多关节仿人型机器人手臂Multi-joint humanoid robot arm
技术领域：本实用新型涉及一种安装在机器人上的机械手臂。Technical field: the utility model relates to a mechanical arm installed on a robot.
背景技术：现有的机器人关节型手臂大多体积大，重量大，动作欠灵活，活动范围小，多数采用交流伺服电机，只能在固定场所作业，不适用于移动型机器人。同时大多数为单臂，对于需要双臂协调作业的场合无能为力。Background technology: Most of the existing robotic jointed arms are bulky, heavy, less flexible, and have a small range of motion. Most of them use AC servo motors, which can only work in fixed places and are not suitable for mobile robots. At the same time, most of them are single arms, which are powerless for the occasions that require the coordinated operation of both arms.
实用新型内容：本实用新型提供一种多关节仿人型机器人手臂，该手臂可以模仿人的手臂功能进行各种各样的操作，完成取、放、拧紧、开关等动作，并通过双手臂的合作与协调动作实现一定的作业功能。本实用新型的多关节仿人型机器人手臂由具有回转副和摆动副的肩部关节A、具有两个回转副和一个摆动副的肘部关节C、具有回转副和摆动副的腕部关节E、连接在肩部关节A和肘部关节C之间的大臂B、连接在肘部关节C和腕部关节E之间的小臂D、与腕部关节E相连接的夹持手F组成；夹持手F由壳体F1、安装在壳体F1内的蜗杆F2、设置在蜗杆F2两侧并与蜗杆F2啮合的一对蜗轮F3、分别与一对蜗轮F3固定连接的一对手爪F4组成，手爪F4伸至壳体F1的外面；各关节的回转副和摆动副、以及夹持手F的蜗杆F2的运动分别由一台伺服电机驱动。该多关节仿人型机器人手臂的肩部关节有两个自由度：电机通过齿轮副传动带动手臂绕手臂纵长轴线(O-O以下同)回转(运动范围330°)，另一电机通过连接盘带动大臂绕I轴摆动(运动范围-90°～+100°)；肘部关节分两段：上肘部、下肘部，上肘部有2个自由度：电机通过齿轮副传动带动肘部绕手臂纵长轴线回转(运动范围330°)，电机通过连接盘带动小臂绕II轴摆动(运动范围-90°～+90°)，下肘部有1个自由度：电机通过齿轮副传动带动小臂绕手臂纵长轴线回转(运动范围330°)，增加此自由度可增强避障能力，增大作业范围；腕部关节有2个自由度：电机通过齿形带传动带动腕部绕III轴摆动(运动范围-30°～+45°)、电机通过连接盘，带动夹持手绕手臂纵长轴线回转(运动范围-60°～+60°)，夹持手内电机通过蜗轮蜗杆传动，带动两个手爪进行开闭动作。本实用新型的多关节仿人型机器人手臂，可左右对称安装于机器人上，其双臂在计算机控制下可协调动作，相互配合(见图1)。手臂采用7+1(冗余)自由度仿人结构，长度与人臂相仿。该机器人手臂机械结构简捷紧凑、体积小、重量轻，各关节连接可靠，拆卸方便，电机线、传感器线内置，传动关系简单明了；手臂具有7+1自由度的特点，手臂运动范围大、灵活，避障能力强；安全性强、可达性强、双手协调运动灵活，应用范围广；作业手臂能耗低，采用直流24v供电；单作业臂最大抓取重量：1Kg。Contents of the utility model: The utility model provides a multi-joint humanoid robot arm, which can imitate the functions of human arms to perform various operations, such as taking, placing, tightening, switching, etc. Cooperative and coordinated actions achieve certain operational functions. The multi-joint humanoid robot arm of the utility model consists of a shoulder joint A with a rotary pair and a swing pair, an elbow joint C with two rotary pairs and a swing pair, and a wrist joint E with a rotary pair and a swing pair. , the big arm B connected between the shoulder joint A and the elbow joint C, the forearm D connected between the elbow joint C and the wrist joint E, and the clamping hand F connected with the wrist joint E The clamping hand F consists of a housing F1, a worm F2 installed in the housing F1, a pair of worm gears F3 arranged on both sides of the worm F2 and meshed with the worm F2, and a pair of claws F4 fixedly connected to the pair of worm gears F3 respectively Composition, the hand claw F4 extends to the outside of the housing F1; the movement of the rotary pair and the swing pair of each joint, and the worm F2 that clamps the hand F is respectively driven by a servo motor. The shoulder joint of the multi-joint humanoid robot arm has two degrees of freedom: the motor drives the arm to rotate around the longitudinal axis of the arm (the same as O-O below) through the transmission of the gear pair (the range of motion is 330°), and the other motor drives the arm through the connecting plate. The arm swings around the I axis (movement range -90°～+100°); the elbow joint is divided into two sections: the upper elbow and the lower elbow, and the upper elbow has 2 degrees of freedom: the motor drives the elbow through the gear pair transmission Rotate around the longitudinal axis of the arm (movement range 330°), the motor drives the forearm to swing around the II axis through the connecting plate (movement range -90°～+90°), the lower elbow has 1 degree of freedom: the motor is driven by a gear pair Drive the forearm to rotate around the longitudinal axis of the arm (movement range 330°), increasing this degree of freedom can enhance the ability of obstacle avoidance and increase the working range; the wrist joint has 2 degrees of freedom: the motor drives the wrist around the III-axis swing (movement range -30°～+45°), the motor passes through the connecting plate, drives the clamping hand to rotate around the longitudinal axis of the arm (movement range -60°～+60°), and the motor in the clamping hand passes through the worm gear The transmission drives the two claws to open and close. The multi-joint humanoid robot arm of the utility model can be symmetrically installed on the robot, and its arms can coordinate and cooperate with each other under the control of the computer (see Figure 1). The arm adopts a humanoid structure with 7+1 (redundant) degrees of freedom, and its length is similar to that of a human arm. The mechanical structure of the robot arm is simple and compact, small in size and light in weight. The joints are reliably connected and easy to disassemble. The motor line and sensor line are built in, and the transmission relationship is simple and clear. The arm has the characteristics of 7+1 degrees of freedom, and the arm has a large and flexible range of motion. , strong obstacle avoidance ability; strong safety, strong accessibility, flexible coordinated movement of both hands, wide application range; low energy consumption of the working arm, using DC 24v power supply; maximum grasping weight of a single working arm: 1Kg.
附图说明：图1是本实用新型的机器人手臂安装在机器人身上的作业原理图，图2是本实用新型的机器人手臂的结构示意图，图3是图2的俯视图，图4是肩部关节A的结构示意图，图5是肘部关节C的结构示意图，图6是腕部关节E的结构示意图，图7是夹持手F的结构示意图。Description of drawings: Fig. 1 is a schematic diagram of the operation of the robot arm of the present invention installed on the robot, Fig. 2 is a schematic structural view of the robot arm of the present invention, Fig. 3 is a top view of Fig. 2, and Fig. 4 is a shoulder joint A Fig. 5 is a schematic structural diagram of an elbow joint C, Fig. 6 is a schematic structural diagram of a wrist joint E, and Fig. 7 is a schematic structural diagram of a clamping hand F.
具体实施方式：参阅图2、图3，本实施方式的机器人手臂由具有回转副和摆动副的肩部关节A、具有两个回转副和一个摆动副的肘部关节C、具有回转副和摆动副的腕部关节E、连接在肩部关节A和肘部关节C之间的大臂B、连接在肘部关节C和腕部关节E之间的小臂D、与腕部关节E相连接的夹持手F组成；参阅图4，肩部关节A由关节体A1、肩转关节体A2、第一电机A3、第一齿轮A4、第一齿圈A5、肩摆轴A6、第二电机A7组成；第一电机A3安装在关节体A1上，第一齿圈A5套装在关节体A1的轴A8上，第一齿圈A5与肩转关节体A2固定连接，第一齿轮A4与第一电机A3的主轴相连接，第一齿轮A4与第一齿圈A5相啮合并形成肩部关节A的回转副；与第二电机A7的主轴相连接的肩摆轴A6固定在大臂B左端的轴套B1内，在肩转关节体A2上还固定有连接盘A9和电机护罩A10，连接盘A9与电机护罩A10支撑在轴套B1的两端，连接盘A9和电机护罩A10与轴套B1形成转动配合并形成肩部关节A的摆动副。参阅图5，肘部关节C由安装在大臂B内的第三电机C1、第二齿轮C2、第二齿圈C3、肘转关节体C4、第四电机C5、肘摆轴C6、肘摆关节体C7、第三齿轮C8、第三齿圈C9、安装在小臂D内的第五电机C10组成；第二齿圈C3套装在大臂B内的轴132上，第二齿圈C3与肘转关节体C4固定连接，第二齿轮C2与第三电机C1的主轴相连接，第二齿轮C2与第二齿圈C3相互啮合并形成肘部关节C的上回转副；与第四电机C5的主轴相连接的肘摆轴C6固定在肘摆关节体C7的轴套C11内，在肘转关节体C4上固定连接有连接盘C12和电机护罩C13，连接盘C12和电机护罩C13支撑在轴套C11的两端，轴套C11与连接盘C12和电机护罩C13形成转动配合并形成肘部关节C的摆动副；第三齿圈C9套装在小臂D内的轴D1上，第三齿圈C9与肘摆关节体C7固定连接，第三齿轮C8与第五电机C10的主轴固定连接，第三齿圈C9与第三齿轮C8相互啮合并形成肘部关节C的下回转副。参阅图6，腕部关节E由安装在小臂D内的第六电机E1、齿形带传动机构E2、腕轴E3、第七电机E4、腕转关节体E5组成；齿形带传动机构E2分别连接第六电机E1的主轴和腕轴E3，腕轴E3的两端与小臂D端部形成转动配合即构成腕部关节E的摆动副；第七电机E4通过固定装置E6固定在腕轴E3上，腕转关节体E5与第七电机E4的主轴固定连接即构成腕部关节E的回转副，腕转关节体E5与夹持手F的壳体F1固定连接。参阅图7，夹持手F由壳体F1、安装在壳体F1内的螺杆F2、设置在蜗杆F2两侧并与蜗杆F2啮合的一对蜗轮F3、分别与一对蜗轮F3固定连接的一对手爪F4组成，手爪F4伸至壳体F1的外面。以上各电机均为伺服电机。Specific embodiments: Referring to Fig. 2 and Fig. 3, the robot arm of this embodiment consists of a shoulder joint A with a swivel pair and a swing pair, an elbow joint C with two swivel pairs and one swing pair, a swivel pair and a swing joint. Secondary wrist joint E, big arm B connected between shoulder joint A and elbow joint C, forearm D connected between elbow joint C and wrist joint E, connected to wrist joint E The clamping hand F is composed of; refer to Figure 4, the shoulder joint A is composed of the joint body A1, the shoulder joint body A2, the first motor A3, the first gear A4, the first ring gear A5, the shoulder swing shaft A6, and the second motor Composed of A7; the first motor A3 is installed on the joint body A1, the first ring gear A5 is set on the shaft A8 of the joint body A1, the first ring gear A5 is fixedly connected with the shoulder joint body A2, the first gear A4 is connected with the first The main shaft of the motor A3 is connected, the first gear A4 is meshed with the first ring gear A5 and forms the rotary pair of the shoulder joint A; the shoulder swing shaft A6 connected with the main shaft of the second motor A7 is fixed on the left end of the big arm B In the shaft sleeve B1, a connection plate A9 and a motor shield A10 are also fixed on the shoulder-rotating joint body A2. The connection plate A9 and the motor shield A10 are supported on the two ends of the shaft sleeve B1. Bushing B1 forms a rotational fit and forms an oscillating pair for shoulder joint A. Referring to Figure 5, the elbow joint C is composed of the third motor C1, the second gear C2, the second ring gear C3, the elbow joint body C4, the fourth motor C5, the elbow pendulum shaft C6, and the elbow pendulum installed in the arm B. The joint body C7, the third gear C8, the third ring gear C9, and the fifth motor C10 installed in the forearm D; the second ring gear C3 is set on the shaft 132 in the boom B, and the second ring gear C3 and The elbow joint body C4 is fixedly connected, the second gear C2 is connected with the main shaft of the third motor C1, and the second gear C2 and the second ring gear C3 mesh with each other to form the upper rotary pair of the elbow joint C; and the fourth motor C5 The elbow pendulum axis C6 connected to the main shaft of the elbow pendulum joint body C7 is fixed in the bushing C11 of the elbow joint body C7, and the connecting disc C12 and the motor shield C13 are fixedly connected to the elbow joint body C4, and the connecting disc C12 and the motor shield C13 support At both ends of the shaft sleeve C11, the shaft sleeve C11 forms a rotation fit with the connection plate C12 and the motor shield C13 and forms a swing pair of the elbow joint C; the third ring gear C9 is sleeved on the shaft D1 in the forearm D, and the second The third ring gear C9 is fixedly connected to the elbow pendulum joint body C7, the third gear C8 is fixedly connected to the main shaft of the fifth motor C10, and the third ring gear C9 and the third gear C8 mesh with each other to form the lower rotary pair of the elbow joint C. Referring to Figure 6, the wrist joint E is composed of the sixth motor E1 installed in the forearm D, the toothed belt transmission mechanism E2, the wrist axis E3, the seventh motor E4, and the wrist joint body E5; the toothed belt transmission mechanism E2 Respectively connect the main shaft of the sixth motor E1 and the wrist shaft E3, and the two ends of the wrist shaft E3 form a rotation fit with the end of the forearm D to form the swing pair of the wrist joint E; the seventh motor E4 is fixed on the wrist shaft through the fixing device E6 On E3, the wrist-rotating joint body E5 is fixedly connected to the main shaft of the seventh motor E4 to form a rotary pair of the wrist joint E, and the wrist-rotating joint body E5 is fixedly connected to the housing F1 that holds the hand F. Referring to Fig. 7, the clamping hand F consists of a housing F1, a screw F2 installed in the housing F1, a pair of worm gears F3 arranged on both sides of the worm F2 and engaged with the worm F2, and a pair of worm gears F3 fixedly connected respectively. Composed of the claw F4, the claw F4 extends to the outside of the housing F1. All the motors above are servo motors.
