Bionic manipulator based on three-parallel spherical joints

Abstract

The application provides a bionic mechanical arm based on three-parallel spherical joints, which comprises a base, a large arm and a small arm, a shoulder joint movement block and a shoulder joint driving mechanism, the shoulder joint driving mechanism is installed on the base, three degrees of freedom movement on a spherical surface is realized by driving the shoulder joint movement block through the shoulder joint driving mechanism, and the rear end of the large arm is fixedly connected to the shoulder joint movement block; a wrist joint movement block and a wrist joint driving mechanism, the wrist joint driving mechanism is installed on the front end of the small arm, three degrees of freedom movement on a spherical surface is realized by driving the wrist joint movement block through the wrist joint driving mechanism. The application has the advantages that: the weight of the movement part of the mechanical arm is reduced while ensuring that the shoulder joint and the wrist joint complete three degrees of freedom movement on a spherical surface, so that the rapid action of the joint can be realized, and a greater effective payload density is obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robot arm, more particularly to a bionic robot arm based on three-parallel spherical joints. BACKGROUND

[0002] As a typical representative of industrial robot, the robot arm has been widely used in many fields such as automobile manufacturing, agriculture, medical rescue, military and space exploration after decades of development; in recent years, through the installation of visual sensors, many companies have launched dual-arm robots to complete complex tasks such as workpiece assembly and service. However, the current research on multi-degree-of-freedom robot arm mostly focuses on how to improve the performance and application range of the robot arm through the optimization design of control and the application of new technologies, and pays less attention to the basic structure of the robot arm. The single-degree-of-freedom rotary joint or moving joint is mostly used in series, and the motor is installed at the joint to drive directly. When completing a specific trajectory, the rotational inertia increases due to the weight of the motor at the joint, which causes huge energy loss during movement, resulting in that the effective payload density of the current robot arm is difficult to be greater than 1. During the movement of the robot arm, the single-degree-of-freedom rotary joint often switches the direction of rotation, and the motor frequently starts and stops and commutates, which cannot maintain the ideal state of high-speed movement and utilize the high-speed characteristics of the motor. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art and provides a bionic robot arm based on three-parallel spherical joints to realize three-degree-of-freedom movement on a spherical surface while ensuring the shoulder joint and the wrist joint, reduce the weight of the moving part of the robot arm, and thus realize fast action of the joint and obtain greater effective payload density.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] The bionic robot arm based on three-parallel spherical joints comprises a base, a large arm and a small arm. The base and the rear end of the large arm are connected through a shoulder joint, the front end of the large arm and the rear end of the small arm are connected through an elbow joint, and the front end of the small arm is provided with a wrist joint. The shoulder joint comprises a shoulder joint movement block and a shoulder joint driving mechanism. The shoulder joint driving mechanism is installed on the base, drives the shoulder joint movement block to realize three-degree-of-freedom movement on a spherical surface through the shoulder joint driving mechanism, and the rear end of the large arm is fixedly connected to the shoulder joint movement block. The wrist joint comprises a wrist joint movement block and a wrist joint driving mechanism. The wrist joint driving mechanism is installed on the front end of the small arm, drives the wrist joint movement block to realize three-degree-of-freedom movement on a spherical surface through the wrist joint driving mechanism.

[0006] As a preferred scheme of the above-mentioned mechanical arm, the shoulder joint driving mechanism comprises three shoulder joint driving members arranged coaxially and independently on the base, and a shoulder joint driving member is provided with a shoulder joint driving link, the shoulder joint driving links extend along the direction parallel to the axis of the shoulder joint driving members, the shoulder joint driving links are located on the same circle, the shoulder joint driving links are connected to the shoulder joint moving block through three shoulder joint movable links, the shoulder joint movable links are curved links, one end of each of the shoulder joint movable links is hinged to the shoulder joint driving link through a second hinge shaft, and the other end of each of the shoulder joint movable links is hinged to the periphery of the shoulder joint moving block through a third hinge shaft, the axis of the second hinge shaft and the axis of the third hinge shaft are directed to the center of a sphere, and the three shoulder joint driving members are independently driven to rotate by the three sets of independent shoulder joint driving devices arranged on the base, so that the shoulder joint moving block is driven to move on the spherical surface with three degrees of freedom under the action of the three shoulder joint movable links.

[0007] As a preferred scheme of the above-mentioned mechanical arm, the wrist joint driving mechanism comprises a ring guide rail, three wrist joint driving members, the ring guide rail is fixed to the front end of the forearm, the three wrist joint driving members are distributed along the circumference of the ring guide rail, the three wrist joint driving members are slidably arranged on the ring guide rail and can slide along the circumference of the ring guide rail, the bottom of each of the three wrist joint driving members is provided with a wrist joint driving link, the three wrist joint driving links are connected to the wrist joint moving block through three wrist joint movable links, the wrist joint movable links are curved links, one end of each of the wrist joint movable links is hinged to the wrist joint driving link through a fourth hinge shaft, and the other end of each of the wrist joint movable links is hinged to the periphery of the wrist joint moving block through a fifth hinge shaft, the axis of the fourth hinge shaft and the axis of the fifth hinge shaft are directed to the center of another sphere, and the three wrist joint driving members are driven to slide along the circumference of the ring guide rail by the three sets of independent wrist joint driving devices arranged on the base, so that the wrist joint moving block is driven to move on the spherical surface with three degrees of freedom under the action of the three wrist joint movable links.

[0008] As a preferred scheme of the above-mentioned mechanical arm, the elbow joint is a sixth hinge shaft, the forearm is hingedly connected to the front end of the upper arm through the sixth hinge shaft, the sixth hinge shaft is fixed to the forearm, a first hinge shaft is rotatably arranged in the through hole of the upper arm, the sixth hinge shaft is parallel to the first hinge shaft, the sixth hinge shaft and the first hinge shaft are connected through a four-bar linkage mechanism, the first hinge shaft is driven to rotate by the elbow joint driving mechanism arranged on the base, the sixth hinge shaft is driven to rotate under the action of the four-bar linkage mechanism, and the forearm is driven to rotate around the axis of the sixth hinge shaft.

[0009] As the preferred scheme of the above mechanical arm, each group of the shoulder joint driving devices comprises a shoulder joint motor, a shoulder joint driving gear and a shoulder joint driven gear, the shoulder joint motor is fixedly installed with the shoulder joint driving gear on the output shaft, and the shoulder joint driving gear is engaged with the shoulder joint driven gear; the elbow joint driving mechanism comprises an elbow joint motor, an elbow joint driving gear and an elbow joint driven gear, the elbow joint motor is fixedly installed with the elbow joint driving gear on the output shaft, and the elbow joint driving gear is engaged with the elbow joint driven gear; the three shoulder joint driven gears and the elbow joint driven gear of the three groups of shoulder joint driving devices are coaxially arranged in sequence, the gear shafts of the elbow joint driven gear and the three shoulder joint driven gears are coaxially sleeved from the inside to the outside, and the adjacent gear shafts are gap fitted, the gear shafts of the three shoulder joint driven gears are fixedly connected with the three shoulder joint driving members one by one, and the gear shaft of the elbow joint driven gear is connected with the first hinge shaft through the universal joint after extending out of the three shoulder joint driving members; the three shoulder joint driving gears are respectively distributed on the periphery of the corresponding shoulder joint driven gears, and the elbow joint driving gear is distributed on the periphery of the elbow joint driven gear.

[0010] As the preferred scheme of the above mechanical arm, the three shoulder joint driven gears and the elbow joint driven gear of the three groups of shoulder joint driving devices are arranged in sequence from top to bottom along the vertical direction, the adjacent driven gears are rotationally supported through the first roller bearing, the shoulder joint driving member at the lowermost position is a bottom layer shoulder joint driving member, the bottom layer shoulder joint driving member is provided with an annular installation groove on the periphery, and the bottom layer shoulder joint driving member is rotationally installed with the base through the second roller bearing arranged in the installation groove.

[0011] As the preferred scheme of the above mechanical arm, the elbow joint driven gear is fixedly provided with a support flange at the bottom, and the support flange is rotationally installed on the base through the bearing.

[0012] As the preferred scheme of the above mechanical arm, the four-bar linkage mechanism is composed of an elbow joint driving member, an elbow joint connecting rod, an elbow joint driven member and a large arm which are sequentially hinged, the first hinge shaft is fixedly connected with the elbow joint driving member after sequentially penetrating the through holes of the shoulder joint moving block and the large arm, and the elbow joint driven member is fixed on the sixth hinge shaft.

[0013] As the preferred scheme of the above mechanical arm, in the wrist joint driving mechanism, three groups of independent arc-shaped grooves are arranged on the annular guide rail, three groups of independent traction wires are slidably arranged in the three groups of arc-shaped grooves, the middle sections of the three groups of traction wires are fixedly connected with the three wrist joint driving members, and the two ends of each group of traction wire are led out from the inner side of the annular guide rail and are driven by the three groups of independent wrist joint driving devices arranged on the base to slide along the corresponding arc-shaped grooves on the annular guide rail, so as to drive the corresponding wrist joint driving member to slide along the circumference of the annular guide rail.

[0014] Compared with the prior art, the present application has the following advantages:

[0015] 1. The bionic mechanical arm based on three-parallel spherical joints, wherein the shoulder joint movement block of the shoulder joint is designed to realize three degrees of freedom movement on a spherical surface under the driving of the shoulder joint driving mechanism; meanwhile, the wrist joint movement block of the wrist joint is designed to realize three degrees of freedom movement on a spherical surface under the driving of the wrist joint driving mechanism; the degrees of freedom of the bionic mechanical arm are completely consistent with those of the human arm, the multi-degree of freedom movement of the bionic mechanical arm is realized, and the performance and application range of the bionic mechanical arm are improved; in addition, the shoulder joint driving mechanism and the wrist joint driving mechanism are arranged on the base, and each driving mechanism does not participate in the movement of the bionic mechanical arm, so that the invalid load of the bionic mechanical arm is effectively reduced, the rapid action of the joint is realized, and greater effective load density is obtained.

[0016] 2. The bionic mechanical arm based on three-parallel spherical joints, wherein in the shoulder joint driving mechanism, three shoulder joint driving devices are used to drive three shoulder joint driving members to rotate independently, and under the action of three shoulder joint movable connecting rods, the shoulder joint movement block can realize three degrees of freedom movement on a spherical surface; the rotation angles of the three shoulder joint driving members are controlled in parallel, so that the movement posture of the shoulder joint movement block can be flexibly adjusted; the structure is designed ingeniously, occupies small space, and is convenient and flexible to control.

[0017] 3. The bionic mechanical arm based on three-parallel spherical joints, wherein in the wrist joint driving mechanism, three wrist joint driving devices are used to drive three wrist joint driving members to slide along the circumferential direction of the annular guide rail, and under the action of three wrist joint movable connecting rods, the wrist joint movement block can realize three degrees of freedom movement on a spherical surface; the rotation angles of the three wrist joint driving members are controlled in parallel, so that the movement posture of the wrist joint movement block can be flexibly adjusted; the structure is designed ingeniously, occupies small space, and is convenient and flexible to control.

[0018] 4. The bionic mechanical arm based on three-parallel spherical joints, wherein in the elbow joint, the first hinged shaft is driven to rotate by the elbow joint driving mechanism, and under the driving of the four-bar linkage mechanism, the sixth hinged shaft and the forearm fixed on the sixth hinged shaft rotate around the axis of the sixth hinged shaft, so that the single degree of freedom rotation of the elbow joint is realized; the elbow joint driving mechanism is installed on the base, so that the invalid load of the bionic mechanical arm is reduced.

[0019] 5. The bionic mechanical arm based on three-parallel spherical joints, wherein the three shoulder joint driven gears of the three wrist joint driving devices and the elbow joint driven gear of the elbow joint driving mechanism are coaxially arranged in sequence, and the gear shafts of the four driven gears are coaxially sleeved from inside to outside; the arrangement is compact in layout and occupies small space, the parallel driving function is realized, and the lightweight requirement of the bionic mechanical arm is met. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is the overall structure perspective view of the present application.

[0021] Figure 2 is the enlarged view of the shoulder joint part of the present application.

[0022] Figure 3 is the sectional view of each driving mechanism on the base of the present application.

[0023] Figure 4 is the enlarged view of the wrist joint part of the present application.

[0024] Figure 5 is the sectional view of the ring guide rail cooperating with the wrist joint driving member of the present application.

[0025] Figure 6 is the perspective view of the elbow joint driving member of the present application.

[0026] In the figure, 1 is the base; 2 is the large arm; 3 is the small arm; 4 is the shoulder joint moving block; 5 is the first hinged shaft; 6 is the wrist joint moving block; 7 is the shoulder joint driving member; 8 is the shoulder joint driving connecting rod; 9 is the shoulder joint movable connecting rod; 10 is the four-bar linkage mechanism; 11 is the shoulder joint motor; 12 is the shoulder joint driving gear; 13 is the shoulder joint driven gear; 14 is the elbow joint motor; 15 is the elbow joint driving gear; 16 is the elbow joint driven gear; 17 is the universal joint; 18 is the first roller bearing; 19 is the mounting groove; 20 is the second roller bearing; 21 is the supporting flange; 22 is the ball bearing; 23 is the elbow joint driving member; 24 is the elbow joint connecting rod; 25 is the elbow joint driven member; 26 is the ring guide rail; 27 is the wrist joint driving member; 28 is the wrist joint driving connecting rod; 29 is the wrist joint movable connecting rod; 30 is the arc-shaped groove; 31 is the traction wire; 32 is the lead-out hole. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0028] Please refer to Figures 1 to 6The embodiment discloses a bionic mechanical arm based on three-parallel spherical joints, which comprises a base 1, an upper arm 2 and a lower arm 3, the base 1 is connected with the rear end of the upper arm 2 through a shoulder joint, the front end of the upper arm 2 is connected with the rear end of the lower arm 3 through an elbow joint, and the front end of the lower arm 3 is provided with a wrist joint; the shoulder joint comprises a shoulder joint moving block 4 and a shoulder joint driving mechanism, the shoulder joint driving mechanism is installed on the base 1, the shoulder joint moving block 4 is driven to realize three-degree-of-freedom movement on a spherical surface through the shoulder joint driving mechanism, and the rear end of the upper arm 2 is fixedly connected to the shoulder joint moving block 4; the wrist joint comprises a wrist joint moving block 6 and a wrist joint driving mechanism, the wrist joint driving mechanism is installed on the front end of the lower arm 3, and the wrist joint moving block 6 is driven to realize three-degree-of-freedom movement on a spherical surface through the wrist joint driving mechanism.

[0029] The shoulder joint driving mechanism comprises three shoulder joint driving members 7 rotatably arranged on the base 1, the three shoulder joint driving members 7 are coaxially arranged and independent of each other, shoulder joint driving links 8 are arranged on the three shoulder joint driving members 7 respectively, the shoulder joint driving links 8 extend along a direction parallel to the axis of the shoulder joint driving members 7, the three shoulder joint driving links 8 are located on the same circumference, the three shoulder joint driving links 8 are connected with the shoulder joint moving block 4 through three shoulder joint movable links 9, the three shoulder joint movable links 9 are all curved links, one end of each of the three shoulder joint movable links 9 is hingedly connected to the three shoulder joint driving links 8 through a second hinge shaft, and the other end of each of the three shoulder joint movable links 9 is hingedly connected to the periphery of the shoulder joint moving block 4 through a third hinge shaft, the axis of the three second hinge shafts and the axis of the three third hinge shafts all point to the center of a sphere, three groups of independent shoulder joint driving devices arranged on the base 1 drive the three shoulder joint driving members 7 to rotate independently, and the shoulder joint moving block 4 is driven to realize three-degree-of-freedom movement on a spherical surface under the action of the three shoulder joint movable links 9.

[0030] The elbow joint is a sixth hinge shaft, the rear end of the lower arm 3 is hingedly connected with the front end of the upper arm 2 through the sixth hinge shaft, the sixth hinge shaft is fixed on the lower arm 3, the sixth hinge shaft is parallel to the first hinge shaft 5, the first hinge shaft 5 is rotatably arranged in the perforation of the upper arm 2, and the sixth hinge shaft and the first hinge shaft 5 are connected through a four-bar linkage mechanism 10; the first hinge shaft 5 is driven to rotate through an elbow joint driving mechanism installed on the base 1, the sixth hinge shaft is driven to rotate under the action of the four-bar linkage mechanism 10, and the lower arm 3 is further driven to rotate around the axis of the sixth hinge shaft.

[0031] Each group of shoulder joint driving device comprises a shoulder joint motor 11, a shoulder joint driving gear 12, a shoulder joint driven gear 13, the shoulder joint driving gear 12 is fixedly installed on the output shaft of the shoulder joint motor 11, and the shoulder joint driving gear 12 is in mesh with the shoulder joint driven gear 13; the elbow joint driving mechanism comprises an elbow joint motor 14, an elbow joint driving gear 15, an elbow joint driven gear 16, the elbow joint driving gear 15 is fixedly installed on the output shaft of the elbow joint motor 14, and the elbow joint driving gear 15 is in mesh with the elbow joint driven gear 16; the three shoulder joint driven gears 13 and the elbow joint driven gear 16 of the three groups of shoulder joint driving devices are coaxially arranged in sequence, the gear shafts of the elbow joint driven gear 16 and the three shoulder joint driven gears 13 are coaxially sleeved from inside to outside, and the adjacent gear shafts are gap fitted, the gear shafts of the three shoulder joint driven gears 13 are fixedly connected with the three shoulder joint driving members 7 in one-to-one correspondence, the gear shaft of the elbow joint driven gear 16 is connected with the first articulation shaft 5 through the universal joint 17 after extending out of the three shoulder joint driving members 7; the three shoulder joint driving gears 12 are respectively distributed on the periphery of the corresponding shoulder joint driven gears 13, and the elbow joint driving gear 15 is distributed on the periphery of the elbow joint driven gear 16.

[0032] The three shoulder joint driven gears 13 and the elbow joint driven gear 16 of the three groups of shoulder joint driving devices are arranged in sequence from top to bottom along the vertical direction, the adjacent driven gears are rotationally supported through the first roller bearing 18, and the inner ring and the outer ring of the first roller bearing 18 are fixedly connected with the adjacent two driven gears through screws; the shoulder joint driving member 7 located at the lowermost position is a bottom layer shoulder joint driving member, the bottom layer shoulder joint driving member is provided with an annular mounting groove 19 on the outer periphery, and the bottom layer shoulder joint driving member is rotationally mounted with the base 1 through the second roller bearing 20 arranged in the mounting groove 19.

[0033] The elbow joint driven gear 16 is fixedly provided with a supporting flange 21, and the supporting flange 21 is rotationally mounted on the base 1 through the ball bearing 22. The main support of the shoulder joint driving mechanism and the main part of the elbow joint driving mechanism is realized through the second roller bearing 20, and the auxiliary support of the elbow joint driven gear 16 is realized through the ball bearing 22.

[0034] The four-bar linkage mechanism 10 is composed of an elbow joint driving member 23, an elbow joint connecting rod 24, an elbow joint driven member 25 and the large arm 2 which are sequentially articulated, the first articulation shaft 5 is fixedly connected with the elbow joint driving member 23 after penetrating the perforations of the shoulder joint moving block 4 and the large arm 2 in sequence, and the elbow joint driven member 25 is fixed on the sixth articulation shaft. The elbow joint driven member 25 can be integrally formed with the small arm 3 and located at the rear end of the small arm 3.

[0035] The wrist joint driving mechanism comprises a ring-shaped guide rail 26, three wrist joint driving members 27, the ring-shaped guide rail 26 is fixed at the front end of the forearm 3, the three wrist joint driving members 27 are distributed along the circumference of the ring-shaped guide rail 26, the three wrist joint driving members 27 are respectively slidably arranged on the ring-shaped guide rail 26 and can slide along the circumference of the ring-shaped guide rail 26, the bottom of each of the three wrist joint driving members 27 is provided with a wrist joint driving connecting rod 28, the three wrist joint driving connecting rods 28 are connected with the wrist joint moving block 6 through three wrist joint movable connecting rods 29, the three wrist joint movable connecting rods 29 are all curved connecting rods, one end of each of the three wrist joint movable connecting rods 29 is hingedly connected to the three wrist joint driving connecting rods 28 through a fourth hinge shaft, the other end of each of the three wrist joint movable connecting rods 29 is hingedly connected to the periphery of the wrist joint moving block 6 through a fifth hinge shaft, the axis of the three fourth hinge shafts and the axis of the three fifth hinge shafts all point to the center of the other sphere, three groups of independent wrist joint driving devices arranged on the base 1 drive the three wrist joint driving members 27 to slide along the circumference of the ring-shaped guide rail 26 one by one, under the action of the three wrist joint movable connecting rods 29, so as to drive the wrist joint moving block 6 to realize three-degree-of-freedom movement on the spherical surface.

[0036] In the wrist joint driving mechanism, three groups of independent arc-shaped grooves 30 are arranged on the ring-shaped guide rail 26, three groups of independent traction wires 31 are slidably arranged in the three groups of arc-shaped grooves 30, the traction wire 31 can be a steel wire. The middle sections of the three groups of traction wires 31 are fixedly connected with the three wrist joint driving members 27, the two ends of each group of traction wires 31 are led out from the inner side of the ring-shaped guide rail 26, three groups of independent wrist joint driving devices arranged on the base 1 drive the three groups of traction wires 31 to slide along the corresponding arc-shaped grooves 30 on the ring-shaped guide rail 26 one by one, so as to drive the corresponding wrist joint driving members 27 to slide along the circumference of the ring-shaped guide rail 26. Among them, each group of wrist joint driving devices can adopt a steel wire rope traction device composed of a traction motor and a winding drum, the traction motor is installed on the base 1, the winding drum is fixed on the output shaft of the traction motor, the two ends of each group of traction wires 31 are led out from the leading-out holes 32 on the inner side of the ring-shaped guide rail 26 and are respectively fixed at the two ends of the winding drum in the diameter direction, by the forward and reverse rotation of the traction motor, the traction wire 31 can be retracted and extended, and the corresponding wrist joint driving member 27 can be driven to slide along the circumference of the ring-shaped guide rail 26.

[0037] The working process of the shoulder joint is as follows:

[0038] In the single group shoulder joint driving device, the shoulder joint motor 11 is started, the shoulder joint motor 11 drives the shoulder joint driving gear 12, the shoulder joint driving gear 12 drives the shoulder joint driven gear 13 to rotate, and the shoulder joint driven gear 13 drives the corresponding shoulder joint driving part 7 to rotate. Through the three groups of shoulder joint driving devices, the independent rotation of the three shoulder joint driving parts 7 is controlled in parallel, and the three shoulder joint driving parts 7 drive the shoulder joint movement block 4 to move through the three shoulder joint movable connecting rods 9, so that the three rotary degrees of freedom of the shoulder joint movement block 4 are realized. The large arm 2 is fixed on the shoulder joint movement block 4, and the movement of the shoulder joint movement block 4 drives the large arm 2 to move, so that the three degrees of freedom of the large arm 2 relative to the base 1 are realized.

[0039] The working process of the elbow joint is as follows:

[0040] The elbow joint motor 14 is started, the elbow joint driving gear 15 drives the elbow joint driven gear 16 to rotate, the gear shaft of the elbow joint driven gear 16 transmits the rotary motion to the first hinged shaft 5 through the universal joint 17, the first hinged shaft 5 rotates, thereby driving the elbow joint driving part 23 to swing around the axis of the first hinged shaft 5, under the action of the four-bar linkage mechanism 10, the elbow joint driving part 23 drives the elbow joint driven part 25 to move, the elbow joint driven part 25 drives the sixth hinged shaft and the small arm 3 to move together, thereby driving the small arm 3 to rotate around the axis of the sixth hinged shaft, and the one rotary degree of freedom of the elbow joint is realized.

[0041] The working process of the wrist joint is as follows:

[0042] Through the three groups of independent wrist joint driving devices, the three groups of traction wires 31 are independently slid along the arc-shaped grooves 30 on the annular guide rail 26, thereby driving the corresponding wrist joint driving parts 27 to slide along the circumference of the annular guide rail 26, and the three wrist joint driving parts 27 drive the wrist joint movement block 6 to move through the three wrist joint movable connecting rods 29, so that the three rotary degrees of freedom of the wrist joint movement block 6 are realized.

[0043] In use, according to the work requirement, the base 1 of the mechanical arm can be installed on the required equipment, the wrist joint movement block 6 of the wrist joint can be installed with the required components such as a mechanical hand and a tool, the three degrees of freedom of the shoulder joint and the wrist joint are realized through the mechanical arm, and the single degree of freedom of the elbow joint is realized, which is completely consistent with the degrees of freedom of the human arm, the movement is convenient and flexible, and the application range is wide.

[0044] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bionic robot arm based on three parallel spherical joints, comprising a base (1), a large arm (2) and a small arm (3), the base (1) and the rear end of the large arm (2) are connected through a shoulder joint, the front end of the large arm (2) and the rear end of the small arm (3) are connected through an elbow joint, and the front end of the small arm (3) is provided with a wrist joint, characterized in that: The shoulder joint comprises a shoulder joint moving block (4) and a shoulder joint driving mechanism, the shoulder joint driving mechanism is installed on the base (1), three degrees of freedom movement on the spherical surface is realized by driving the shoulder joint moving block (4) through the shoulder joint driving mechanism, and the rear end of the large arm (2) is fixedly connected to the shoulder joint moving block (4); the wrist joint comprises a wrist joint moving block (6) and a wrist joint driving mechanism, the wrist joint driving mechanism is installed at the front end of the small arm (3), and three degrees of freedom movement on the spherical surface is realized by driving the wrist joint moving block (6) through the wrist joint driving mechanism; ​ The wrist joint driving mechanism comprises a ring-shaped guide rail (26) and three wrist joint driving members (27), the ring-shaped guide rail (26) is fixed at the front end of the small arm (3), the three wrist joint driving members (27) are distributed along the circumference of the ring-shaped guide rail (26), the three wrist joint driving members (27) are slidably arranged on the ring-shaped guide rail (26) and can slide along the circumference of the ring-shaped guide rail (26), the bottoms of the three wrist joint driving members (27) are respectively provided with wrist joint driving connecting rods (28), the three wrist joint driving connecting rods (28) are connected with the wrist joint moving block (6) through three wrist joint movable connecting rods (29), the three wrist joint movable connecting rods (29) are all curved connecting rods, one end of each of the three wrist joint movable connecting rods (29) is hingedly connected to the three wrist joint driving connecting rods (28) through a fourth hinge shaft, and the other end of each of the three wrist joint movable connecting rods (29) is hingedly connected to the periphery of the wrist joint moving block (6) through a fifth hinge shaft, the axis lines of the three fourth hinge shafts and the three fifth hinge shafts all point to the center of a ball, three groups of independent wrist joint driving devices arranged on the base (1) drive the three wrist joint driving members (27) to slide along the circumference of the ring-shaped guide rail (26) one by one, and the three wrist joint movable connecting rods (29) drive the wrist joint moving block (6) to realize three degrees of freedom movement on the spherical surface; In the wrist joint driving mechanism, three groups of independent arc-shaped grooves (30) are arranged on the ring-shaped guide rail (26), three groups of independent traction wires (31) are slidably arranged in the three groups of arc-shaped grooves (30), the middle sections of the three groups of traction wires (31) are fixedly connected with the three wrist joint driving members (27), and the two ends of each group of traction wires (31) are led out from the inner side of the ring-shaped guide rail (26); three groups of independent wrist joint driving devices arranged on the base (1) drive the three groups of traction wires (31) to slide along the corresponding arc-shaped grooves (30) on the ring-shaped guide rail (26) one by one, so as to drive the corresponding wrist joint driving members (27) to slide along the circumference of the ring-shaped guide rail (26).

2. The bionic manipulator based on three-parallel spherical joints according to claim 1, characterized in that: The shoulder joint driving mechanism comprises three shoulder joint driving members (7) rotatably arranged on the base (1), the three shoulder joint driving members (7) are coaxially arranged and independent of each other, the shoulder joint driving members (7) are respectively provided with shoulder joint driving connecting rods (8), the shoulder joint driving connecting rods (8) extend along a direction parallel to the axis of the shoulder joint driving members (7), the three shoulder joint driving connecting rods (8) are located on the same circle, the three shoulder joint driving connecting rods (8) are connected with the shoulder joint moving block (4) through three shoulder joint movable connecting rods (9), the three shoulder joint movable connecting rods (9) are all curved connecting rods, one end of the three shoulder joint movable connecting rods (9) is respectively hinged to the three shoulder joint driving connecting rods (8) through the second hinge shafts, the other end of the three shoulder joint movable connecting rods (9) is respectively hinged to the periphery of the shoulder joint moving block (4) through the third hinge shafts, the axis of the three second hinge shafts and the axis of the three third hinge shafts all point to the center of the other ball, the three shoulder joint driving members (7) are independently rotated through the three groups of independent shoulder joint driving devices arranged on the base (1), and the shoulder joint moving block (4) is driven to realize three-degree-of-freedom movement on the spherical surface under the action of the three shoulder joint movable connecting rods (9).

3. The bionic manipulator based on three-parallel spherical joints according to claim 2, characterized in that: The elbow joint is a sixth hinge shaft, the rear end of the small arm (3) and the front end of the large arm (2) are hingedly connected through the sixth hinge shaft, the sixth hinge shaft is fixed on the small arm (3), the first hinge shaft (5) is rotatably arranged in the perforation of the large arm (2), the sixth hinge shaft is parallel to the first hinge shaft (5), the sixth hinge shaft and the first hinge shaft (5) are connected through the four-bar linkage mechanism (10), the first hinge shaft (5) is driven to rotate through the elbow joint driving mechanism installed on the base (1), the sixth hinge shaft is driven to rotate under the driving of the four-bar linkage mechanism (10), and the small arm (3) is further driven to rotate around the axis of the sixth hinge shaft.

4. The bionic robot arm based on three-parallel spherical joints according to claim 3, characterized in that: Each of the shoulder joint driving devices comprises a shoulder joint motor (11), a shoulder joint driving gear (12), and a shoulder joint driven gear (13). The shoulder joint motor (11) is fixedly installed on an output shaft of the shoulder joint motor (11), and the shoulder joint driving gear (12) is engaged with the shoulder joint driven gear (13). The elbow joint driving mechanism comprises an elbow joint motor (14), an elbow joint driving gear (15), and an elbow joint driven gear (16). The elbow joint motor (14) is fixedly installed on an output shaft of the elbow joint motor (14), and the elbow joint driving gear (15) is engaged with the elbow joint driven gear (16). The three shoulder joint driven gears (13) and the elbow joint driven gear (16) of the three shoulder joint driving devices are coaxially arranged in sequence from top to bottom along the vertical direction. The gear shafts of the adjacent driven gears are rotatably supported by first roller bearings (18). The bottom shoulder joint driving gear (7) is a bottom layer shoulder joint driving gear, and an annular mounting groove (19) is formed in the outer periphery of the bottom layer shoulder joint driving gear. The bottom layer shoulder joint driving gear is rotatably installed on the base (1) by a second roller bearing (20) arranged in the mounting groove (19).

5. The bionic robot arm based on three-parallel spherical joints according to claim 4, characterized in that: The elbow joint driven gear (16) is fixedly installed on the base (1) by a bearing.

6. The bionic robot arm based on three-parallel spherical joints according to claim 5, characterized in that: The four-bar linkage mechanism (10) is composed of an elbow joint driving gear (23), an elbow joint connecting rod (24), an elbow joint driven gear (25), and a large arm (2) which are sequentially hinged. The first hinge shaft (5) is fixedly connected with the elbow joint driving gear (23) after sequentially penetrating through the through holes in the shoulder joint moving block (4) and the large arm (2). The elbow joint driven gear (25) is fixed on the sixth hinge shaft.

7. The bionic robot arm based on three-parallel spherical joints according to claim 3, characterized in that: ​

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