Series-parallel flexible humanoid double-arm robot

Abstract

A series-parallel flexible humanoid double-arm robot comprises an arm connecting piece, two mechanical arm modules, a motion control module and a power module. Two arm joint connecting ends are formed on the arm connecting piece. The two mechanical arm modules are connected to the two arm joint connecting ends in parallel, and each mechanical arm module comprises a plurality of flexible joint mechanisms and a dexterous hand module which are sequentially connected in series. The motion control module is installed on the arm connecting piece, and the motion controller is electrically connected with the two mechanical arm modules so as to control the two mechanical arm modules to bend and stretch in multiple directions; the power module is electrically connected with the two mechanical arm modules and the motion control module so as to achieve equipment power supply. The robot accords with the human arm muscle cooperative work rule, the overall performance and reliability of the equipment are high, and the movement process is natural and smooth; each flexible joint mechanism can be independently driven and tested, in addition, the flexible joint mechanism modules of the double-arm robot can be rapidly assembled and replaced, and the maintenance cost is low.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a hybrid compliant humanoid dual-arm robot. Background Art

[0002] In recent years, with the continuous integration of advanced technologies such as artificial intelligence, high-end manufacturing, and new materials, humanoid robots have become another disruptive product after computers, smart phones, and new energy vehicles. Their research and development and application are profoundly changing the way people produce and live, and are expected to reshape the global industrial development pattern. In this context, the humanoid robotic arm, as the core executive component of the humanoid robot, is particularly important for its design and control technology innovation. The humanoid robotic arm not only integrates the essence of bionics and mechanical engineering, but also provides the possibility for harmonious interaction between robots and humans through in-depth exploration and imitation of the human arm.

[0003] Most of the humanoid robotic arms on the market are usually developed from industrial robotic arms, and most of the humanoid robotic arms on the market have many shortcomings, which are specifically manifested in the following aspects:

[0004] a. It is bulky and too heavy, making it difficult to adapt to frequent physical interaction scenarios with humans; b. It lacks flexibility and is difficult to complete complex and changeable action tasks; c. It is not safe enough and can easily cause potential harm to humans during the interaction process; d. There is a lack of in-depth research and imitation of the bionic characteristics of the human arm, resulting in a low degree of anthropomorphism of the robotic arm and a poor interaction experience with humans. Summary of the invention

[0005] The present invention provides a hybrid compliant humanoid dual-arm robot to solve the technical problems mentioned in the background technology.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] The present invention provides a hybrid compliant humanoid dual-arm robot, comprising:

[0008] An arm connecting member formed with two arm joint connecting ends;

[0009] Two robotic arm modules are connected in parallel to two arm joint connection ends, respectively, and each robotic arm module includes a plurality of flexible joint mechanisms and a dexterous hand module connected in series in sequence;

[0010] A motion control module is installed on the arm connector. The motion controller is electrically connected to the two mechanical arm modules to control the flexion, extension and rotation of multiple flexible joint mechanisms in multiple directions, and to control the dexterous hand module to exert motion on the target object.

[0011] The power supply module is electrically connected to the two robot arm modules and the motion control module respectively to realize power supply of the equipment.

[0012] Beneficial effects of the present invention:

[0013] 1. The present invention discloses a hybrid flexible humanoid dual-arm robot with a compact structure. The overall volume of the hybrid flexible humanoid dual-arm robot is relatively small compared to the common dual-arm robots on the market, and the weight is lighter, which is convenient for transportation and deployment.

[0014] 2. The two robot arm modules in the present invention each include four flexible joint mechanisms, namely, the first shoulder flexible joint mechanism, the second shoulder flexible joint mechanism, the elbow flexible joint mechanism and the wrist flexible joint mechanism, each having 2 degrees of freedom, that is, a single robot arm module has 8 degrees of freedom without considering the dexterous hand module, and the two robot arm modules have a total of 16 degrees of freedom without considering the dexterous hand module. This structural design is closer to the human arm structure in terms of movement mechanism. Compared with the 4 to 7 degrees of freedom of the humanoid robot arm on the market, the redundancy brought by 8 degrees of freedom makes the robot arm module more dexterous, can better adapt to the restricted working space, can complete complex and changeable action tasks, such as fine movements in a narrow space, and more realistically simulate the movement of the human arm.

[0015] 3. In the present invention, each flexible joint mechanism has passive compliance on the basis of achieving a compact structure. This structure conforms to the law of coordinated working of human arm muscles. By simulating muscle collaboration, the overall performance and reliability of the hybrid flexible humanoid dual-arm robot are improved, ensuring that the hybrid flexible humanoid dual-arm robot moves naturally and smoothly. Each flexible joint mechanism can be driven and tested independently, and the hybrid flexible humanoid dual-arm robot can quickly assemble and replace flexible joint mechanisms, so that the maintenance cost can be greatly reduced.

[0016] 4. Compared with the traditional single-joint motor drive solution, the flexible joint mechanism in the present invention is driven by a two-degree-of-freedom parallel drive method, which has obvious advantages over the traditional single-joint motor drive solution. The flexible joint mechanism in the present invention has higher rigidity and stronger load-bearing capacity. Each flexible joint mechanism in the present invention is shared by two motors to share the workload. This driving method greatly improves the load capacity and effectively overcomes the performance limitations of the traditional single-joint motor drive under high load.

[0017] 5. The present invention adds a flexible transmission link in the joint transmission chain, that is, the second pulley flexibly drives the input bevel gear to move through an elastic connector. Compared with the traditional force control method, the flexible transmission method of the present invention is unique. It can not only achieve passive flexibility, but also buffer external forces through the natural deformation of the elastic connector when in contact with the outside world, ensuring the safety and stability of human-computer interaction and operation. Moreover, force measurement based on the deformation of the elastic connector avoids the limitations of discontinuous force signals in traditional force control methods, and significantly improves the accuracy and continuity of force control.

[0018] 6. The robotic arm module of the present invention deeply imitates the bionic characteristics of the human arm. The degree of anthropomorphism of the robotic arm is higher than that of the common two-arm robots on the market, and the interaction experience with humans is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 It is an enlarged structural diagram of a single mechanical arm module in the present invention;

[0021] Figure 3 It is an enlarged structural diagram of the first shoulder flexible joint mechanism or the second shoulder flexible joint mechanism in the present invention;

[0022] Figure 4 It is an enlarged structural diagram of the wrist flexible joint mechanism in the present invention;

[0023] Figure 5 It is an enlarged view of the three-dimensional structure of the elbow flexible joint mechanism in the present invention;

[0024] Figure 6 is an enlarged view of the front view of the elbow flexible joint mechanism of the present invention;

[0025] Figure 7 for Figure 6 An enlarged view of the local cross-sectional view in the AA direction;

[0026] Figure 8 It is a zoomed diagram of an exploded schematic diagram of the elbow flexible joint mechanism of the present invention;

[0027] Fig. 9 for Figure 8 A partial enlarged view of the B area;

[0028] Fig.10 It is an enlarged schematic diagram of the three-dimensional structure of the central support frame 1 in the present invention;

[0029] Fig.11 It is an enlarged schematic diagram of the three-dimensional structure of one of the arm shells in the present invention;

[0030] Fig.12 It is an enlarged schematic diagram of the three-dimensional structure of another arm shell in the present invention;

[0031] Fig.13 It is an enlarged schematic diagram of the three-dimensional structure of the first output housing in the present invention;

[0032] Fig.14 It is an enlarged schematic diagram of the three-dimensional structure of the inner output housing 1 of the present invention;

[0033] Fig.15 It is a schematic diagram of the layout of the inner idler wheel assembly of the present invention;

[0034] Fig.16 It is an enlarged schematic diagram of the three-dimensional structure of the inner elastic connecting piece of the present invention;

[0035] Fig.17 It is a zoomed view of the exploded schematic diagram of the wrist flexible joint mechanism of the present invention.

[0036] Description of reference numerals:

[0037] 1. Arm connector;

[0038] 2. Robotic arm module; 21. Flexible joint mechanism; 21a. First shoulder flexible joint mechanism; 21b. Second shoulder flexible joint mechanism; 21c. Elbow flexible joint mechanism; 21d. Wrist flexible joint mechanism; 22. Dexterous hand module;

[0039] 21c-1, central support frame 1; 21c-11, elbow input end; 21c-12, fixed head; 21c-13, motor mounting hole; 21c-14, first idler wheel hole; 21c-15, driver mounting slot; 21c-16, joint limit slot;

[0040] 21c-2, output end transmission module 1; 21c-21, output housing 1; 21c-211, first output housing; 21c-2111, round hole; 21c-2112, semicircular hole; 21c-212, second output housing; 21c-22, T-type spindle; 21c-221, horizontal end; 21c-222, vertical end; 21c-23, input bevel gear 1; 21c-24, output bevel gear 1; 21c-241, elbow output end;

[0041] 21c-3, input end drive module; 21c-31, motor; 21c-311, motor body; 21c-312, motor driver; 21c-313, driver housing; 21c-314, driver heat sink; 21c-32, first pulley; 21c-33, second pulley; 21c-34, elastic connector; 21c-341, inner ring; 21c-342, elastic deformation layer; 21c-343, outer ring; 21c-35, synchronous belt; 21c-36, arm housing; 21c-361, spindle hole; 21c-362, second idler hole; 21c-363, synchronous belt groove; 21c-37, idler assembly;

[0042] 21c-51, encoder bracket; 21c-511, mounting ring; 21c-512, fixing bracket; 21c-52, encoder magnetic ring; 21c-53, encoder reader;

[0043] 21d-1, central support frame 2; 21d-2, output end transmission module 2; 21d-21, output housing 2; 21d-22, cross shaft; 21d-23, input bevel gear 2; 21d-24, output bevel gear 2;

[0044] 3. Motion control module; 31. Motion controller; 32. Host computer;

[0045] 4. Power module;

[0046] 5. Monitoring module;

[0047] 6. Robot bracket. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0049] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0051] Reference Figure 1 The embodiment of the present application provides a hybrid compliant humanoid dual-arm robot, comprising:

[0052] An arm connecting member 1 is formed with two arm joint connecting ends;

[0053] Two robotic arm modules 2 are connected in parallel to two arm joint connection ends, respectively. Each robotic arm module 2 includes a plurality of flexible joint mechanisms 21 and a dexterous hand module 22 connected in series in sequence.

[0054] A motion control module 3 is installed on the arm connector 1. The motion controller 3 is electrically connected to the two mechanical arm modules 2 to control the flexion, extension and rotation of multiple flexible joint mechanisms 21 in multiple directions, and to control the dexterous hand module 22 to exert an action on the target object;

[0055] The power supply module 4 is electrically connected to the two robot arm modules 2 and the motion control module 3 respectively to realize power supply of the equipment.

[0056] The present invention discloses a hybrid flexible humanoid dual-arm robot with a compact structure. The overall volume of the hybrid flexible humanoid dual-arm robot is relatively small compared with common dual-arm robots on the market, and the weight is lighter, so it is convenient to carry and deploy.

[0057] In some embodiments, reference Figures 2 to 4 , the multiple flexible joint mechanisms 21 are all driven in parallel with two degrees of freedom, and the multiple flexible joint mechanisms 21 are respectively a first shoulder flexible joint mechanism 21a, a second shoulder flexible joint mechanism 21b, an elbow flexible joint mechanism 21c, and a wrist flexible joint mechanism 21d;

[0058] The first shoulder flexible joint mechanism 21a comprises a first shoulder input end fixedly connected to the arm joint connection end and a first shoulder output end arranged opposite to the first shoulder input end; the first shoulder flexible joint mechanism 21a is used to drive the second shoulder flexible joint mechanism 21b to flex, extend and rotate along the front-back direction; the movement performance is implemented as the flexion and extension movement of the chest lock of the hybrid flexible humanoid dual-arm robot and the flexion and extension movement of the shoulder;

[0059] The second shoulder flexible joint mechanism 21b includes a second shoulder input end fixedly connected to the first shoulder output end and a second shoulder output end arranged opposite to the second shoulder input end; the second shoulder flexible joint mechanism 21b is used to drive the elbow flexible joint mechanism 21c to retract, extend and rotate; the movement performance is implemented as the adduction and abduction movement of the shoulder of the hybrid compliant humanoid dual-arm robot and the internal rotation and external rotation movement of the upper arm;

[0060] The elbow flexible joint mechanism 21c includes an elbow input end 21c-11 fixedly connected to the second shoulder output end and an elbow output end 21c-241 arranged opposite to the elbow input end 21c-11; the elbow flexible joint mechanism 21c is used to drive the wrist flexible joint mechanism 21d to flex, extend and rotate; the movement performance is implemented as the flexion and extension movement of the elbow of the hybrid flexible humanoid dual-arm robot and the internal and external rotation movement of the forearm;

[0061] The wrist flexible joint mechanism 21d includes a wrist input end fixedly connected to the elbow output end and a wrist output end arranged opposite to the wrist input end; the wrist output end is fixedly connected to the dexterous hand module 22, and the wrist flexible joint mechanism 21d is used to drive the dexterous hand module 22 to flex and extend and to perform radial deviation and ulnar deviation movements. The movement performance is implemented as the flexion and extension movement and radial deviation and ulnar deviation movement of the wrist of the hybrid flexible humanoid dual-arm robot. The radial deviation and ulnar deviation movement include radial deviation and ulnar deviation movement, wherein radial deviation refers to the movement of the hand turning outward (i.e., toward the radial side), for example, when the hand turns toward the thumb, it is radial deviation; ulnar deviation refers to the movement of the hand turning inward (i.e., toward the ulnar side). For example, when the hand turns toward the little finger, it is ulnar deviation.

[0062] In some embodiments, reference Figures 5 to 9 , the elbow flexible joint mechanism 21c also includes:

[0063] The central support frame 21c-1 includes a fixed head 21c-12 disposed opposite to the elbow input end 21c-11, and the elbow input end 21c-11 is formed on the central support frame 21c-1;

[0064] The output end transmission module 21c-2 comprises an output housing 21c-21, a T-shaped main shaft 21c-22, two input bevel gears 21c-23, and an output bevel gear 21c-24; the T-shaped main shaft 21c-22 is arranged in the output housing 21c-21, the T-shaped main shaft 21c-22 comprises a horizontal end 21c-221 and a vertical end 21c-222 vertically connected to the middle of the horizontal end 21c-221, the two input bevel gears 21c-23 are respectively rotatably connected to the two sides of the horizontal end 21c-221, the output bevel gear 21c-24 is sleeved on the vertical end 21c-222, and the two input bevel gears 21c-23 are respectively meshed with the output bevel gear 21c-24; the elbow output end 21c-241 is formed at the end of the output bevel gear 21c-24;

[0065] The two input end driving modules 21c-3 are respectively arranged on the opposite sides of the central support frame 21c-1, and are respectively used to drive the two input bevel gears 21c-23 to rotate, so that the elbow output end 21c-241 rotates around the horizontal end 21c-221 or rotates around the vertical end 21c-222, thereby allowing the elbow flexible joint mechanism 21c to have two degrees of freedom. The rotation of the elbow output end 21c-241 around the horizontal end 21c-221 is the first degree of freedom, and the intuitive manifestation is the flexion and extension movement of the elbow joint. The rotation of the elbow output end 21c-241 around the vertical end 21c-222 is another degree of freedom, and the intuitive manifestation is the self-rotation of the elbow.

[0066] In some embodiments, a joint limiting groove 21c-16 is provided on the central support frame 21c-1, and the joint limiting groove 21c-16 is used to mechanically limit the flexion and extension angle of the joint of the present invention.

[0067] In some embodiments, reference Figures 7 to 9 , the input end driving module 21c-3 includes:

[0068] The motor 21c-31, the stator is fixed in the motor mounting hole 21c-13 opened in the central support frame 21c-1;

[0069] The first pulley 21c-32 is fixedly mounted on the rotor of the motor 21c-31;

[0070] The second pulley 21c-33 is rotatably connected to the horizontal end 21c-221; and the diameter of the second pulley 21c-33 is greater than the diameter of the first pulley 21c-32;

[0071] An elastic connecting member 21c-34, one end of which is fixed to the second pulley 21c-33, and the other end of which is fixed to one of the input bevel gears 21c-23;

[0072] The synchronous belt 21c-35 is mounted on the outer rings of the first pulley 21c-32 and the second pulley 21c-33 to achieve synchronous transmission of the first pulley 21c-32 and the second pulley 21c-33;

[0073] The arm shell 21c-36 is fixedly mounted on the side of the central support frame 21c-1, and a main shaft hole 21c-361 is provided on the arm shell 21c-36, and the horizontal end 21c-221 is rotatably connected in the main shaft hole 21c-361, so that the output housing 21c-21 is rotatably connected to the central support frame 21c-1. A synchronous belt groove 21c-363 is provided on the arm shell 21c-36, and the synchronous belt 21c-35 is arranged in the synchronous belt groove 21c-363 of the arm shell 21c-36. The synchronous belt groove 21c-363 is used to provide a movable space for the synchronous belt 21c-35. This layout can make the present invention more compact.

[0074] When the two input end drive modules 21c-3 are in use, if the motors 21c-31 on the two input end drive modules 21c-3 rotate in the same direction, the two motors 21c-31 will respectively drive the two input bevel gears 21c-23 to rotate in the same direction through the first pulley 21c-32 and the second pulley 21c-33 on their respective sides. The two input bevel gears 21c-23 cannot drive the output bevel gear 21c-24 to rotate when rotating in the same direction, and no relative movement will occur between the three. In addition, since the output housing 21c-21 and the internal components of the output housing 21c-21 are connected to the arm shells on both sides of the central support frame 21c-1 through the horizontal end 21c-221 of the T-shaped main shaft 21c-22 21c-36 is rotationally connected, so in this state, the two motors 21c-31 will eventually drive the output housing 21c-21 and its internal components to rotate along the horizontal end 21c-221 of the T-shaped main shaft 21c-22, thereby causing the output bevel gear 21c-24 and the elbow output end 21c-241 thereon to rotate along the horizontal end 21c-221 of the T-shaped main shaft 21c-22, thereby realizing the flexion and extension movement of the joint structure 2 connected to the elbow output end 21c-241; when the two motors 21c-31 rotate in opposite directions, it will eventually drive the output bevel gear 21c-24 to rotate on its own, and the relative movement of the present invention and the joint structure 2 to produce internal or external rotation or internal and external abduction can be manifested on the joint.

[0075] In some embodiments, reference Fig.16 , the elastic connecting member 21c-34 includes an inner ring 21c-341, an elastic deformation layer 21c-342 and an outer ring 21c-343;

[0076] The inner ring 21c-341 is fixed to the input bevel gear 1 21c-23 by screws, the elastic deformation layer 21c-342 is elastically connected in the area surrounded by the inner ring 21c-341 and the outer ring 21c-343, and the outer ring 21c-343 is fixed to the second pulley 21c-33 by screws. The torque difference between the inner ring 21c-341 and the outer ring 21c-343 will cause the elastic deformation layer 21c-342 to deform, resulting in an angular deflection between the inner ring 21c-341 and the outer ring 21c-343.

[0077] The present invention adds a flexible transmission link in the joint transmission chain, that is, the second pulley 21c-33 flexibly drives the input bevel gear 21c-23 to move through the elastic connector 21c-34. Compared with the traditional force control method, the parallel elastic drive method of the present invention is unique. It can not only achieve passive flexibility, but also buffer external forces through the natural deformation of the elastic connector 21c-34 when in contact with the outside world, ensuring the safety and stability of human-computer interaction and operation. Moreover, force measurement based on the deformation of the elastic connector 21c-34 avoids the limitations of discontinuous force signals in traditional force control methods, and significantly improves the accuracy and continuity of force control.

[0078] In some embodiments, reference Fig.16 The elastic deformation layer 21c-342 is two elastic connecting strips, and the two elastic connecting strips are coiled in a wave shape between the inner ring 21c-341 and the outer ring 21c-343.

[0079] In some embodiments, the motor 21c-31 includes a motor body 21c-311 and a motor driver 21c-312, and the motor driver 21c-312 is electrically connected to the motor body 21c-311. The motor driver 21c-312 is arranged in a driver installation slot 21c-15 opened in the central support frame 21c-1.

[0080] In some embodiments, reference Figure 7 and Figure 8 , the motor 21c-31 also includes a driver housing 21c-313 and / or a driver heat sink 21c-314:

[0081] The driver housing 21c-313 is fixed on the motor body 21c-311, and the motor driver 21c-312 is arranged on the inner side of the driver housing 21c-313; the driver heat sink 21c-314 is bonded to the motor driver 21c-312; by adding the driver housing 21c-313 to the motor driver 21c-312 and then arranging the driver heat sink 21c-314 on the motor driver 21c-312, the service life of the motor driver 21c-312 and the entire motor 21c-31 can be improved.

[0082] In some embodiments, reference Figures 8 to 12 as well as Fig.15 , the input end driving module 21c-3 also includes two idler wheel modules respectively arranged on the sides of the two synchronous belts 21c-35;

[0083] The idler module includes one or more idler assemblies 21c-37, each idler assembly 21c-37 includes an idler, a pin and a bearing, and the idler is rotatably connected to the first idler hole 21c-14 opened in the central support frame 1 and the second idler hole 21c-362 opened in the arm shell 21c-36 through the pin and the bearing.

[0084] By arranging multiple idler wheel assemblies 21c-37 on the circumferential side of the synchronous belt 35, the synchronous belt 21c-35 can be provided with a plurality of different gears of tension. It should be noted that if a wider adjustment range is desired, it is only necessary to adjust the number of idler wheel assemblies 21c-37.

[0085] In some embodiments, reference Figure 13 to Figure 14 The output shell 21c-21 includes a first output shell 21c-211 and a second output shell 21c-212 which are connected to each other. A circular hole 21c-2111 is provided on the side surfaces of the first output shell 21c-211 and the second output shell 21c-212 on the opposite sides thereof for the horizontal end 21c-221 of the central support frame 21c-1 to pass through; and a semicircular hole 21c-2112 which can be combined into a full circle is provided on the top of both of them for the vertical end 21c-222 of the central support frame 21c-1 to pass through.

[0086] In some embodiments, reference Figure 8 and Fig. 9 , the hybrid compliant humanoid dual-arm robot also includes a monitoring module 5; the monitoring module 5 includes a first shoulder monitoring module, a second shoulder monitoring module, an elbow monitoring module and a wrist monitoring module with the same structure and function; the first shoulder monitoring module, the second shoulder monitoring module, the elbow monitoring module and the wrist monitoring module are respectively used to monitor and obtain the rotation data of the driving end on the first shoulder flexible joint mechanism 21a, the second shoulder flexible joint mechanism 21b, the elbow flexible joint mechanism 21c and the wrist flexible joint mechanism 21d;

[0087] The elbow monitoring module comprises:

[0088] Two first elbow monitoring submodules are symmetrically installed on both sides of the output end transmission module 21c-2, and each first monitoring submodule includes an encoder bracket 21c-51, an encoder magnetic ring 21c-52 and an encoder reader 21c-53; the encoder magnetic ring 21c-52 is fixedly installed on the input bevel gear 21c-23, and the encoder reader 21c-53 is installed on the fixed head 21c-12 of the central support frame 21c-1 through the encoder bracket 21c-51; and the encoder reader 21c-53 is arranged relative to the encoder magnetic ring 21c-52, and is used to read the value of the encoder magnetic ring 21c-52;

[0089] The two second elbow monitoring submodules are respectively installed on the two motors 21c - 31 and are used to read the rotation data of the rotors of the two motors 31 respectively.

[0090] When using the elbow monitoring module, by reading the value on the encoder magnetic ring 21c-52 and the value of the motor encoder, the deflection angle of the elastic deformation layer of the two elastic connecting parts 21c-34 can be obtained. Through Hooke's law, the torque force exerted on the two input bevel gears 21c-23 can be obtained. At the same time, the two encoder magnetic rings 21c-52 can respectively read the rotation angles of the two input bevel gears 21c-23 well. Therefore, by adding a monitoring module 5, a good force and position control hardware foundation can be provided for the present invention.

[0091] In some embodiments, the encoder bracket 21c-51 includes a mounting ring 21c-511 and a fixed frame 21c-512 connected to the mounting ring 21c-511, the mounting ring 21c-511 is fixedly connected to the encoder reader 21c-53, and the fixed frame 21c-512 is fixedly connected to the fixed head 21c-12 of the central support frame 21c-1.

[0092] In some embodiments, the first shoulder flexible joint mechanism 21a and the second shoulder flexible joint mechanism 21b have the same appearance and function, and the elbow flexible joint mechanism 21c and the wrist flexible joint mechanism 21d have similar internal structure and appearance, and the only difference in the internal structure is that the output end transmission module 2 21d-2 on the wrist flexible joint mechanism 21d is different from the output end transmission module 1 21c-2 on the elbow flexible joint mechanism 21c.

[0093] Reference Fig.17Specifically, the output end transmission module 21d-2 includes an output housing 21d-21, a cross shaft 21d-22, two input bevel gears 21d-23, and an output bevel gear 21d-24; the cross shaft 21d-22 is arranged in the output housing 21d-21 and is connected to the central support frame 21d-1 of the wrist flexible joint mechanism 21d, the cross shaft 21d-22 includes two vertically crossed rotating ends, the two input bevel gears 21d-23 are respectively rotatably connected to the two sides of one of the rotating ends, the output bevel gear 21d-24 is mounted on the side of the other rotating end, and the two input bevel gears 21d-23 are respectively meshed with the output bevel gear 21d-24.

[0094] In addition, the second shoulder flexible joint mechanism 21b and the elbow flexible joint mechanism 21c have similar appearances. The different appearances are mainly reflected in the layout of the two input end drive modules 21c-3 on the second shoulder flexible joint mechanism 21b and the elbow flexible joint mechanism 21c and the inconsistent appearance of the arm shell 21c-36. The two input end drive modules 21c-3 on the second shoulder flexible joint mechanism 21b are arranged in a triangle, and the two input end drive modules 21c-3 on the elbow flexible joint mechanism 21c are arranged in an I shape. The arm shells 21c-36 of the elbow flexible joint mechanism 21c and the wrist flexible joint mechanism 21d are similar.

[0095] In some embodiments, reference Figure 1 , the motion control module 3 includes:

[0096] The motion controller 31 is arranged on the arm connecting member 1, and the motion controller 31 is electrically connected to the two mechanical arm modules 2 and the power supply module 4 respectively;

[0097] The host computer 32 is arranged on the side of the arm connecting member 1 , and the host computer 32 is electrically connected to the motion controller 31 .

[0098] In some embodiments, reference Figure 1 The hybrid compliant humanoid dual-arm robot also includes a robot bracket 6, on which an arm connector 1, two robotic arm modules 2, a motion control module 3 and a power supply module 4 are all arranged.

[0099] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A hybrid compliant humanoid dual-arm robot, characterized in that: include: An arm connecting member (1) is formed with two arm joint connection ends; Two mechanical arm modules (2) are respectively connected to two arm joint connection ends in parallel, and each mechanical arm module (2) comprises a plurality of flexible joint mechanisms (21) and a dexterous hand module (22) which are sequentially connected in series; A motion control module (3) is mounted on the arm connecting member (1), and the motion controller (3) is electrically connected to the two mechanical arm modules (2) to control the flexion, extension and rotation of multiple flexible joint mechanisms (21) in multiple directions, and to control the dexterous hand module (22) to exert an action on a target object; The power supply module (4) is electrically connected to the two mechanical arm modules (2) and the motion control module (3) respectively to realize power supply for the equipment.

2. The hybrid compliant humanoid dual-arm robot according to claim 1, characterized in that: The plurality of flexible joint mechanisms (21) are all driven in a two-degree-of-freedom parallel form, and the plurality of flexible joint mechanisms (21) are respectively a first shoulder flexible joint mechanism (21a), a second shoulder flexible joint mechanism (21b), an elbow flexible joint mechanism (21c), and a wrist flexible joint mechanism (21d); The first shoulder flexible joint mechanism (21a) comprises a first shoulder input end fixedly connected to the arm joint connection end and a first shoulder output end arranged opposite to the first shoulder input end; the first shoulder flexible joint mechanism (21a) is used to drive the second shoulder flexible joint mechanism (21b) to flex, extend and rotate in the front-back direction; The second shoulder flexible joint mechanism (21b) comprises a second shoulder input end fixedly connected to the first shoulder output end and a second shoulder output end arranged opposite to the second shoulder input end; the second shoulder flexible joint mechanism (21b) is used to drive the elbow flexible joint mechanism (21c) to retract, extend and rotate; The elbow flexible joint mechanism (21c) comprises an elbow input end (21c-11) fixedly connected to the second shoulder output end and an elbow output end (21c-241) arranged opposite to the elbow input end (21c-11); the elbow flexible joint mechanism (21c) is used to drive the wrist flexible joint mechanism (21d) to flex, extend and rotate; The wrist flexible joint mechanism (21d) comprises a wrist input end fixedly connected to the elbow output end and a wrist output end arranged opposite to the wrist input end; the wrist output end is fixedly connected to the dexterous hand module (22), and the wrist flexible joint mechanism (21d) is used to drive the dexterous hand module (22) to flex and extend and to perform radial and ulnar deviation movements.

3. The hybrid compliant humanoid dual-arm robot according to claim 2, characterized in that: The elbow flexible joint mechanism (21c) further comprises: A central support frame (21c-1) includes a fixed head (21c-12) arranged opposite to the elbow input end (21c-11), and the elbow input end (21c-11) is formed on the central support frame (21c-1); The output end transmission module (21c-2) comprises an output housing (21c-21), a T-shaped main shaft (21c-22), two input bevel gears (21c-23), and an output bevel gear (21c-24); the T-shaped main shaft (21c-22) is arranged in the output housing (21c-21), and the T-shaped main shaft (21c-22) comprises a horizontal end (21c-221) and a vertically connected middle portion of the horizontal end (21c-221). A vertical end (21c-222), two input bevel gears 1 (21c-23) are respectively rotatably connected to the two sides of the horizontal end (21c-221), an output bevel gear 1 (21c-24) is sleeved on the vertical end (21c-222), and the two input bevel gears 1 (21c-23) are respectively meshed with the output bevel gear 1 (21c-24); an elbow output end (21c-241) is formed at the end of the output bevel gear 1 (21c-24); Two input end drive modules (21c-3) are respectively arranged on two opposite sides of the central support frame (21c-1) and are respectively used to drive two input bevel gears (21c-23) to rotate, so that the elbow output end (21c-241) rotates around the horizontal end (21c-221) or rotates around the vertical end (21c-222).

4. The hybrid compliant humanoid dual-arm robot according to claim 3, characterized in that: The input end driving module (21c-3) comprises: The motor (21c-31) has a stator fixed in a motor mounting hole (21c-13) provided in the central support frame (21c-1); A first pulley (21c-32) is fixedly mounted on the rotor of the motor (21c-31); A second pulley (21c-33) rotatably connected to the horizontal end (21c-221); An elastic connecting member (21c-34), one end of which is fixed on the second pulley (21c-33), and the other end of which is fixed on one of the input bevel gears (21c-23); A synchronous belt (21c-35) is mounted on the outer rings of the first pulley (21c-32) and the second pulley (21c-33); The arm shell (21c-36) is fixedly mounted on the side of the central support frame (21c-1), and a main shaft hole (21c-361) is opened on the arm shell (21c-36), and the horizontal end (21c-221) is rotatably connected in the main shaft hole (21c-361), so that the output housing (21c-21) is rotatably connected to the central support frame (21c-1).

5. The hybrid compliant humanoid dual-arm robot according to claim 4, characterized in that: The elastic connecting member (21c-34) comprises an inner ring (21c-341), an elastic deformation layer (21c-342) and an outer ring (21c-343); The inner ring (21c-341) is fixed on the input bevel gear (21c-23), the elastic deformation layer (21c-342) is elastically connected in the area surrounded by the inner ring (21c-341) and the outer ring (21c-343), and the outer ring (21c-343) is fixedly mounted on the second pulley (21c-33).

6. The hybrid compliant humanoid dual-arm robot according to claim 4, characterized in that: The motor (21c-31) comprises a motor body (21c-311) and a motor driver (21c-312), and the motor driver (21c-312) is electrically connected to the motor body (21c-311).

7. The hybrid compliant humanoid dual-arm robot according to claim 6, characterized in that: The motor (21c-31) further comprises a driver housing (21c-313) and / or a driver heat sink (21c-314): The driver housing (21c-313) is fixed on the motor body (21c-311), and the motor driver (21c-312) is arranged on the inner side of the driver housing (21c-313); and the driver heat sink (21c-314) is bonded to the motor driver (21c-312).

8. The hybrid compliant humanoid dual-arm robot according to claim 3, characterized in that: The device also includes a monitoring module (5); the monitoring module (5) includes a first shoulder monitoring module, a second shoulder monitoring module, an elbow monitoring module and a wrist monitoring module with the same structure and function; the first shoulder monitoring module, the second shoulder monitoring module, the elbow monitoring module and the wrist monitoring module are respectively used to monitor and obtain the rotation data of the driving end on the first shoulder flexible joint mechanism (21a), the second shoulder flexible joint mechanism (21b), the elbow flexible joint mechanism (21c) and the wrist flexible joint mechanism (21d); The elbow monitoring module comprises: Two first elbow monitoring submodules are symmetrically mounted on both sides of an output end transmission module 1 (21c-2), and each first monitoring submodule comprises an encoder bracket (21c-51), an encoder magnetic ring (21c-52) and an encoder reader (21c-53); the encoder magnetic ring (21c-52) is fixedly mounted on an input bevel gear 1 (21c-23), and the encoder reader (21c-53) is mounted on a fixed head (21c-12) of a central support frame 1 (21c-1) through the encoder bracket (21c-51); and the encoder reader (21c-53) is arranged relative to the encoder magnetic ring (21c-52) and is used to read the value of the encoder magnetic ring (21c-52); The two second elbow monitoring submodules are respectively mounted on the two motors (21c-31) and are used to respectively read the rotation data of the rotors of the two motors (31).

9. The hybrid compliant humanoid dual-arm robot according to claim 1, characterized in that: The motion control module (3) comprises: A motion controller (31) is arranged on the arm connecting member (1), and the motion controller (31) is electrically connected to the two mechanical arm modules (2) and the power supply module (4) respectively; The host computer (32) is arranged on the side of the arm connecting member (1), and the host computer (32) is electrically connected to the motion controller (31).

10. The hybrid compliant humanoid dual-arm robot according to any one of claims 1 to 9, characterized in that: It also comprises a robot support (6), on which the arm connecting member (1), two robot arm modules (2), a motion control module (3) and a power supply module (4) are all arranged.

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