CN211682200U - Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism - Google Patents

Abstract

The utility model discloses a rope-driven seven-degree-of-freedom humanoid robotic arm based on a parallel mechanism, comprising a shoulder joint, an elbow joint, a wrist joint that are connected in sequence, and an inter-joint connecting piece connecting the joints, the shoulder joint and the The wrist joint is a three-degree-of-freedom joint, and the elbow joint is a single-degree-of-freedom joint. The shoulder joint and the wrist joint are provided with a motion branch chain group with a space curve structure and a transmission with the rope. The elbow joint is driven by gear meshing and Rope with transmission. Compared with the prior art, the technical solution of the present utility model has the advantages of many degrees of freedom, low cost, low noise, high flexibility, low mass and moment of inertia, and high load self-weight, etc., and can effectively optimize the design of the robot drive joints and improve the work efficiency.

Description

A rope-driven seven-degree-of-freedom humanoid robotic arm based on a parallel mechanism

technical field

The utility model relates to the technical field of robotic arms, in particular to a rope-driven seven-degree-of-freedom humanoid robotic arm based on a parallel mechanism.

Background technique

The seven-degree-of-freedom manipulator has become a redundant robot because it has more than six degrees of freedom required to achieve any pose in three-dimensional space, but the seven-degree-of-freedom manipulator has higher dexterity, stronger task execution and environmental adaptability, It has attracted much attention because of its stronger obstacle avoidance function and is an important type of robot.

Traditional manipulators generally have a series structure, and the drive motors are mostly placed at the joints. The mass and inertia of the overall arm are relatively large, which seriously affects the performance of high-speed motion and fast response. In order to solve the above technical problems, the rope drive method is applied. The rope drive transmission method places the driving source at the base end, and transmits the power to the remote driving member through the rope, which can effectively reduce the weight of the mechanism and improve the performance. Its dynamic response performance is valued.

For example, patent US12328792 discloses a rope-driven manipulator, which uses serial joints to connect the entire manipulator in series, but the structure of several internal joints is very loose and the wiring is complicated, and there are also low end load capacity, low load-to-weight ratio, etc. Therefore, it is difficult to be used in industry and cannot be used in humanoid robots. However, the rope-driven manipulator proposed by the patent CN200710063781.9 concentrates all the motors on the base, and its configuration is weird, the structure is very loose, and the rigidity and accuracy are difficult to guarantee, and there is a big gap with the actual application.

All in all, the structures of the rope-driven manipulators disclosed in the prior art are mostly series mechanisms, and due to the relatively large problems in their configuration and structural design, the rope-driven manipulators do not actually take advantage of them, and it is difficult to achieve the expected effect.

Utility model content

The main purpose of the utility model is to propose a rope-driven seven-degree-of-freedom humanoid robotic arm based on a parallel mechanism with many degrees of freedom, low cost, low noise, high flexibility, low mass and moment of inertia, and high self-loading weight. Optimize the design of robot drive joints and improve work efficiency.

In order to achieve the above purpose, a rope-driven seven-degree-of-freedom humanoid robotic arm based on a parallel mechanism proposed by the present invention includes a shoulder joint, an elbow joint, a wrist joint that are connected in sequence, and an inter-joint connection that connects each joint. The shoulder joints and wrist joints are three-degree-of-freedom joints, the elbow joints are single-degree-of-freedom joints, and the shoulder and wrist joints are provided with a motion branch chain group with a spatial curve structure and a transmission with ropes. The joints are driven by gear meshing and cooperating with ropes.

Preferably, the shoulder parallel mechanism includes an axially arranged shoulder fixed platform and a shoulder moving platform, and a moving support composed of a plurality of moving branches with a spatial curve structure is arranged between the shoulder fixed platform and the shoulder moving platform. Chain group, the end of a single moving branch is connected to the shoulder fixed platform and the shoulder moving platform respectively through the Hook hinge, the other end of the shoulder fixed platform is axially opposite to the shoulder motor fixing frame, and the shoulder motor fixing frame is connected to the shoulder motor fixing frame. A number of shoulder gear boxes are arranged between the fixed platforms, the shoulder gear boxes are connected with the shoulder drive motor, and two closed chain ropes pass from the shoulder fixed platform into the shoulder movement platform and are arranged in the shoulder movement platform. The transmission mechanism is connected to form a closed chain. The two closed-loop chain ropes are located in two planes and are perpendicular to each other. The transmission mechanism drives the rope through the motor, and the two ropes drive the shoulder motion platform to swing to achieve two degrees of freedom along the two rope directions. The swing and shoulder motors drive the rotation of the shoulder stationary platform.

Preferably, the wrist parallel mechanism includes a wrist fixed platform and a wrist movement platform arranged up and down, and a movement branch composed of a number of movement branches with a spatial curve structure is arranged between the wrist fixed platform and the wrist movement platform. The end of the movement branch is connected to the wrist fixed platform and the wrist movement platform respectively through the Hook hinge; the wrist fixed platform is provided with a wrist fixed frame at the top, and the wrist fixed frame is provided with a wrist drive wheel on the side. The top surface of the fixed platform is also provided with a wrist rotating plate, the bottom surface of the wrist fixed platform is provided with a number of wrist pulley turrets, the wrist pulley turret is provided with a wrist transmission pulley, and the top surface of the wrist motion platform is provided with a number of wrist pulleys The upper pulley turret and the matching wrist transmission pulley, the upper and lower wrist transmission pulleys are connected by ropes, the motor drive rope of the elbow joint transmits the motion of the wrist joint through the decoupling pulley of the elbow joint The component cooperates with the rope inside the wrist joint to drive the wrist motion platform to move in the X and Y directions, and the rotation of the wrist joint in the Z direction is driven by the rope to drive the wrist rotating disc on the top of the wrist fixed platform to achieve driving rotation.

Preferably, the moving branch chain group includes four moving branch chains evenly arranged in the circumferential direction, the four moving branch chains are evenly distributed along the circumference at an angular interval of 90 degrees, and a curved connecting rod and an end portion are arranged in the middle of each moving branch chain. Features a hook hinge.

Preferably, the elbow joint includes an elbow turret, an elbow fixing frame, a middle elbow retainer, a transmission pulley, and a decoupling pulley. The elbow turret is connected through the shaft shoulder, the journal and the elbow fixing frame, the elbow fixing frame is fixed on the forearm and the big arm of the arm by bolts, and the elbow joint is driven by the elbow motor and fixed on the motor fixing frame. The motor drive wheel transmits the motion to the motor drive wheel, and then the rope drives the decoupling pulleys on the upper and lower sides of the elbow to realize the pure rolling motion of the forearm relative to the forearm direction.

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

The technical scheme of the utility model is based on the parallel mechanism of the rope-driven seven-degree-of-freedom humanoid manipulator arm. The wrist and shoulder adopt the parallel mechanism with the same structure, which increases the rigidity of the whole manipulator and can realize high load under the condition of light weight. weight ratio. The technical scheme of the utility model can also decompose the mechanical arm into wrist joints, elbow joints and shoulder joints according to the human arm. The wrist joints and shoulder joints have the same structure, and each unit is designed separately, which reduces the design It is difficult, and adopts the idea of function division, the mechanism is reconfigurable, it is easy to realize modularization, and the size of the functional module can be changed, which can be quickly applied to human arms of different sizes. In case of damage, it can be quickly replaced, and mass production can reduce production costs. In addition, the technical solution of the utility model is completely decoupled from the wrist joint and the elbow joint, there is no interaction force and motion coupling between the branches, easy to control, good precision and stability, and the overall weight is light, the inertia is low, and the mechanism can be improved. fast response performance.

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 structure of a rope-driven seven-degree-of-freedom humanoid robotic arm of the present invention;

Fig. 2 is the structural representation of the shoulder joint of the present utility model;

Fig. 3 is the structural representation of the elbow joint of the present invention;

4 is a schematic structural diagram of the wrist joint 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 under the shown), 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 rope-driven seven-degree-of-freedom humanoid robotic arm based on a parallel mechanism.

As shown in FIG. 1 , the rope-driven seven-degree-of-freedom humanoid robotic arm based on the parallel mechanism according to the embodiment of the present invention includes a shoulder joint S, an elbow joint E, a wrist joint W, and an inter-joint connecting a plurality of joints A connector, wherein the elbow joint E in this embodiment is a single-degree-of-freedom joint, while the shoulder joint S and the wrist joint W are three-degree-of-freedom joints. The wrist joint W and the shoulder joint S in this embodiment both adopt a three-degree-of-freedom parallel mechanism, the elbow joint E adopts a single-degree-of-freedom tension and stiffness amplifying mechanism, and the shoulder joint S and the elbow joint E are connected by the big arm 15 , and the elbow joint E and the wrist joint W are connected through the forearm 20, so the combined motion of the rotation of the shoulder joint S, the elbow joint E and the wrist joint W constitutes the motion of the seven-degree-of-freedom mechanical arm. The rope-driven seven-degree-of-freedom humanoid robotic arm based on parallel mechanism is configured in the form of human arm degrees of freedom and has a working space similar to that of a human arm. The rope of elbow joint E is set on the transmission wheel, and the rope of wrist joint W passes through the elbow The partial decoupling mechanism is transmitted to the drive member.

Referring to FIG. 2 , the shoulder joint S with three degrees of freedom in this embodiment includes a shoulder motor fixing frame 1 , a shoulder driving motor 2 , a shoulder gear box 3 , a shoulder connecting piece 4 , a shoulder fixing platform 5 , and a shoulder Drive rope 6 , shoulder curved connecting rod 7 , shoulder Hook hinge 8 , shoulder motion platform 9 . The shoulder motor 2 and the gear box 3 are fixed on the motor base 1 , and then connected to the shoulder fixing platform 5 through the shoulder connecting piece 4 . Four moving branches are connected between the shoulder fixed platform 5 and the moving platform 9, each moving branch includes a curved connecting rod 7 and two Hook hinges 8, and the four moving branches are identical in structure and are related to the shoulders. The central axis of the joint S is evenly distributed along the circumference at 90-degree angular intervals.

Referring to FIG. 3 , the single-degree-of-freedom elbow joint of this embodiment includes an elbow motor 10, a motor drive wheel 11, a motor fixing frame 12, a motor transmission wheel 13, a motor elbow turret 16, an elbow fixing frame 17, an elbow The middle retainer 18 and the elbow decoupling pulley 19. The elbow turret 16 is connected to the elbow fixing frame 17 through the shaft shoulder, the journal, and the elbow fixing frame 17 is respectively fixed on the forearm 15 and the big arm 20 by bolts. The motor driving wheel 11 fixed on the motor fixing frame 12 is driven to transmit the motion to the motor transmission wheel 13, and then the elbow rope E_S drives the decoupling pulleys 19 on the upper and lower sides of the elbow to realize the pure movement of the forearm 15 along the direction of the big arm. rolling motion.

Referring to FIG. 4 , the wrist joint W with three degrees of freedom in this embodiment includes a wrist fixing platform 24, a wrist transmission pulley 25, a wrist pulley turret 26, a wrist pulley holder 27, a wrist curve link 28, The wrist central axis 29 , the wrist Hook hinge 30 and the wrist motion platform 31 . In the wrist joint, the motion platform 31 and the wrist fixed platform 24 are connected to four motion branches through the kinematic pair. The pulley turret 26 and the wrist pulley holder 27 and the four moving branches are identical in structure, and are evenly distributed along the circumference at 90-degree angular intervals with respect to the central axis of the wrist central shaft 29 . The rotation of the wrist in the vertical direction is driven by the rope W_S3 around the wrist driving wheel 21 fixed on the wrist fixing frame 22 to drive the wrist rotating plate 23, and drive the wrist central shaft 29 to realize the vertical rotation of the end arm, and the wrist rotates in the vertical direction. The rotation in the X and Y directions of the joint is driven by the ropes W_S1 and W_S2 respectively through the upper and lower wrist transmission pulleys 25, and the end platform 31 is driven to rotate along the X and Y directions.

The rope-driven seven-degree-of-freedom humanoid robotic arm based on the parallel mechanism in this embodiment adopts motor drive and rope drive. The shoulder driving rope 6 is located outside the parallel mechanism of the shoulder joint S, and one end of the shoulder driving rope 6 is fixed to the shoulder platform. 5 is connected, and the other end of the shoulder driving rope 6 penetrates into the interior of the shoulder motion platform 9, and the end of the shoulder driving rope 6 can be fixedly connected with the shoulder fixing platform 5 by screwing, welding, clamping or winding, and the elbow The drive rope of the elbow joint E is located on the outside of the elbow joint E, and the drive rope of the wrist joint W is located on the outside of the wrist parallel mechanism. Since the rope transmission will pass through the elbow joint E, the rope needs to be transmitted through the elbow decoupling pulley 19. The wrist joint then passes through the wrist motion platform 31, and then drives the mechanism to move by pulling the rope.

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 (5)

1. The rope-driven seven-degree-of-freedom humanoid mechanical arm based on the parallel mechanism is characterized by comprising a shoulder joint, an elbow joint and a wrist joint which are sequentially connected, and joints connecting the joints, wherein the shoulder joint and the wrist joint are three-degree-of-freedom joints, the elbow joint is a single-degree-of-freedom joint, a motion branched chain group with a space curve structure is arranged inside the shoulder joint and the wrist joint, and is in matched transmission with a rope, and the elbow joint is in meshed transmission through a gear and is in matched transmission with the rope.

2. The rope-driven seven-degree-of-freedom humanoid mechanical arm based on the parallel mechanism as claimed in claim 1, wherein the shoulder parallel mechanism comprises a shoulder fixing platform and a shoulder moving platform which are axially arranged, a moving branch group consisting of a plurality of moving branch chains with space curve structures is arranged between the shoulder fixing platform and the shoulder moving platform, the end part of a single moving branch chain is respectively connected with the shoulder fixing platform and the shoulder moving platform through a Hooke hinge, the other end of the shoulder fixing platform is axially opposite to a shoulder motor fixing frame, a plurality of shoulder gear boxes are arranged between the shoulder motor fixing frame and the shoulder fixing platform and are connected with a shoulder driving motor, two closed-loop chain ropes penetrate into the shoulder moving platform from the shoulder fixing platform and are connected with a transmission mechanism arranged in the shoulder moving platform to form a closed chain, and the two closed-loop chain ropes are respectively arranged in two planes and are mutually perpendicular, the transmission mechanism drives the ropes through the motor, the two ropes drive the shoulder moving platform to swing so as to realize two-degree-of-freedom swinging along the directions of the two ropes and the shoulder motor drives the shoulder fixing platform to rotate.

3. The rope-driven seven-degree-of-freedom humanoid robot arm based on the parallel mechanism as claimed in claim 2, wherein the wrist parallel mechanism comprises a wrist fixing platform and a wrist moving platform which are arranged up and down, a moving branch group consisting of a plurality of moving branches with space curve structures is arranged between the wrist fixing platform and the wrist moving platform, and the end parts of the moving branches are respectively connected with the wrist fixing platform and the wrist moving platform through hooke joints; wrist fixed platform top is equipped with the wrist mount, and wrist mount lateral part is equipped with the wrist drive wheel, and wrist fixed platform top surface still is equipped with the wrist rotary disk, and wrist fixed platform bottom surface is equipped with a plurality of wrist pulley rotating turret, and the inside wrist transmission pulley that is equipped with of wrist pulley rotating turret, wrist motion platform top surface are equipped with a plurality of wrist pulley rotating turrets and the wrist transmission pulley that matches with it, and upper portion and the wrist transmission pulley of lower part pass through the rope and link to each other, the motor drive rope of elbow joint transmits the motion component of wrist joint and cooperates the inside rope drive wrist motion platform of wrist joint along X and Y direction motion through the decoupling zero pulley of elbow joint, and the rotation of wrist joint along the Z direction realizes the drive rotation through the wrist rotary disk at rope drive wrist fixed.

4. The rope-driven seven-degree-of-freedom humanoid mechanical arm based on the parallel mechanism as claimed in claim 3, wherein the motion branched chain group comprises four motion branched chains which are uniformly arranged in the circumferential direction, the four motion branched chains are uniformly distributed along the circumference at intervals of 90 degrees, and a curved connecting rod is arranged in the middle of each motion branched chain and a Hooke joint is arranged at the end of each motion branched chain.

5. The parallel mechanism based rope driven seven-degree-of-freedom humanoid mechanical arm of claim 3, wherein the elbow joint comprises an elbow rotating frame, an elbow fixing frame, an elbow middle retainer, a transmission pulley and a decoupling pulley; the elbow rotating frame is connected with the elbow fixing frame through a shaft shoulder and a shaft neck, the elbow fixing frame is fixed on a small arm and a large arm of an arm respectively through bolts, an elbow joint drives a motor driving wheel fixed on the motor fixing frame through an elbow motor to transmit motion to a motor driving wheel, and then a rope drives decoupling pulleys on the upper side and the lower side of the elbow, so that pure rolling motion of the small arm in the direction relative to the large arm is realized.

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