CN211682119U - Modularized rope-driven humanoid arm - Google Patents

Abstract

The utility model discloses a modularized rope-driven humanoid arm, which comprises a shoulder module, an elbow module, a wrist module and a connecting module, wherein the shoulder module, the elbow module and the wrist module are sequentially connected, the connecting module is arranged between the modules for realizing connection, the shoulder module, the elbow module and the wrist module are internally provided with independent motor driving systems and rope transmission systems, and the tail end of the wrist module is connected with a plurality of fingers to form a seven-degree-of-freedom humanoid arm; the shoulder module and the wrist module are internally provided with three-degree-of-freedom rope driving joint modules based on parallel mechanisms, the elbow module is a single-degree-of-freedom rope driving swing joint module, and the connecting positions between the modules are provided with uniform interfaces and can be used for randomly installing adjacent modules. Compared with the prior art, the utility model has the advantages of convenient assembly, simple disassembly, light weight, convenient transportation and maintenance, the right and left arms can be formed by adopting completely same modules, and the length and the size can be adjusted by different connecting modules; is very suitable for large-scale production, and is convenient for controlling the production and use cost.

Description

A modular rope-driven humanoid arm

technical field

The utility model relates to the technical field of mechanical arms, in particular to a modular rope-driven humanoid arm.

Background technique

At present, most of the arms of humanoid robots are manufactured using traditional design schemes, that is, motor drive, harmonic reducer or synchronous toothed belt drive, and each joint is connected in series. The above-mentioned traditional methods are quite mature, and the designed and manufactured humanoid arms can basically meet the functional requirements, but there are also defects such as poor system flexibility, stiff action, large mass and moment of inertia, low load-to-weight ratio, and loud noise. , thereby limiting its application in life services and other aspects.

In order to overcome the shortcomings of the traditional driving method and improve the safety performance of the system, the existing technology also adopts the rope driving method to develop a humanoid arm. For example, Chinese patent CN106514703A discloses a rope-driven spoke-type flexible Three ropes run through the whole mechanism, each rope is driven by a motor, and the spoke configuration is composed of a brace, but the driving device of this technical solution is too large, the rope connection is too complicated, and the overall structure is not suitable for use as a humanoid arm , the application area is limited.

In addition, robots designed by traditional methods are fixed in terms of configuration, size and degrees of freedom, so they have poor fault tolerance and inconvenient maintenance, and need to be designed differently for specific needs such as different sizes and loads, so there is a lack of systems. Flexibility, scalability and scalability of construction, for example, the left and right arms of the humanoid robot need to be designed and produced separately, and the humanoid robot arms that imitate people of different ages also need to be designed and manufactured one by one, which makes the manufacturing cycle long and the cost high .

Utility model content

The main purpose of the utility model is to propose a modular rope-driven humanoid arm with strong versatility and wide applicability, aiming at optimizing the design of the structure and driving mode of the humanoid arm.

In order to achieve the above purpose, a modular rope-driven humanoid arm proposed by the present utility model includes a shoulder module, an elbow module, a wrist module that are connected in sequence, and a connection module arranged between the modules to realize the connection. , The elbow module and the wrist module have independent motor drive system and rope transmission system. The end of the wrist module is connected with multiple fingers to form a seven-degree-of-freedom humanoid arm; both the shoulder module and the wrist module are equipped with a parallel mechanism based on the The three-degree-of-freedom rope-driven joint module, the elbow module is a single-degree-of-freedom rope-driven swing joint module, the connection positions between the modules are all provided with a unified interface, and adjacent modules can be installed arbitrarily.

Preferably, the shoulder module includes a shoulder mounting base, a three-degree-of-freedom rope-driven joint module, a driving cable, a pulley device and a motor drive device; the elbow module includes a joint connection device, a joint base frame, and a distance keeping device , a pulley device, a pre-tensioning device and a driving rope; the wrist module includes a three-degree-of-freedom rope driving joint module, an end driving base, a pulley device, a driving rope and a human-like palm.

Preferably, the three-degree-of-freedom rope-driven joint module includes a motion platform, a fixed base, a motion branch chain, a drive assembly and a center slewing mechanism; the shoulder mounting base includes an arm mounting seat, a motor mounting and positioning shell, an intermediate card seat and snap ring; the four joint base frames are connected by shafts on the joint connection device, and the distance keeping device is fixed between the joint base frame and the two gear plates of the joint connection device through the shaft sleeve.

Preferably, the motion platform and the fixed base of the three-degree-of-freedom rope-driven joint module are connected by four motion branches, and each motion branch includes a curved link and cross hinges or spherical hinges at both ends; the center slewing mechanism is installed In the middle of the three-degree-of-freedom joint module, the two ends respectively pass through the central hole with the bearing on the moving platform and the fixed base.

Preferably, the driving rope arranged in the elbow module is driven and arranged on the fixed/moving pulley, and the moving pulley drives the two gear pieces of the joint connection device to engage and rotate to realize the bidirectional flexion/extension movement of the elbow.

Preferably, the rope driving module is composed of two sets of orthogonally arranged ropes, the two ends of each set of ropes are fixed on the motion platform, the connecting lines of the two ends of the two sets of ropes are perpendicular to each other, and the middle part of the ropes is connected to the end drive base to form drive circuit

Preferably, the preloading device includes a universal wheel, a threaded preload, and a pulley holder; the end drive base includes a base outer casing, a connection cover, and a motor drive module.

Preferably, the motor drive module is characterized in that it comprises a pair of externally meshing transmission gears, a disc-shaped cover plate, a DC motor, a fixed pulley, a support body on the upper end of the pulley and a motor fixing frame.

Preferably, the articulation device includes a pair of meshing gears with a 1:1 transmission.

Compared with the prior art, the technical solution of the present utility model has the following advantages:

The modular rope-driven humanoid arm of the technical solution of the utility model is formed by connecting two kinds of three modules in series, so that the construction is convenient and fast. The connection module can be adaptively adjusted, and the modular rope-driven humanoid arm of the technical solution of the utility model is suitable for large-scale standardized production, which is convenient for controlling production and use costs; it has good fault tolerance and convenient maintenance. It can be used as a left and right arm for a humanoid robot, or as a general redundant manipulator to meet various needs in production and life.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained based on the structures shown in these drawings without any creative effort.

1 is a schematic diagram of the overall assembly structure of the modular rope-driven humanoid arm of the present invention;

2 is an exploded view of the shoulder module structure of the modular rope-driven humanoid arm of the present invention;

3 is an exploded view of the elbow module structure of the modular rope-driven humanoid arm of the present invention;

4 is an exploded view of the wrist module structure of the modular rope-driven humanoid arm of the present invention;

FIG. 5 is an internal structure diagram of the shoulder module joint installation base of the present invention.

Description of reference numbers:

The realization, functional characteristics and advantages of the purpose of the present utility model will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention, the directional indications are only used to explain a certain posture (such as the accompanying drawings). When the relative positional relationship, movement situation, etc. between the various components shown below), if the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as instructions or Implicit their relative importance or implicitly indicate the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present utility model.

The utility model proposes a modular rope-driven humanoid arm.

Referring to FIGS. 1 to 5 , the modular rope-driven humanoid arm of the embodiment of the present invention includes a shoulder module S, an elbow module E, and a wrist module W that are connected in sequence; wherein the shoulder module is connected to the elbow through the connection module L. The upper module is connected, and the elbow module is also connected to the wrist module through a second connection module L. The shoulder module, the elbow module and the wrist module in this embodiment can select connection modules of different sizes according to the required size, so that they can be connected in series adaptively to form a humanoid arm with seven degrees of freedom. Multiple fingers are connected in series at the end. The shoulder module, the elbow module and the wrist module in this embodiment are all provided with a motor drive system and a rope drive system; the shoulder module and the wrist module are both three-degree-of-freedom modules with three-degree-of-freedom rope-driven joints inside them. Module, the elbow module is a single-degree-of-freedom module, and the connection module rigidly connects each joint module as a whole arm through the general interfaces on both sides. At the same time, the shoulder module, elbow module, wrist module and The connection modules connecting the above three modules are respectively provided with unified interfaces at the connection ports of the modules, so that any two modules can be assembled, thereby improving the assembly efficiency.

Referring to FIG. 2 , the shoulder module of this embodiment includes a shoulder mounting base 5 , a three-degree-of-freedom rope driving joint module 1 , a driving rope 2 , a pulley device 3 and a motor driving device 4 . Specifically, the shoulder mounting base 5 of this embodiment includes an arm mounting seat 51 , two middle clamps 53 symmetrically arranged up and down, a clamping ring 52 , and a motor mounting and positioning shell 55 . A tightening screw 54 is provided to connect the two middle clamps 53 symmetrically arranged up and down. The three-degree-of-freedom rope-driven joint module 1 of this embodiment includes a motion branch chain 111, an intermediate rotating mechanism 112, a motion platform 114, and a mounting seat 113. The mounting seat 113 and the intermediate rotating mechanism 112 are connected by four moving branch chains 111. The moving branch 111 includes a curved connecting rod and cross hinge Hooke hinges at both ends, and the intermediate rotating mechanism 112 is installed in the middle of the parallel mechanism 1 .

Please refer to FIG. 3 , the elbow module includes a joint base frame 6 , a joint connection device 7 , a distance keeping device 8 , a pulley block 11 , a preloading device 10 and a rope 9 , and the four joint base frames 6 are realized by the shafts on the joint connection device 7 . Connected, the distance keeping device 8 is fixed between the joint base frame 6 and the two gear pieces of the joint connection device 7 via the shaft sleeve to ensure the installation distance between the two, the rope 9 drives the fixed pulley and the movable pulley of the pulley block 11, the pulley block 11 The movable pulley drives the two gear pieces of the joint connection device 7 to mesh and rotate, so as to realize the bidirectional flexion/extension movement of the elbow module; Mesh gears for 1:1 transmission.

Referring to FIG. 4 , the wrist module includes a three-degree-of-freedom rope-driven joint module 1, an end drive base 20, a fixed pulley 17, a drive rope 19 and a human-like palm, and the end drive base 20 includes a base shell 14, a connection cover, and a motor The driving module 16, the motor driving module 16 includes a pair of externally meshing transmission gears, a disc-shaped cover, a DC motor, a fixed pulley 17, a support body on the upper end of the pulley and a motor fixing frame.

The shoulder module and the wrist module in this embodiment are driven by ropes, and the ropes are driven by two sets of orthogonally arranged ropes. Both ends of each set of ropes are fixed on the motion platform 23 , and the lines between the two sets of ropes are perpendicular to each other. , the middle of the rope is connected into the end driving base 20 to form a driving circuit.

In addition, the outer peripheral surface of the connection module connecting the shoulder module, the elbow module and the wrist module in this embodiment is provided with a protective bellows, so as to achieve dust protection for the internal structure of the humanoid arm;

When the modular rope-driven humanoid arm in this embodiment performs actual operations, each module can operate independently, or the humanoid arm can be assembled and run by connecting the modules. The modular rope-driven humanoid arm of this embodiment is based on the design concept of the modular humanoid arm, and can be applied to humanoid arm operations in various space environments. The rope-driven humanoid arm is easy to assemble and disassemble, light in weight, easy to handle and maintain. By using the same module, the left and right arms can be formed, and the length can be adjusted through different connection modules, which is very suitable for mass production and easy to control. The cost of production and use can be used as a left and right arm for humanoid robots, or as a general redundant manipulator to meet various needs in production and life.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the conception of the present invention, the equivalent structure transformation made by using the contents of the description and drawings of the present invention, or directly / Indirect applications in other related technical fields are included in the scope of patent protection of the present utility model.

Claims (9)

1. a modular rope drives human-like arm, it is characterized in that, comprise shoulder module, elbow module, wrist module that are connected successively and be arranged in the connection module that realizes connection between modules, shoulder module, elbow module And the wrist module has an independent motor drive system and a rope transmission system. The end of the wrist module is connected with multiple fingers to form a seven-degree-of-freedom humanoid arm; both the shoulder module and the wrist module are equipped with three-degree-of-freedom based on a parallel mechanism. The rope-driven joint module, the elbow module is a single-degree-of-freedom rope-driven swing joint module, the connection positions between the modules are all provided with a unified interface, and adjacent modules can be installed arbitrarily. 2. The modular rope-driven humanoid arm of claim 1, wherein the shoulder module comprises a shoulder-mounted base, a three-degree-of-freedom rope-driven joint module, a drive rope, a pulley device, and a motor drive device ; The elbow module includes a joint connection device, a joint base frame, a distance keeping device, a pulley device, a pre-tightening device and a driving rope; the wrist module includes a three-degree-of-freedom rope-driven joint module, an end drive base, a pulley device, Drive ropes and humanoid palms. 3. The modular rope-driven humanoid arm according to claim 2, wherein the three-degree-of-freedom rope-driven joint module comprises a motion platform, a fixed base, a motion branch chain, a drive assembly, and a central slewing mechanism; The shoulder mounting base includes an arm mounting seat, a motor mounting and positioning shell, an intermediate clip seat, and a snap ring; the four joint base frames are connected by shafts on the joint connection device, and the distance maintaining device is fixed on the joint base frame via a shaft sleeve and between the two gear plates of the joint connection device. 4. The modular rope-driven humanoid arm as claimed in claim 3, wherein the motion platform of the three-degree-of-freedom rope-driven joint module and the fixed base are connected by four motion branches, and each motion branch is connected by four motion branches. It consists of a curved link and cross hinges or ball hinges at both ends; the central slewing mechanism is installed in the middle of the three-degree-of-freedom joint module, and the two ends respectively pass through the motion platform and the fixed base with a central hole with a bearing. 5. The modular rope-driven humanoid arm according to claim 4, wherein the driving rope arranged in the elbow module is driven and arranged on the fixed/moving pulley, and the moving pulley drives the two gear pieces of the joint connection device Engage the rotation for bidirectional flexion/extension of the elbow. 6. The modular rope-driven humanoid arm according to claim 5, wherein the rope-driven module is composed of two sets of orthogonally arranged ropes, and both ends of each set of ropes are fixed on the motion platform, and two sets of ropes are The connecting lines of the two ends of the rope are perpendicular to each other, and the middle part of the rope is connected to the end driving base to form a driving circuit. 7. The modular rope-driven humanoid arm according to claim 6, wherein the preloading device comprises a universal wheel, a threaded preload, and a pulley holder; the end drive base comprises a base outer casing, a connection cover board, motor drive module. 8. The modular rope-driven humanoid arm according to claim 7, wherein the motor drive module comprises a pair of externally meshing transmission gears, a disc-shaped cover plate, a DC motor, a fixed pulley, a pulley upper support body and a Motor mount. 9 . The modular rope-driven humanoid arm of claim 8 , wherein the articulation device comprises a pair of meshing gears with a 1:1 transmission. 10 .

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