the end load and inertia of the cooperative operation robot are reduced.

A dexterous hand achieving freedom of movement similar to a human hand has a large number of drives and transmission structures, and the transmission mechanism required for rope traction also requires more design space. Therefore, how to integrate the multi-driver and transmission mechanism of the rope-pulled mechanical arm and the smart hand, and decouple the motion of the mechanical arm and the motion of the mechanical hand is a problem to be solved at present.

In view of this, the present invention has been made.

Disclosure of Invention

The invention aims to provide a rope-traction mechanical arm and mechanical arm integrated system, which integrates a rope-traction transmission and driving mechanism, is integrated in an arm, does not occupy extra space, simultaneously realizes the motion of a decoupling mechanical arm and mechanical arm, has a simple structure, is convenient and fast to use, is easy to install and has good practicability.

The invention aims at realizing the following technical scheme:

The integrated system of the mechanical arm and the mechanical arm for rope traction comprises a rope traction dexterous hand 1, a wrist joint 2, a dexterous hand driving device 3, a forearm 15, an elbow joint 5, an upper arm 10, a wrist joint driving device, an elbow joint driving device 9 and a shoulder joint which are sequentially connected from a far end to a near end;

The smart hand driving device 3 is arranged in the forearm 15, and the control rope penetrates through the wrist joint 2 to be connected and drives the rope to pull the smart hand 1 to realize the motions of bending of each finger with multiple degrees of freedom and one lateral expansion degree of freedom;

The wrist joint driving device is arranged in the upper arm 10, and the control rope passes through the elbow joint 5 to be connected and drives the wrist joint 2 to realize the actions of one reciprocating rotation degree of freedom, one bending and stretching degree of freedom and one lateral unfolding degree of freedom;

The elbow joint driving device 9 is arranged in the upper arm 10, and the control rope is connected with and drives the elbow joint 5 to realize a bending and stretching freedom degree action;

The shoulder joint comprises three reciprocating rotation degrees of freedom.

Preferably, the wrist joint 2 comprises a wrist connecting base 201, a wrist fixing base 202, a supporting connecting rod 203, three parallel connecting rods 204, a wrist moving platform 205 and a wrist end flange 206;

the wrist connecting base 201 is embedded in the central through hole of the wrist fixing base 202, and the wrist tail end flange 206 is embedded in the central through hole of the wrist moving platform 205;

one end of the supporting connecting rod 203 is connected with the wrist connecting base 201 through a bias universal joint 207, and the other end is connected with a wrist tail end flange 206 through the bias universal joint 207;

The three parallel connection connecting rods 204 are uniformly distributed on the periphery of the support connecting rod 203 along a spiral shape, one end of each parallel connection connecting rod is connected with the wrist fixing base 202 through the offset universal joint 207, and the other end of each parallel connection connecting rod is connected with the wrist movable platform 205 through the offset universal joint 207;

The connecting base 201 is connected with the forearm 15, and the wrist end flange 206 is connected with the rope traction dexterous hand 1.

Preferably, the smart hand driving device 3 comprises a rotary base plate 16, two driving control boards, a plurality of reel tensioners 17 and a plurality of finger motors 20;

The rotary base plate 16 is longitudinally fixed at the center position in the forearm 15, the plurality of reel tensioning devices 17 and the plurality of finger motors 20 are divided into an upper driving assembly and a lower driving assembly, and the upper driving assembly and the lower driving assembly are respectively arranged in the spaces in the upper forearm 15 and the lower forearm 15 of the rotary base plate 16; each group of driving components is divided into two driving modules which are arranged back and forth;

The two driving control boards are respectively arranged in the upper forearm 15 and the lower forearm 15 outside the driving assembly, and comprise an integrated circuit board 18 and a plurality of driving controllers 19 arranged on the integrated circuit board 18, wherein the driving controllers 19 are respectively connected one by one and control the reel tensioning device 17 and the finger motor 20;

the finger motor 20 controls the bending of each finger in multiple degrees of freedom and the motion of one lateral expansion degree of freedom through the traction control rope of the reel tensioning device 17.

Preferably, the elbow joint 5 comprises an elbow fixedly connected U-shaped plate 501 and two rolling semicircular supporting wheels 502; an elbow fixed pulley block 503 and two groups of control pulley mechanisms;

The elbow fixedly connected U-shaped plate 501 is respectively hinged with the upper end of the forearm 15 and the lower end of the upper arm 10 through an elbow hinge shaft 504; two rolling semicircular supporting wheels 502 are respectively fixed at the middle part of an elbow hinge shaft 504 and are mutually meshed and supported in the joint;

the elbow fixed pulley blocks 503 are respectively fixed on two elbow hinge shafts 504 at two sides of the rolling semicircular supporting wheel 502;

The two groups of control pulley mechanisms comprise an elbow guide fixed pulley block 505 and an elbow guide movable pulley block 506, wherein the elbow guide fixed pulley block 505 is respectively fixed on an elbow guide pin shaft 507 outside an elbow hinge shaft 504 at one side of an upper arm 10, and the elbow guide pin shaft 507 is parallel to the elbow hinge shaft 504;

The elbow guide movable pulley blocks 506 are respectively fixed on elbow guide pin shafts 507 outside elbow hinge shafts 504 at one side of the front arm 15, and the elbow guide pin shafts 507 are parallel to the elbow hinge shafts 504;

The elbow joint driving device 9 is arranged in the upper arm 10; comprises a motor and a winding drum arranged on a motor shaft; one end of the control rope is wound on the winding drum, and the other end is wound on the elbow guide fixed pulley block 505 and the elbow guide movable pulley block 506, so as to control the motion of the bending and stretching freedom degree of the elbow joint 5.

Preferably, a fan heat dissipation mechanism 4 for dissipating heat of the smart hand driving device 3 is arranged in the forearm 15 near the elbow joint.

Preferably, the wrist joint driving device comprises a wrist joint reciprocating rotation driving mechanism 6, a wrist joint bending and stretching driving mechanism 7 and a wrist joint lateral stretching driving mechanism 8;

The wrist joint reciprocating rotation driving mechanism 6, the wrist joint bending and stretching driving mechanism 7 and the wrist joint lateral stretching driving mechanism 8 are arranged in the upper arm 10 side by side; each of which comprises a motor and a winding drum arranged on a motor shaft; one end of the control rope is wound on the winding drum, and the other end of the control rope passes through the elbow joint 5 to be connected and drives the wrist joint 2 to realize the actions of one reciprocating rotation degree of freedom, one bending and stretching degree of freedom and one lateral stretching degree of freedom of the wrist joint 2.

Preferably, the shoulder joint comprises an upper arm connecting motor 11, an intermediate motor 12 and a stand motor 13; the middle motor 12 is arranged on a motor shaft of the base motor 13, and the upper arm connecting motor 11 is arranged on the motor shaft of the middle motor 12; the upper end of the upper arm 10 is arranged on a motor shaft of an upper arm connecting motor 11; realizing the reciprocating rotation degree of freedom.

Preferably, the rope traction dexterous hand 1 comprises a thumb 22, an index finger 23, a middle finger 24, a ring finger 25, a little finger 26, a hand base 27 and a palm 28;

The thumb 22, the index finger 23, the middle finger 24, the ring finger 25 and the little finger 26 are arranged at the edge of the hand base 27 according to finger positions, and the palm 28 is arranged at the palm center of the hand base 27;

the hand base 27 connects the wrist joint 2 with the smart hand driving device 3 arranged in the forearm 15, and controls the bending of the multiple degrees of freedom and the motion of one lateral expansion degree of freedom of each finger through the control rope of the smart hand driving device 3.

Preferably, the thumb 22, the index finger 23, the middle finger 24 and the ring finger 25 have the same structure as the little finger 26, and each comprise a distal phalanx connecting rod 101, a DIP joint connecting rod 102, a middle phalanx connecting rod 103, a PIP joint connecting rod 104, a proximal phalanx connecting rod 105, an MCP bending joint connecting rod 106, a lateral phalanx connecting rod 107, an MCP lateral phalanx connecting rod 108 and a finger support 109 which are sequentially hinged from the distal end to the proximal end;

Rolling joints for realizing rolling motion connection through gear meshing between the two side end plates of the far-section phalanx connecting rod 101 and the middle-section phalanx connecting rod 103, between the two side end plates of the middle-section phalanx connecting rod 103 and the near-section phalanx connecting rod 105, between the two side end plates of the near-section phalanx connecting rod 105 and the side-expanding phalanx connecting rod 107 and between the upper end plate and the lower end plate of the side-expanding phalanx connecting rod 107 and the finger support 109;

Tension amplifying devices 1010 are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one ends of the 4 pairs of ropes are respectively fixed in the connecting rods at the relative near ends, the other ends of the ropes are wound around the tension amplifying device 1010 and then extend to the near ends to be led out of the finger support 109, then an operation control mechanism connected with the dexterous hand driving device 3 through the wrist joint 2 is led out of the hand base 27, and the movement of fingers is realized by the ropes of the operation control mechanism.

Preferably, the contact force sensor 29 is arranged on each finger section of the thumb 22, the index finger 23, the middle finger 24, the ring finger 25 and the little finger 26; a plurality of contact force sensors 29 are mounted on the palm 28.

Compared with the prior art, the rope traction mechanical arm and mechanical arm integrated system integrates the rope traction transmission and driving mechanism, is integrated in the arm, does not occupy extra space, simultaneously realizes the motion of the decoupling mechanical arm and mechanical arm, has simple structure, convenient and fast use and easy installation, and has good practicability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a mechanical arm and mechanical arm integrated system for rope traction according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of a front view structure of a mechanical arm and mechanical arm integrated system for rope traction according to an embodiment of the present invention;

Fig. 3 is a schematic top view of a mechanical arm and mechanical arm integrated system with rope traction according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a rope-pulling smart hand of a mechanical arm and mechanical arm integrated system for rope pulling according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a robot arm and robot arm integrated system with rope pulling according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a cross-sectional configuration of a finger of a robot arm and robot arm integrated system providing rope pulling according to an embodiment of the present invention;

FIG. 7 is a schematic view of a wrist joint of a robot arm and robot arm integrated system for providing rope traction according to an embodiment of the present invention;

FIG. 8 is a schematic view of an elbow joint of a robot arm and robot arm integrated system for providing rope traction according to an embodiment of the present invention;

Fig. 9 is a schematic view of a perspective exploded view of a smart hand driving device of a robot arm and robot hand integrated system for rope traction according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a front view of a smart hand drive apparatus providing a rope-pulled robot arm and robot hand integrated system according to an embodiment of the present invention;

Fig. 11 is a schematic left-view structure of a smart hand driving device of a robot arm and robot hand integrated system for rope traction according to an embodiment of the present invention.

Detailed Description

The technical scheme in the embodiment of the invention is clearly and completely described below in combination with the specific content of the invention; it will be apparent that the described embodiments are only some embodiments of the invention, but not all embodiments, which do not constitute limitations of the invention. 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 fall within the scope of the invention.

The terms that may be used herein will first be described as follows:

The term "and/or" is intended to mean that either or both may be implemented, e.g., X and/or Y are intended to include both the cases of "X" or "Y" and the cases of "X and Y".

The terms "comprises," "comprising," "includes," "including," "has," "having" or other similar referents are to be construed to cover a non-exclusive inclusion. For example: including a particular feature (e.g., a starting material, component, ingredient, carrier, formulation, material, dimension, part, means, mechanism, apparatus, step, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product or article of manufacture, etc.), should be construed as including not only a particular feature but also other features known in the art that are not explicitly recited.

The term "consisting of … …" is meant to exclude any technical feature element not explicitly listed. If such term is used in a claim, the term will cause the claim to be closed, such that it does not include technical features other than those specifically listed, except for conventional impurities associated therewith. If the term is intended to appear in only a clause of a claim, it is intended to limit only the elements explicitly recited in that clause, and the elements recited in other clauses are not excluded from the overall claim.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like should be construed broadly to include, for example: the connecting device can be fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms herein above will be understood by those of ordinary skill in the art as the case may be.

The terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for ease of description and to simplify the description, and do not explicitly or implicitly indicate that the apparatus or element in question must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure.

The technical scheme provided by the invention is described in detail below. What is not described in detail in the embodiments of the present invention belongs to the prior art known to those skilled in the art. The specific conditions are not noted in the examples of the present invention and are carried out according to the conditions conventional in the art or suggested by the manufacturer. The reagents or apparatus used in the examples of the present invention were conventional products commercially available without the manufacturer's knowledge.

Examples

As shown in fig. 1 to 3, an embodiment of the present invention provides a system integrating a rope-pulled mechanical arm and a mechanical arm: the right arm is taken as an example in the drawing of this example, and the left arm is symmetrical to this. Structurally comprises a rope traction dexterous hand 1, a wrist joint 2, a dexterous hand driving device 3, a forearm 15, an elbow joint 5, an upper arm 10, a wrist joint driving device, an elbow joint driving device 9 and a shoulder joint which are sequentially connected from a far end to a near end. The humanoid robot arm part has 3 joints and 7 degrees of freedom, including a 3-degree-of-freedom shoulder joint, a 1-degree-of-freedom elbow joint 5, and a 3-degree-of-freedom wrist joint 2.

The smart hand driving device 3 is arranged in the forearm 15, and the control rope penetrates through the wrist joint 2 to be connected and drives the rope to pull the smart hand 1 to realize the motions of bending of each finger with multiple degrees of freedom and one lateral expansion degree of freedom; specifically, as shown in fig. 4, the rope traction dexterous hand 1 includes a thumb 22, an index finger 23, a middle finger 24, a ring finger 25, a little finger 26, a hand base 27 and a palm 28; the thumb 22, the index finger 23, the middle finger 24, the ring finger 25 and the little finger 26 are arranged at the edge of the hand base 27 according to finger positions, and the palm 28 is arranged at the palm center of the hand base 27; according to the finger orientation, i.e. according to the position of the finger on the human hand.

The thumb 22, the index finger 23, the middle finger 24, the ring finger 25 and the little finger 26 are in modularized design, and each finger has the same structure, taking one finger as an example:

As shown in fig. 5 and 6, the structure comprises a distal phalanx connecting rod 101, a DIP joint connecting rod 102, a middle phalanx connecting rod 103, a PIP joint connecting rod 104, a proximal phalanx connecting rod 105, an MCP bending joint connecting rod 106, a lateral phalanx connecting rod 107, an MCP lateral phalanx connecting rod 108 and a finger support 109 which are sequentially connected in a hinged manner from the distal end to the proximal end; finger rest 109 is fixedly attached to hand base 27.

The rolling joints are connected between the two side end plates of the far-section phalanx connecting rod 101 and the middle-section phalanx connecting rod 103, between the two side end plates of the middle-section phalanx connecting rod 103 and the near-section phalanx connecting rod 105, between the two side end plates of the near-section phalanx connecting rod 105 and the lateral expansion phalanx connecting rod 107 and between the lateral expansion phalanx connecting rod 107 and the upper end plate and the lower end plate of the finger support 109 through gear meshing.

Tension amplifying devices 1010 are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one ends of the 4 pairs of ropes are respectively fixed in the connecting rods at the relative near ends, the other ends of the ropes are wound around the tension amplifying device 1010 and then extend to the near ends to be led out of the finger support 109, then an operation control mechanism connected with the dexterous hand driving device 3 through the wrist joint 2 is led out of the hand base 27, and the movement of fingers is realized by the ropes of the operation control mechanism. The hand base 27 is connected with the wrist joint 2 and the smart hand driving device 3, and controls the bending of multiple degrees of freedom and the motion of one lateral expansion degree of freedom of each finger through the control rope of the smart hand driving device 3.

As shown in fig. 6, the tension amplifying device 1010 includes a finger guide fixed pulley block 1020 and a finger guide movable pulley block 1019; the finger guide fixed pulley block 1020 is arranged in a finger bone connecting rod or a finger support at the near end through a pin shaft 1021 which is parallel to the hinge shafts among the connecting rods of the rolling joint; the finger guide movable pulley block 1019 is installed in the distal phalangeal link through a pin 1021 parallel to the hinge axis between the links of the rolling joint.

One end of the rope is fixed in a connecting rod provided with a finger guide fixed pulley block 1020, and the rope can be fixedly connected through a rope anchoring screw; the other end of the finger guide pulley block 1020 and the other pulley of the finger guide pulley block 1020 are passed through the finger guide pulley block 1020 repeatedly, extend towards the proximal end and are led out from the finger support 109. Because the tension amplifying device 1010 is composed of a finger control rope, a finger guide movable pulley block 1019 and a finger guide fixed pulley block 1020, the finger guide movable pulley block 1019 and the finger guide fixed pulley block 1020 are arranged between two phalangeal connecting rods of each joint, the tension of the rope wound on the finger guide movable pulley block 1019 and the finger guide fixed pulley block 1020 is amplified, and the tension amplifying factor is equal to the number of the ropes after winding; the rotation of the joint is achieved by the movement of the finger-guided movable pulley block 1019, and the pulling force on the finger-guided movable pulley block 1019 is equal to the resultant force of the amplified ropes, thus increasing the torque acting on the joint.

The two tension amplifying devices 1010 are respectively arranged at two sides of the phalangeal connecting rod, ropes of the two tension amplifying devices 1010 are connected to the same traction motor, and the movement of the joints is realized through one motor; when the motor pulls the rope of the pulley block of one of the two tension amplifying devices 1010, the rope of the pulley block of the other two tension amplifying devices 1010 is released, and the length change of the rope pulling end of the rope is equal to the length change of the rope releasing end of the rope because the movable pulley block 1019 and the fixed pulley block 1020 of the two tension amplifying devices 1010 are arranged in the central symmetry direction of the hinge shaft, namely, the diameter direction of the phalangeal gear is symmetrical.

The invention realizes the amplification of the rope tension at the joint by installing the rope tension amplifying device 1010 at the joint of the finger; decoupling of the rope length of the tension amplifying device 1010 is realized through the gear rolling joint, and forward and reverse movement of a joint is pulled by using one rope; the rope length decoupling pulley 1022 is arranged at the middle joint, so that the rope length decoupling of the remote joint traction rope at the middle joint is realized, and the motion of each joint is ensured to be independent; the finger has the same size and freedom as a human hand, and can realize high tension.

Meanwhile, a plurality of rope guide rings 1014, a plurality of rope guide pulleys 1022, and the like are further provided on the traction path of the control rope 1018, so as to avoid the control rope 18 from interfering with each other.

Meanwhile, in this example, contact force sensors 29 are mounted on the finger sections of the thumb 22, the index finger 23, the middle finger 24, the ring finger 25 and the little finger 26; a plurality of contact force sensors 29, which may be three in the figure, are mounted on the palm 28. The contact force sensor 29 is an FSR flexible film pressure sensor, and is respectively arranged at the finger tip, the abdomen and the palm of each finger to provide touch detection for smart hands.

In this example, one finger has 4 degrees of freedom: bending between distal phalanx and middle phalanx, bending between middle phalanx and proximal phalanx, bending between proximal phalanx and palm, and lateral expansion between proximal phalanx and palm. The five fingers have 20 degrees of freedom, and in some cases, in consideration of the complexity and practicality of the structure, the bending between the distal phalanx and the middle phalanx of the four fingers except the thumb and the bending between the middle phalanx and the proximal phalanx can be coupled, so that 16 degrees of freedom are provided.

As shown in fig. 7, the wrist joint 2 includes a wrist connection base 201, a wrist fixing base 202, a support link 203, three parallel links 204, a wrist motion platform 205 and a wrist end flange 206; the wrist connection base 201 is embedded in the central through hole of the wrist fixing base 202, and the wrist connection base 201 is connected with a corresponding structure in the forearm 15, specifically, is connected with the rotary base plate 16. The wrist tail end flange 206 is embedded in the center through hole of the wrist movable platform 205; the wrist end flange 206 is connected with the rope traction dexterous hand 1, specifically, the wrist end flange 206 is connected with the flange at the lower end of the hand base 27, meanwhile, the control rope 1018 of the rope traction dexterous hand 1 passes through the hole in the flange, is led into the wrist joint 2, passes through the rope through hole 210 on the wrist fixing base 202, is led into the forearm 15, and is connected with a corresponding structure.

One end of the supporting connecting rod 203 is connected with the wrist connecting base 201 through a bias universal joint 207, and the other end is connected with a wrist tail end flange 206 through the bias universal joint 207; the wrist connection base 201 rotates to drive the wrist end flange 206 to rotate through the combination of the support connecting rod 203 and the two offset universal joints 207, so that the wrist joint 2 can realize the reciprocating rotation freedom degree. The wrist end flange 206 rotates and simultaneously achieves the reciprocating rotation freedom of the rope traction dexterous hand 1.

The three parallel connection rods 204 are uniformly distributed on the periphery of the support connection rod 203 along a spiral shape, namely, one parallel connection rod 204 at 120 degrees, and the spiral rotation angle of each parallel connection rod 204 is controlled at 120 degrees. One end of the parallel connecting rod 204 is connected with the wrist fixing base 202 through a bias universal joint 207, and the other end is connected with the wrist moving platform 205 through the bias universal joint 207; the middle section of the parallel connecting rod 204 is U-shaped, the whole is arched, and the U-shaped part is used for avoiding the middle supporting connecting rod 203; the three parallel connecting rods 204 are uniformly distributed along the spiral shape to play a supporting role, and meanwhile, the realization of the motion of bending and stretching degrees of freedom and lateral stretching degrees of freedom is ensured.

In this example, four upper rope guide holes 208 are uniformly distributed around the lower side of the wrist fixing base 202, and four lower rope guide holes 209 are uniformly distributed around the upper side of the wrist moving platform 205 for guiding ropes for controlling the movement of the wrist joint 2.

In this example, the rope through holes 210 corresponding to the wrist fixing base 202 and the wrist moving platform 205 are provided with the traction rope sleeve 14, so that the rope traction dexterous hand 1 through the rope of the wrist joint 2 can pass through conveniently, and interference is prevented.

As shown in fig. 8, the elbow joint 5 comprises an elbow fixedly connected U-shaped plate 501 and two rolling semicircular supporting wheels 502; elbow fixed pulley block 503 and two sets of control pulley mechanisms. The elbow fixedly connected U-shaped plate 501 is respectively hinged with the upper end of the forearm 15 and the lower end of the upper arm 10 through an elbow hinge shaft 504; two rolling semicircular supporting wheels 502 are respectively fixed at the middle part of an elbow hinge shaft 504 and are mutually meshed and supported in the joint; the rolling joint is connected in a rolling motion by engagement.

The elbow fixed pulley blocks 503 are respectively fixed on two elbow hinge shafts 504 at two sides of the rolling semicircular supporting wheel 502; for guiding the ropes through the elbow joint 5. In this example, four sets of elbow fixed pulley blocks 503 are respectively fixed on two sides of two elbow hinge shafts 504, and each set has two pulleys and three pulleys.

The two groups of control pulley mechanisms comprise an elbow guide fixed pulley block 505 and an elbow guide movable pulley block 506, wherein the elbow guide fixed pulley block 505 is respectively fixed on an elbow guide pin shaft 507 outside an elbow hinge shaft 504 at one side of an upper arm 10, and the elbow guide pin shaft 507 is parallel to the elbow hinge shaft 504; the elbow guide pulley 506 is fixed to the elbow guide pins 507 outside the elbow hinge shaft 504 at one side of the forearm 15, respectively, and the elbow guide pins 507 are parallel to the elbow hinge shaft 504.

The elbow joint driving device 9 is arranged in the upper arm 10; and in particular in the housing of the upper arm 10. Comprises a motor and a winding drum arranged on a motor shaft; one end of the control rope is wound on the winding drum, and the other end is wound on the elbow guide fixed pulley block 505 and the elbow guide movable pulley block 506, so as to control the motion of the bending and stretching freedom degree of the elbow joint 5. Specifically, there are two control ropes, one end of each of which is wound around the elbow guide fixed pulley block 505 and the elbow guide movable pulley block 506 on the bending side and the extending side of the elbow joint, and the other end of each of which is wound around the winding drum on the motor shaft in the opposite direction, and the bending and extending of the elbow joint is controlled by forward and reverse rotation of the motor of the elbow joint driving device 9.

In addition, in this embodiment, the elbow joint 5 further includes an elbow fastening link 508, and both ends of the elbow fastening link 508 are hinged to the middle portions of the two elbow hinge shafts 503. The elbow securing links 508 serve as reinforcement structures, primarily to provide positioning and support for the engagement of the two rolling semi-circular support wheels 502.

The upper arm 10 is a hollow shell made of high-strength materials such as aluminum alloy and titanium or titanium alloy or high-strength nonmetallic materials, and the wrist joint driving device is arranged in the hollow shell, so that no extra space is occupied.

The wrist joint driving device is arranged in the upper arm 10, specifically in the shell of the upper arm 10. The steering cable is connected through the elbow joint 5 and drives the wrist joint 2 to perform a reciprocating rotational degree of freedom, a flexion-extension degree of freedom and a lateral extension degree of freedom. Specifically, the wrist joint driving device comprises a wrist joint reciprocating rotation driving mechanism 6, a wrist joint bending and stretching driving mechanism 7 and a wrist joint lateral stretching driving mechanism 8; the wrist joint reciprocating rotation driving mechanism 6, the wrist joint bending and stretching driving mechanism 7 and the wrist joint lateral stretching driving mechanism 8 are arranged in the upper arm 10 side by side; each of which comprises a motor and a winding drum arranged on a motor shaft; one end of the control rope is wound on the winding drum, and the other end of the control rope passes through the elbow joint 5 to be connected and drives the wrist joint 2 to realize the actions of one reciprocating rotation degree of freedom, one bending and stretching degree of freedom and one lateral stretching degree of freedom of the wrist joint 2.

The specific control principle of the three actions is as follows:

The wrist joint reciprocating rotation driving mechanism 6 controls the following rotary base plate 16 to reciprocate through the control rope, the tail end flange of the rotary base plate 16 is connected with a coaxial winding drum (the winding drum is not shown in the figure), the control rope for fixing the wrist joint reciprocating rotation driving mechanism 6 is wound on the winding drum, the motor of the wrist joint reciprocating rotation driving mechanism 6 drives the winding drum on which the control rope is fixed to reciprocally pull the tail end flange of the rotary base plate 16 to drive the rotary base plate 16 to rotate, the rotary base plate 16 drives the wrist connecting base 201 connected with the rotary base plate 16, and the wrist connecting base 201 can rotate through the combination of the support connecting rod 203 and the two offset universal joints 207 to drive the wrist tail end flange 206 to rotate, so that the reciprocating rotation freedom degree of the wrist joint 2 is realized. The wrist end flange 206 rotates and simultaneously achieves the reciprocating rotation freedom of the rope traction dexterous hand 1.

The control rope of the wrist bending and stretching driving mechanism 7 passes through the elbow joint 5 and can be wound around the elbow fixed pulley block 503 to prevent mutual interference; is led out from the elbow joint 5, passes through the forearm 15 and enters the wrist joint 2, passes through two opposite upper rope guide holes 208 after entering the wrist joint 2, and is fixed on wrist rope fixing screws 210 after passing through two opposite lower rope guide holes 209. The wrist bending and stretching driving mechanism 7 has two control ropes, which can be synchronously pulled and released, one is pulled and the other is released, so that the three parallel connecting rods 204 and the universal joint 207 are deformed, and bending and stretching actions are realized.

The control rope of the wrist joint lateral stretching driving mechanism 8 passes through the elbow joint 5 and can be wound around the elbow fixed pulley block 503 to prevent mutual interference; is led out from the elbow joint 5, passes through the forearm 15 and enters the wrist joint 2, passes through two opposite upper rope guide holes 208 after entering the wrist joint 2, and is fixed on wrist rope fixing screws 210 after passing through two opposite lower rope guide holes 209. Two upper rope guide holes 208 and two lower rope guide holes 209 which are not used in bending and stretching actions are used, two control ropes of the wrist joint bending and stretching driving mechanism 7 can be synchronously pulled and released, one pulling is released, and the three parallel connecting rods 204 and the universal joint 207 are deformed to realize the lateral stretching action.

The combination of the three degrees of freedom of reciprocating rotation, bending and stretching and lateral stretching realizes flexible action of the wrist joint, and is practically superior to the action range realized by a human hand.

The forearm 15 is a hollow shell made of high-strength materials such as aluminum alloy and titanium or titanium alloy or high-strength nonmetallic materials, and the flexible hand driving device 3 is arranged in the hollow shell, so that no extra space is occupied.

As shown in fig. 9 to 11, the smart hand driving device 3 includes a swivel base plate 16, two driving control boards, a plurality of reel tensioners 17 and a plurality of finger motors 20; these structures are all provided in the hollow housing of the forearm 15, taking up no additional space.

The rotary base plate 16 is longitudinally fixed at the center position in the forearm 15, and the front end of the rotary base plate 16 is connected with the wrist connecting base 201 and can be fixedly connected through screws.

The reel tensioners 17 and the finger motors 20 are divided into an upper group of driving components and a lower group of driving components which are respectively arranged in the spaces in the upper forearm 15 and the lower forearm 15 of the rotary base plate 16; each group of driving components is divided into two driving modules which are arranged back and forth; in this example, the reel tensioning device 17 and the finger motor 20 are assembled one by one, and 16 reel tensioning devices are provided respectively, for example, the maximum number of the reel tensioning devices is 20 when the flexible hand 1 is pulled by a rope, so that each finger is guaranteed to have 4 degrees of freedom. Taking 16 groups as an example, 4 groups are arranged side by side, one group being the upper and the lower groups of the rotary base plates 16. The group here has four spool tighteners 17 and finger motors 20 that are not in one plane, the middle two being higher than the two sides, as can be seen in fig. 11. Thus, the ropes are led out in layers, and interference is prevented.

The two driving control boards are respectively arranged in the upper forearm 15 and the lower forearm 15 outside the driving assembly, and comprise an integrated circuit board 18 and a plurality of driving controllers 19 arranged on the integrated circuit board 18, wherein the driving controllers 19 are respectively connected one by one and control the reel tensioning device 17 and the finger motor 20; for example, 16 sets of the spool tightener 17 and the finger motor 20 correspond to 16 sets of the drive controllers 19. Two integrated circuit boards 18 are respectively arranged at the outer sides of a driving assembly formed by the reel tensioning device 17 and the finger motor 20, one is arranged at the upper part and the lower part, the two are fixedly installed through a circuit board bracket 21, and 8 driving controllers 19 are arranged on one integrated circuit board 18. The driving controller 19 is used for controlling the finger motor 20 to move; the integrated circuit board 18 provides communication and power functions for the drive controller 19.

The finger motor 20 controls the bending of each finger in multiple degrees of freedom and the motion of one lateral expansion degree of freedom through the traction control rope of the reel tensioning device 17. In this example, the group 16 finger motors 20 are controlled by the spool tightener 17, only the thumb has 4 groups of finger motors 20 controlled by the spool tightener 17, and the other four fingers have 3 groups of finger motors 20 respectively controlled by the spool tightener 17. A set of finger motors 20 extend through the spool tightener 17 to operate two operating cords, i.e., a pair, to operate each joint of the finger. For coupling two degrees of freedom of bending between distal phalanges and middle phalanges and bending between middle phalanges and proximal phalanges of four fingers other than the thumb, a pair of control ropes are used for coupling control.

Since the smart hand driving apparatus 3 includes a plurality of finger motors 20, a large amount of heat is generated, and active heat dissipation is required. In this example, a fan heat dissipation mechanism 4 for dissipating heat from the smart hand driving device 3 is provided in the forearm 15 near the elbow joint. The fan heat dissipation mechanism 4 comprises two fans which are respectively arranged on the upper side and the lower side of the rotary base plate 16 and are fixed on the rotary base plate 16.

The shoulder joint comprises an upper arm connecting motor 11, a middle motor 12 and a base motor 13; the middle motor 12 is arranged on a motor shaft of the base motor 13, and the upper arm connecting motor 11 is arranged on the motor shaft of the middle motor 12; the upper end of the upper arm 10 is arranged on a motor shaft of an upper arm connecting motor 11; realizing the reciprocating rotation degree of freedom. The shoulder joint in this example has three degrees of freedom and adopts a mode of direct driving of a joint motor. The base motor 13 is used as a base of the mechanical arm and mechanical arm integrated system, the middle motor 12 is connected to a motor shaft of the base motor 13 through a flange plate, the upper arm connecting motor 11 is connected to the motor shaft of the middle motor 12 through a flange plate, three shoulder joint motors are mutually connected in series to form a shoulder joint with 3 degrees of freedom, and a shell of the upper arm 10 of the mechanical arm is connected to the motor shaft of the upper arm connecting motor 11 through a flange.

The invention realizes the system integration of the humanoid dexterous hand with 16 degrees of freedom and the humanoid mechanical arm with 7 degrees of freedom through the electromechanical integrated design; the smart hand driving device 3 is compactly integrated in the small arm of the mechanical arm, so that the remote driving of the rope traction smart hand is realized, and the light weight of the tail end of the mechanical arm is ensured; the movement and tension transmission of the flexible hand traction rope and the decoupling between the finger movement and the wrist joint movement are realized through the traction rope sleeve 14; the humanoid mechanical arm and the humanoid dexterous hand have the freedom degree and working space almost close to those of hands, and 18 distributed contact force sensors are arranged on the dexterous hand, so that the tactile sensation of the dexterous hand is realized.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The information disclosed in the background section herein is only for enhancement of understanding of the general background of the invention and is not to be taken as an admission or any form of suggestion that this information forms the prior art already known to those of ordinary skill in the art.

Claims (10)

1. A rope traction mechanical arm and mechanical arm integrated system is characterized in that: comprises a rope traction dexterous hand (1), a wrist joint (2), a dexterous hand driving device (3), a forearm (15), an elbow joint (5), an upper arm (10), a wrist joint driving device, an elbow joint driving device (9) and a shoulder joint which are sequentially connected from the far end to the near end;

The smart hand driving device (3) is arranged in the forearm (15), and the control rope penetrates through the wrist joint (2) to be connected and drives the rope to pull the smart hand (1) so as to realize the motions of bending of each finger with multiple degrees of freedom and one lateral stretching degree of freedom;

The wrist joint driving device is arranged in the upper arm (10), and the control rope penetrates through the elbow joint (5) to be connected and drives the wrist joint (2) to realize the actions of one reciprocating rotation degree of freedom, one bending and stretching degree of freedom and one lateral unfolding degree of freedom;

The elbow joint driving device (9) is arranged in the upper arm (10), and the control rope is connected with and drives the elbow joint (5) to realize the action of bending and stretching the degree of freedom;

The shoulder joint comprises three reciprocating rotation degrees of freedom.

2. The rope hauling robot and manipulator integrated system of claim 1, wherein: the wrist joint (2) comprises a wrist connecting base (201), a wrist fixing base (202), a supporting connecting rod (203), three parallel connecting rods (204), a wrist moving platform (205) and a wrist tail end flange (206);

The wrist connecting base (201) is embedded in a central through hole of the wrist fixing base (202), and the wrist tail end flange (206) is embedded in a central through hole of the wrist moving platform (205);

one end of the supporting connecting rod (203) is connected with the wrist connecting base (201) through a bias universal joint (207), and the other end of the supporting connecting rod is connected with a wrist tail end flange (206) through the bias universal joint (207);

The three parallel connecting rods (204) are uniformly distributed on the periphery of the supporting connecting rod (203) along a spiral shape, one end of each parallel connecting rod is connected with the wrist fixing base (202) through the offset universal joint (207), and the other end of each parallel connecting rod is connected with the wrist moving platform (205) through the offset universal joint (207);

The connecting base (201) is connected with the forearm (15), and the wrist tail end flange (206) is connected with the rope traction dexterous hand (1).

3. The rope hauling robot and manipulator integrated system of claim 1, wherein: the smart hand driving device (3) comprises a rotary base plate (16), two driving control boards, a plurality of winding drum tensioning devices (17) and a plurality of finger motors (20);

the rotary base plate (16) is longitudinally fixed at the center position in the forearm (15), the plurality of reel tensioning devices (17) and the plurality of finger motors (20) are divided into an upper driving assembly and a lower driving assembly, and the upper driving assembly and the lower driving assembly are respectively arranged in the space in the upper forearm (15) and the lower forearm (15) of the rotary base plate (16); each group of driving components is divided into two driving modules which are arranged back and forth;

The two driving control boards are respectively arranged in an upper forearm (15) and a lower forearm (15) outside the driving assembly and comprise an integrated circuit board (18) and a plurality of driving controllers (19) arranged on the integrated circuit board (18), and the driving controllers (19) are respectively connected one by one and control the reel tensioning device (17) and the finger motor (20);

the finger motor (20) controls the bending of each finger with multiple degrees of freedom and the action of one lateral expansion degree of freedom through the traction control rope of the reel tensioning device (17).

4. The rope hauling robot and manipulator integrated system of claim 1, wherein: the elbow joint (5) comprises an elbow fixedly connected U-shaped plate (501) and two rolling semicircular supporting wheels (502); an elbow fixed pulley block (503) and two groups of control pulley mechanisms;

The elbow fixedly connected U-shaped plate (501) is hinged with the upper end of the forearm (15) and the lower end of the upper arm (10) through an elbow hinge shaft (504) respectively; the two rolling semicircular supporting wheels (502) are respectively fixed at the middle part of the elbow hinge shaft (504) and are mutually meshed and supported in the joint;

The elbow fixed pulley blocks (503) are respectively fixed on two elbow hinge shafts (504) at two sides of the rolling semicircular supporting wheel (502);

The two groups of control pulley mechanisms comprise an elbow guide fixed pulley block (505) and an elbow guide movable pulley block (506), the elbow guide fixed pulley block (505) is respectively fixed on elbow guide pin shafts (507) at the outer sides of elbow hinge shafts (504) at one side of the upper arm (10), and the elbow guide pin shafts (507) are parallel to the elbow hinge shafts (504);

the elbow guide movable pulley blocks (506) are respectively fixed on elbow guide pin shafts (507) on the outer sides of elbow hinge shafts (504) on one side of the front arms (15), and the elbow guide pin shafts (507) are parallel to the elbow hinge shafts (504);

The elbow joint driving device (9) is arranged in the upper arm (10); comprises a motor and a winding drum arranged on a motor shaft; one end of the control rope is wound on the winding drum, and the other end is wound on the elbow guide fixed pulley block (505) and the elbow guide movable pulley block (506) to control the bending and stretching degrees of freedom of the elbow joint (5).

5. The rope hauling robot and manipulator integrated system of claim 1, wherein: a fan radiating mechanism (4) for radiating heat of the smart hand driving device (3) is arranged in the forearm (15) close to the elbow joint.

6. The rope hauling robot and manipulator integrated system of claim 1, wherein: the wrist joint driving device comprises a wrist joint reciprocating rotation driving mechanism (6), a wrist joint bending and stretching driving mechanism (7) and a wrist joint lateral stretching driving mechanism (8);

the wrist joint reciprocating rotation driving mechanism (6), the wrist joint bending and stretching driving mechanism (7) and the wrist joint lateral stretching driving mechanism (8) are arranged in the upper arm (10) side by side; each of which comprises a motor and a winding drum arranged on a motor shaft; one end of the control rope is wound on the winding drum, and the other end of the control rope passes through the elbow joint (5) to be connected and drive the wrist joint (2) to realize the actions of one reciprocating rotation degree of freedom, one bending and stretching degree of freedom and one lateral stretching degree of freedom of the wrist joint (2).

7. The rope hauling robot and manipulator integrated system of claim 1, wherein: the shoulder joint comprises an upper arm connecting motor (11), an intermediate motor (12) and a base motor (13); the middle motor (12) is arranged on a motor shaft of the base motor (13), and the upper arm connecting motor (11) is arranged on the motor shaft of the middle motor (12); the upper end of the upper arm (10) is arranged on a motor shaft of an upper arm connecting motor (11); realizing the reciprocating rotation degree of freedom.

8. The rope hauling robot and manipulator integrated system of claim 1, wherein: the rope traction dexterous hand (1) comprises a thumb (22), an index finger (23), a middle finger (24), a ring finger (25), a little finger (26), a hand base (27) and a palm (28);

The thumb (22), the index finger (23), the middle finger (24), the ring finger (25) and the little finger (26) are arranged at the edge of the hand base (27) according to the finger direction, and the palm (28) is arranged at the palm center of the hand base (27);

The hand base (27) is connected with the wrist joint (2) and the flexible hand driving device (3) arranged in the forearm (15), and the flexible hand driving device (3) controls the bending of multiple degrees of freedom and the motion of one lateral expansion degree of freedom of each finger through the control rope.

9. The rope hauling robot and manipulator integrated system of claim 8, wherein: the thumb (22), the index finger (23), the middle finger (24), the ring finger (25) and the little finger (26) have the same structure and respectively comprise a far-section phalanx connecting rod (101), a DIP joint connecting rod (102), a middle-section phalanx connecting rod (103), a PIP joint connecting rod (104), a near-section phalanx connecting rod (105), an MCP bending joint connecting rod (106), a lateral expansion phalanx connecting rod (107), an MCP lateral expansion joint connecting rod (108) and a finger support (109) which are sequentially hinged from a far end to a near end;

Rolling joints for realizing rolling motion connection through gear meshing between two side end plates of the far-section phalanx connecting rod (101) and the middle-section phalanx connecting rod (103), between two side end plates of the middle-section phalanx connecting rod (103) and the near-section phalanx connecting rod (105), between two side end plates of the near-section phalanx connecting rod (105) and the lateral expansion phalanx connecting rod (107) and between the lateral expansion phalanx connecting rod (107) and the upper end plate and the lower end plate of the finger support (109);

Tension amplifying devices (1010) are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one end of each of the 4 pairs of ropes is respectively fixed in a connecting rod at the relative near end, the other end of each of the 4 pairs of ropes is wound around a tension amplifying device (1010) and then extends to the near end to be led out by a finger support (109), then a control mechanism connected with a dexterous hand driving device (3) through a wrist joint (2) is led out by a hand base (27), and the movement of fingers is realized by each rope of the control mechanism.

10. The rope hauling robot and manipulator integrated system according to claim 8 or 9, wherein: the thumb (22), the index finger (23), the middle finger (24), the ring finger (25) and the little finger (26) are provided with contact force sensors (29); a plurality of contact force sensors (29) are mounted on the palm (28).