A bionic six-degree-of-freedom special-shaped robotic arm based on 3D printing

Abstract

A bionic six-degree-of-freedom special-shaped robotic arm based on 3D printing, relating to the technical field of robotic arm research and development. The bottom of the adapter one is connected to the base through a joint motor, the bottom connecting tube of the upper arm of the human leg skeleton structure is laterally connected to the top of the adapter one through a joint motor, the upper end of the forearm of the human leg skeleton structure is connected to the top connecting tube of the upper arm of the human leg skeleton structure through a joint motor, the lower end of the forearm of the human leg skeleton structure is provided with a forearm flange ring, the upper end of the adapter two is connected through a joint motor, two fixing rings are laterally provided at the lower end of the adapter two, the lower end of the special-shaped support arm is connected to the end effector through a joint motor, and the upper end of the special-shaped support arm is connected to the lower end of the adapter two through a joint motor. Bionic design is carried out for the two main large and small arms, and the overall robotic arm mostly adopts hollow components formed in one piece by 3D printing to achieve effective structural optimization, which is more lightweight while ensuring performance, and is more suitable for applications in the aerospace field.

Description

Technical Field

[0001] The present invention relates to the technical field of research and development of robotic arms, and in particular to a bionic six-degree-of-freedom special-shaped robotic arm based on 3D printing. Background Art

[0002] With the development of 3D printing technology, metal high-performance additive manufacturing technology (metal 3D printing technology) is regarded by industry experts as a high-difficulty, high-standard development branch in the field of 3D printing, and plays a pivotal role in industrial manufacturing. Nowadays, industrial manufacturing companies are vigorously developing metal additive manufacturing technology, especially aerospace manufacturing companies, because metal 3D printing technology has the advantages of shortening the development cycle of aerospace equipment, improving material utilization, saving strategic materials, and reducing manufacturing costs, which can more effectively meet the manufacturing applications of aerospace equipment.

[0003] Bionic design is an important method for structural design and functional realization. After long-term exploration, it was found that the hip bone is the hub connecting the human torso. From the top to the hands, from the bottom to the feet, they must rely on the hip bone to connect. The hip is also the largest joint in the human body, with the greatest bearing capacity and power, and is the main force of torso movement. Therefore, in view of the excellent stability of the structure formed by the hip bone and the human thigh bone and muscle strips, the design of the robot arm by imitating the hip bone and thigh bone structure helps to make the robot arm have excellent mechanical properties such as stability and compression resistance. At the same time, its hollow design has the advantage of lightweight, and it is helpful to place components such as power supplies and controllers, reduce the exposure of wires, and have stronger integration, which is also in line with the current design concept of mechatronics of robot arms.

[0004] At present, some teams have designed 3D printed special-shaped robotic arm models, but most of them use topological optimization methods to obtain the structure of special-shaped parts, which has a certain impact on the stability and mechanical properties of the robotic arm model. However, there are few studies on 3D printed special-shaped robotic arm models based on bionic structure design. Therefore, through the bionic design of the hip bone and the human thigh bone and muscle strips, the robotic arm structure is optimized by combining metal 3D printing technology, which brings new ideas for the design of robotic arms in the aerospace field. Summary of the invention

[0005] In order to address the shortcomings of the background technology, the present invention provides a bionic six-degree-of-freedom special-shaped robotic arm based on 3D printing. It has a bionic design for the two main large and small arms. The entire robotic arm mostly adopts hollow components integrally formed by 3D printing to achieve effective structural optimization. It is lighter while ensuring performance and is more suitable for applications in the aerospace field.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a bionic six-degree-of-freedom special-shaped mechanical arm based on 3D printing, comprising a base formed by 3D printing, an adapter one, an upper arm imitating a human leg skeleton structure, a lower arm imitating a human leg skeleton structure, an adapter two and a special-shaped support arm, the bottom of the adapter one is vertically arranged and coaxially connected to the top of the base through a first joint motor, the upper and lower ends of the upper arm imitating a human leg skeleton structure are respectively arranged with a top connecting tube and a bottom connecting tube in a horizontal arrangement, the bottom connecting tube is laterally connected to the top of the adapter one through a second joint motor, the lower part of the top connecting tube imitates the human thigh hip bone structure and is connected and fixed to the bottom connecting tube through a human leg hip bone connecting rod located in the middle and four human leg skeleton connecting rods located around it, the four human leg skeleton connecting rods are reinforced by X-shaped imitation muscle reinforcement pieces, the upper end of the human leg skeleton structure forearm is set to a right-angle bending structure by imitating the human thigh hip joint structure and is connected through The third joint motor is connected to the top connecting tube, a forearm flange ring is arranged at the lower end of the forearm of the human leg skeleton structure, and is connected and fixed to the right-angle bending structure through four human leg hip bone connecting rods located around, and the four human leg hip bone connecting rods are reinforced by arc-shaped muscle-imitation reinforcement members, and a spherical hip joint inflection point is arranged at the upper end of one of the human leg hip bone connecting rods, the upper end of the adapter 2 is coaxially connected to the forearm flange ring through the fourth joint motor, and two fixing rings perpendicular to the axis of the forearm flange ring are laterally arranged at the lower end of the adapter 2, a special-shaped support arm flange ring is arranged at the lower end of the special-shaped support arm, and the end effector is connected through the sixth joint motor, and two arc-shaped rods arranged opposite to each other are laterally arranged at the upper end of the special-shaped support arm, and the lower end between the two arc-shaped rods is reinforced by an X-shaped reinforcement part, and the upper end between the two arc-shaped rods is connected and fixed by an X-shaped connecting part, and the X-shaped connecting part is coaxially connected to the two fixing rings at the lower end of the adapter 2 through the fifth joint motor.

[0007] Furthermore, the base body is a cylindrical or truncated cone-shaped central bottom plate, the central bottom plate is hollow and four supporting legs are integrally provided on its bottom edge, the four supporting legs all adopt a semicircular support structure and are arranged at equal angles around the central bottom plate.

[0008] Furthermore, the adapter is hollow and includes two connection positions arranged vertically at the bottom and laterally at the top. The axes of the two connection positions are arranged vertically for the installation of the first joint motor and the second joint motor, and the corner positions of the two connection positions are beveled at 45° to set operating ports.

[0009] Furthermore, two annular components are fixed up and down inside the four humanoid leg skeleton connecting rods of the upper arm of the humanoid leg skeleton structure as the control device fixing part.

[0010] Furthermore, the built-in sensor of the spherical hip joint inflection point of the forearm imitating the human leg skeleton structure is used to detect whether the robotic arm collides with the outside world during movement.

[0011] Furthermore, a triangular reinforcement structure is provided between the second upper end of the adapter and the two fixing rings.

[0012] Furthermore, the base, adapter 1, upper arm imitating human leg skeleton structure, lower arm imitating human leg skeleton structure, adapter 2 and special-shaped support arm are all printed with metal materials.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention carries out bionic design for the two main arms and lower arms, the upper arm imitating the human leg skeleton structure and the forearm imitating the human leg skeleton structure imitate the human thigh skeleton and muscle support structure design, realize effective structural optimization, ensure that the robotic arm has good mechanical properties such as compression resistance, torsion resistance, shear resistance and impact resistance, reduce stress concentration, and power supply, controller and other components can be placed inside, with stronger integration and less space occupancy. The overall robotic arm mostly adopts hollow components formed by 3D printing, which is lighter and suitable for 3D printing and replacement of damaged parts in a space environment. The repair of parts is highly economical and more suitable for application in the aerospace field. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the mechanical arm of the present invention;

[0015] Figure 2 It is a schematic structural diagram of the upper arm of the human leg skeleton structure of the robot arm of the present invention;

[0016] Figure 3 It is a structural schematic diagram of the base of the robot arm of the present invention;

[0017] Figure 4 It is a schematic structural diagram of a forearm of a robot arm of the present invention that imitates the skeleton structure of a human leg;

[0018] Figure 5 It is a schematic structural diagram of the special-shaped support arm of the mechanical arm of the present invention;

[0019] Figure 6 It is a structural schematic diagram of the adapter 1 of the robot arm of the present invention;

[0020] Figure 7 It is a structural schematic diagram of the adapter 2 of the robot arm of the present invention. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] like Figure 1 to Figure 7 As shown, a bionic six-DOF special-shaped robotic arm based on 3D printing includes a base 001 formed by 3D printing, an adapter 1 003, an upper arm 005 imitating a human leg skeleton structure, a lower arm 007 imitating a human leg skeleton structure, an adapter 2 009 and a special-shaped support arm 011.

[0023] Combination Figure 1 , Figure 3 , Figure 6 As shown, the bottom of the adapter 1 003 is vertically arranged and coaxially connected to the top of the base 001 through the first joint motor 002. Among them, the base 001 is used as the bottom foundation of the robot arm for connection and installation with the working platform. The main body of the base 001 is a cylindrical or truncated cone-shaped central bottom plate 026. The central bottom plate 026 is hollow and four legs, namely, leg 1 022, leg 2 023, leg 3 024 and leg 4 025, are integrally arranged at its bottom edge. The four legs all adopt a semicircular support structure and are arranged at equal angles around the central bottom plate 026. Each leg can be provided with a threaded hole for fixing with the working platform by bolts. Adapter 003 is a connecting structure between base 001 and upper arm 005 of humanoid leg skeleton structure. Since upper arm 005 of humanoid leg skeleton structure needs to be offset, adapter 003 includes two connecting positions arranged vertically at the bottom and laterally at the top. To reduce weight, adapter 003 is hollow. The axes of the two connecting positions are arranged vertically for installation of the first joint motor 002 and the second joint motor 004. In addition, to facilitate assembly and maintenance, the corner positions of the two connecting positions can be beveled at 45° to set operating ports.

[0024] Combination Figure 1 , Figure 2 As shown, the upper and lower ends of the humanoid leg skeleton structure upper arm 005 are respectively arranged horizontally with a top connecting tube 017 and a bottom connecting tube 013. The bottom connecting tube 013 is laterally connected to the top of the adapter 1 003 through the second joint motor 004. The top connecting tube 017 is connected and fixed to the bottom connecting tube 013 by the humanoid leg hip bone connecting rod 015 located in the middle and the four humanoid leg skeleton connecting rods 1 014, 2 016, 3 018 and 4 019 located around. The four humanoid leg skeleton connecting rods are reinforced by X-shaped muscle-imitation reinforcement pieces 020. While achieving lightweight through bionic design, stress concentration is reduced to a certain extent. In addition, two annular components are fixed inside the four human-like leg-like skeleton connecting rods of the human-like leg-like skeleton structure upper arm 005 as the control device fixing part 021, and the hollow part of the human-like leg-like skeleton structure upper arm 005 is fully utilized to place power supplies, controllers, display screens and other components to meet the needs of mechatronics, with stronger integration and reduced space occupancy.

[0025] Combination Figure 1 , Figure 4 As shown, the upper end of the forearm 007 of the humanoid leg skeleton structure is set to a right-angle bending structure by imitating the human thigh hip joint structure and is connected to the top connection tube 017 through the third joint motor 006. The lower end of the forearm 007 of the humanoid leg skeleton structure is set to a forearm flange ring 031 and the right-angle bending structure is connected and fixed by four humanoid leg hip bone connecting rods located around, namely, humanoid leg hip bone connecting rod 1 028, humanoid leg hip bone connecting rod 2 030, humanoid leg hip bone connecting rod 3 032 and humanoid leg hip bone connecting rod 4 033. The four humanoid leg hip bone connecting rods are reinforced by arc-shaped muscle-imitation reinforcement pieces 029, and a spherical hip joint inflection point 027 is set at the upper end of one of the humanoid leg hip bone connecting rods. The spherical hip joint inflection point 027 can be built with a sensor to detect whether the robot arm collides with the outside world during the movement of the robot arm, and is connected to the control system to realize the early warning and response of special emergency situations during the movement of the robot arm.

[0026] Combination Figure 1 , Figure 5 , Figure 7 As shown, the upper end of the adapter 2 009 is coaxially connected to the forearm flange ring 031 through the fourth joint motor 008, and two fixing rings perpendicular to the axis of the forearm flange ring 031 are laterally arranged at the lower end of the adapter 2 009. In order to further improve the structural stability of the adapter 2 009, a triangular reinforcement structure can be arranged between the upper end of the adapter 2 009 and the two fixing rings. A special-shaped arm flange ring 035 is provided at the lower end of the special-shaped arm 011, which is connected to the end effector through the sixth joint motor 012. The upper end of the special-shaped arm 011 adopts a half-edge design, and two arc rods, an arc rod 1 036 and an arc rod 2 037, which are arranged opposite to each other at intervals, are integrally provided laterally on the upper end of the special-shaped arm 011. The lower end between the two arc rods is reinforced by an X-shaped reinforcement portion 034, and the upper ends of the two arc rods are connected and fixed by an X-shaped connecting portion 038. The half-edge design can greatly reduce the weight of the structure and meet the purpose of lightweight. The X-shaped connecting portion 038 is coaxially connected to the two fixing rings at the lower end of the adapter 2 009 through the fifth joint motor 010.

[0027] Combination Figure 1 to Figure 7As shown, the base 001, adapter 1 003, human leg skeletal structure upper arm 005, human leg skeletal structure lower arm 007, adapter 2 009 and special-shaped support arm 011 are all printed with metal materials, preferably light metal materials such as aluminum alloy, titanium alloy, etc. As the two main walls, the human leg skeletal structure upper arm 005 and the human leg skeletal structure lower arm 007 generally adopt cylindrical structures for easy printing and high yield rate. The four human-like leg-bone connecting rods of the human-like leg-bone structure upper arm 005 and the four human-like leg-hip-bone connecting rods of the human-like leg-bone structure lower arm 007 are preferably made of higher-strength materials, so that when the human-like leg-bone structure upper arm 005 and the human-like leg-bone structure lower arm 007 are subjected to unidirectional pressure and the four connecting rods thereof are elastically deformed under force, the structural integrity can be maintained, so that the internal structure of the mechanical arm can be kept intact after being hit or squeezed. According to actual measurements, the mechanical arm can be compressed and deformed by a maximum of 10% without being damaged. The adapter 1 003, the human-like leg-bone structure upper arm 005, the human-like leg-bone structure lower arm 007, the adapter 2 009 and the special-shaped support arm 011 have a certain shear resistance and can adapt to the dynamic requirements of the mechanical arm movement.

[0028] When applied, a control system is configured for the robotic arm to provide the kinematic and dynamic parameters of the robotic arm. Through the communication protocol, the motors of each joint are controlled to drive the adapter 1 003, the upper arm 005 of the human leg skeleton structure, the lower arm 007 of the human leg skeleton structure, the adapter 2 009 and the special-shaped support arm 011 to perform torsional displacement. The six joint motors provide six degrees of freedom to meet the use requirements of the robotic arm in the aerospace field.

[0029] According to the simulation and calculation of relevant mechanical software, the optimization calculation is performed in combination with the relevant size parameters of the human leg bones, and the relevant sizes of the medial rectus femoris, vastus lateralis and rectus femoris.

[0030] Decision for the humanoid leg bone structure upper arm 005:

[0031] The humanoid leg skeleton connecting rod 1 014 and the humanoid leg skeleton connecting rod 3 018 are used as the main supporting curved rods, and the parameters are: diameter 20mm, curvature radius 600mm, and chord length 360mm. The humanoid leg skeleton connecting rod 2 016 and the humanoid leg skeleton connecting rod 4 019 are used as auxiliary supporting curved rods, and the parameters are: diameter 8mm, curvature radius 275mm.

[0032] Decision for the humanoid leg bone structure forearm 007:

[0033] The human-like leg hip bone connecting rod 1 028 and the human-like leg hip bone connecting rod 4 033 are used as the main supporting curved rods. The parameters of the human-like leg hip bone connecting rod 1 028 are: diameter 15mm, curvature radius 625mm, chord length 220mm; the parameters of the human-like leg hip bone connecting rod 4 033 are: diameter 15mm, curvature radius 450mm, chord length 154mm. The human-like leg hip bone connecting rod 2 030 and the human-like leg hip bone connecting rod 3 032 are used as the main supporting side curved rods, and the parameters are: diameter 15mm, curvature radius 380mm, chord length 225mm. The arc-shaped imitation muscle reinforcement 029 is used as the auxiliary supporting curved rod, and the parameters are: diameter 6-8mm.

[0034] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A bionic six-degree-of-freedom special-shaped robotic arm based on 3D printing, characterized by: The invention comprises a base (001) formed by 3D printing, an adapter 1 (003), an upper arm (005) imitating a human leg skeleton structure, a lower arm (007) imitating a human leg skeleton structure, an adapter 2 (009) and a special-shaped support arm (011), wherein the bottom of the adapter 1 (003) is vertically arranged and coaxially connected to the top of the base (001) through a first joint motor (002), and the upper and lower ends of the upper arm (005) imitating a human leg skeleton structure are respectively arranged with a top connecting tube (017) and a bottom connecting tube (013) arranged horizontally, and the bottom connecting tube (013) is connected to the upper arm (005) through a second joint motor (002). The joint motor (004) is laterally connected to the top of the adapter (003); the lower part of the top connecting tube (017) imitates the human thigh hip bone structure and is connected and fixed to the bottom connecting tube (013) through a human leg hip bone connecting rod (015) located in the middle and four human leg bone connecting rods located around; the four human leg bone connecting rods are reinforced by X-shaped muscle reinforcement members (020); the upper end of the human leg bone structure forearm (007) imitates the human thigh hip joint structure and is set to a right-angle bending structure and connected to the top connecting tube (013) through a third joint motor (006). 7) connection, a forearm flange ring (031) is arranged at the lower end of the forearm (007) of the human leg skeleton structure, and is connected and fixed to the right-angle bending structure through four human leg hip bone connecting rods located on the four sides, and the four human leg hip bone connecting rods are reinforced by arc-shaped muscle-like reinforcement members (029), and a spherical hip joint inflection point (027) is arranged at the upper end of one of the human leg hip bone connecting rods, and the upper end of the second adapter (009) is coaxially connected to the forearm flange ring (031) through the fourth joint motor (008), and the lower end of the second adapter (009) is laterally arranged to be connected to the forearm flange ring (031) Two fixing rings with axes perpendicular to each other, a special-shaped support arm flange ring (035) is arranged at the lower end of the special-shaped support arm (011) and connected to the end effector through the sixth joint motor (012), two arc-shaped rods are arranged sideways and spaced from each other at the upper end of the special-shaped support arm (011), the lower end between the two arc-shaped rods is reinforced by an X-shaped reinforcement part (034), the upper end between the two arc-shaped rods is connected and fixed by an X-shaped connection part (038), and the X-shaped connection part (038) is coaxially connected to the two fixing rings at the lower end of the second adapter (009) through the fifth joint motor (010).

2. The 3D-printed bionic six-degree-of-freedom special-shaped robotic arm according to claim 1, characterized in that: The main body of the base (001) is a cylindrical or truncated cone-shaped central bottom plate (026). The central bottom plate (026) is hollow and has four supporting legs integrally arranged at its bottom edge. The four supporting legs all adopt a semicircular support structure and are arranged at equal angles around the central bottom plate (026).

3. The 3D printing-based bionic six-degree-of-freedom special-shaped robotic arm according to claim 1, characterized in that: The adapter (003) is hollow and includes two connection positions arranged vertically at the bottom and laterally at the top. The axes of the two connection positions are arranged vertically for installation of the first joint motor (002) and the second joint motor (004), and the corner positions of the two connection positions are provided with operating ports along a 45° bevel.

4. The 3D-printed bionic six-degree-of-freedom special-shaped robotic arm according to claim 1, characterized in that: Two annular components are fixed up and down inside the four human-like leg-like skeleton connecting rods of the upper arm (005) of the human-like leg-like skeleton structure as the control device fixing part (021).

5. The 3D-printed bionic six-degree-of-freedom special-shaped robotic arm according to claim 1, characterized in that: The spherical hip joint inflection point (027) of the forearm (007) imitating the human leg skeleton structure has a built-in sensor for detecting whether the mechanical arm collides with the outside world during movement.

6. The 3D printing-based bionic six-degree-of-freedom special-shaped robotic arm according to claim 1, characterized in that: A triangular reinforcement structure is arranged between the upper end of the second adapter (009) and the two fixing rings.

7. The 3D printing-based bionic six-degree-of-freedom special-shaped robotic arm according to claim 1, characterized in that: The base (001), adapter 1 (003), upper arm imitating human leg skeleton structure (005), lower arm imitating human leg skeleton structure (007), adapter 2 (009) and special-shaped support arm (011) are all printed with metal materials.

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