A connecting rod parallel wrist joint for a robotic arm, a seven-degree-of-freedom high-load robotic arm, and an electro-hydraulic hybrid drive humanoid robot

Abstract

The application discloses a connecting rod parallel wrist joint for a mechanical arm, a seven-freedom high-load mechanical arm and an electro-hydraulic hybrid driving humanoid robot. The robot comprises an upper limb driven by an electric actuator and a lower limb driven by a hydraulic actuator. The upper limb mainly comprises a head, two seven-freedom high-load mechanical arms and a trunk. A new connecting rod parallel mechanism is adopted, motor power is gathered, and the load capacity of the wrist joint is improved. The lower limb mainly comprises a double-leg system. The head, the double arms and the double legs are respectively arranged on the top, the two sides and the bottom of the trunk, and the robot has a left-right symmetrical structure. The multi-freedom joints in the mechanical arm disclosed by the application are driven by parallel mechanisms, so that the upper limb has high load capacity. Meanwhile, according to the different requirements of force and response of the tasks borne by the upper and lower limbs, electric driving and hydraulic driving are respectively adopted, so that the robot has high load and high-speed high-dynamic motion capacity.

Description

Technical Field

[0001] The present invention relates to the field of a robotic arm and a humanoid robot, and in particular to a connecting rod parallel wrist joint for a robotic arm, a seven-degree-of-freedom high-load robotic arm, and an electro-hydraulic hybrid drive humanoid robot. Background Art

[0002] Humanoid robots are bipedal robots that, due to their human-like morphological features, are well-suited to performing complex tasks in environments designed for humans. They hold broad application prospects in healthcare, social services, industrial manufacturing, and other fields. Currently, most humanoid robots are either purely electric or purely hydraulic. Purely electric robots, due to their simpler structure, are lighter than hydraulic robots, but their limbs have low payloads, making them incapable of high-load tasks. Purely hydraulic robots have high payloads and strong explosive force, but the large number of hydraulic components results in heavy weight and high limb inertia, hindering human-robot collaboration. The upper limbs of humanoid robots primarily handle tasks related to interacting with the environment, such as object manipulation, carrying heavy objects, and carrying them. The lower limbs are primarily responsible for bearing the weight of the upper limbs and the load, and maintaining stability in complex terrain. Therefore, to combine the advantages of electric and hydraulic actuation, a hybrid electric-hydraulic drive solution is employed, tailored to the different force and response requirements of the robot's upper and lower limbs. This reduces the robot's weight and complexity while still enabling high payloads and explosive force. Most existing robotic arms still use a serial configuration at the wrist joint. Because the wrist joint is close to the end effector, this not only increases the arm's moment of inertia but also places a greater burden on the motors near the frame, reducing the end load. By using a parallel mechanism to increase joint torque output and placing all motors near the frame through a linkage, the robot's moment of inertia can be reduced while significantly increasing the end load. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention proposes a connecting rod parallel wrist joint for a robotic arm, a seven-degree-of-freedom high-load robotic arm, and an electro-hydraulic hybrid drive humanoid robot. Electric drive is used for the upper limbs, where explosive power is less demanding; hydraulic drive is used for the lower limbs, where both output and explosive power are required. Furthermore, parallel mechanism drive is used for joints such as the shoulder, wrist, and hip joints, which receive the most external torque, thereby increasing the robot's overall load capacity.

[0004] The technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a connecting rod parallel wrist joint for a robotic arm, the joint comprising a wrist pitch member, a wrist side swing member, an end effector, two transmission chains distributed on both sides of the robotic arm and connected in parallel, and three wrist drive motors installed on the robotic arm, wherein two of the wrist drive motors drive the transmission chains respectively, and the other wrist drive motor drives the end effector of the robotic arm;

[0005] Two transmission chains are respectively fixed to the output end of the wrist driving motor at one end, and are hingedly connected to the two ends of the wrist side swing piece at the other end; the wrist side swing piece is also hingedly connected to the wrist pitch piece, forming a cross hinge, and the wrist pitch piece is hingedly connected to the mechanical arm, so that the wrist pitch piece can make pitch and side swing movements; the bottom of the wrist side swing piece is hingedly connected to the end effector through a bearing;

[0006] The output end of the wrist driving motor driving the end effector of the mechanical arm is fixed to one end of the wrist spin shaft, and the other end of the wrist spin shaft is connected to the end effector through a universal joint.

[0007] Further, the transmission chain includes a wrist main power arm, an upper arm link, a conversion link, a lower arm link, a retainer, a wrist link, and a conversion shaft;

[0008] The wrist main power arm is connected to the wrist driving motor of the driving transmission chain, one end of the upper arm link is hingedly connected to the wrist main power arm, the other end is hingedly connected to one end of the conversion link, the middle part of the conversion link is hingedly connected to the mechanical arm, the lower arm link has three hinged points, the first end is hingedly connected to the other end of the conversion link, the tail end is hingedly connected to the wrist link through a fisheye bearing, the middle end is hingedly connected to one end of the retainer, the other end of the retainer is hingedly connected to the mechanical arm, and the other end of the wrist link is hingedly connected to the conversion shaft.

[0009] In a second aspect, the application also provides a seven-degree-of-freedom high-load mechanical arm, which includes a three-degree-of-freedom spherical parallel shoulder joint, a large arm rod, a single-degree-of-freedom parallelogram link elbow joint, a small arm rod, a three-degree-of-freedom link parallel wrist joint, and an end effector.

[0010] The parallelogram link elbow joint is connected to the spherical parallel shoulder joint through the large arm rod, the link parallel wrist joint is connected to the elbow joint through the small arm rod, and the end effector is hingedly connected to the link parallel wrist joint.

[0011] The link parallel wrist joint includes three wrist driving motors, a wrist main power arm, an upper arm link, a conversion link, a lower arm link, a retainer, a wrist link, a conversion shaft, a wrist pitch piece, a wrist side swing piece, a wrist spin shaft, and a universal joint.

[0012] The wrist main power arm, the upper arm link, the conversion link, the lower arm link, the retainer, the wrist link, and the conversion shaft constitute a transmission chain and are distributed on both sides of the mechanical arm in parallel.

[0013] The fixed ends of the two wrist drive motors that control the pitch and sway motions of the wrist joint are fixed on the big arm rod, and the output ends are respectively connected to the two wrist main force arms, one end of the upper arm connecting rod is hinged to the wrist main force arm, and the other end is hinged to the transfer connecting rod, the middle part of the transfer connecting rod is hinged to the parallelogram connecting rod elbow joint with a single degree of freedom, the lower arm connecting rod has three hinge points, the head end is hinged to the conversion connecting rod, the tail end is hinged to the wrist connecting rod through a fisheye bearing, the middle end is hinged to one end of the retaining frame, the other end of the retaining frame is hinged to the small arm rod, the other end of the wrist connecting rod is hinged to the transfer shaft, the wrist side swing parts are respectively hinged to the other end of the transfer shaft, the wrist pitch part and the end effector, the wrist pitch part is hinged to the small arm rod, the fixed end of the wrist drive motor that controls the rotation of the wrist joint is fixed on the small arm rod, the output end is fixed to the wrist rotation axis, one end of the universal joint is fixed to the wrist rotation axis, and the other end is fixed to the end effector;

[0014] The relative motion between the transmission chains controls the pitch and roll motion of the wrist joint, and the two transmission chains work together to control and increase the torque output; the wrist drive motor on the small arm is decoupled from the motion of the two wrist drive motors on the large arm through the universal joint. When the end effector performs roll motion, pitch motion or a combination of the two, the universal joint will passively adjust the angle so that the power output by the wrist drive motor on the small arm can be transmitted to the end effector at any time.

[0015] Furthermore, the three-degree-of-freedom spherical parallel shoulder joint includes a shoulder drive motor, a motor frame, left and right lever arms, an intermediate lever arm, a transmission connecting rod and an output platform. The fixed ends of the three coaxially placed shoulder drive motors are respectively fixed on the three motor frames, the output ends of the three shoulder drive motors are respectively fixed to the two left and right lever arms and one intermediate lever arm, the three motor frames are fixed to each other, the two left and right lever arms and one intermediate lever arm are respectively hinged to one end of the three transmission connecting rods, and the other ends of the three transmission connecting rods are simultaneously hinged to the output platform, and the output platform is fixed to the upper arm.

[0016] Furthermore, the single-degree-of-freedom parallelogram linkage elbow joint includes an elbow drive motor, a main force arm, a slave force arm, an axis transmission link, an elbow link, a virtual constraint link and an elbow joint axis. The fixed end of the elbow drive motor is fixed on the boom rod, and the output end is fixed to the main force arm. The slave force arm is hinged to the boom rod, and the rotation axis of the slave force arm and the main force arm are coaxial. One end of the axis transmission link is hinged to the main force arm and the slave force arm, and the other end is hinged to the elbow link. The elbow link is fixed to the small arm rod. One end of the two virtual constraint links is hinged to the main force arm and the slave force arm respectively, and the other end is hinged to the elbow link. The main force arm, the slave force arm, the virtual constraint link and the elbow link constitute a parallelogram structure. The two elbow joint axes are fixed to both sides of the small arm rod and are rotatably connected to the big arm rod through bearings. The two elbow joint axes are also hinged to the middle parts of the two transfer links through bearings.

[0017] In a third aspect, the present invention further provides an electro-hydraulic hybrid-driven humanoid robot, comprising an electrically driven upper limb and a hydraulically driven lower limb, wherein the electrically driven upper limb comprises a torso, two seven-degree-of-freedom high-load robotic arms, and a head, and the hydraulically driven lower limb comprises a hip and two robotic legs, wherein the head, robotic arms, and hip are mounted on the upper portion, both sides, and bottom portion of the torso, respectively, and the two robotic legs are mounted on the bottom portion of the hip, and the robot as a whole has a bilaterally symmetrical structure;

[0018] The mechanical leg includes a parallel hip joint, a knee joint, an ankle joint, a thigh rod, a calf rod and a foot; the parallel hip joint is installed at the bottom of the hip; the knee joint is connected to the parallel hip joint through the thigh rod, the knee joint is connected to the ankle joint through the calf rod, and the ankle joint is fixedly connected to the foot.

[0019] Furthermore, the parallel hip joint includes a hip rotation frame, a hip cross axis, a hip pitch transmission rod, a hip differential frame, a hip differential hydraulic cylinder and a hip pitch hydraulic cylinder; the hip rotation frame is hinged to the hip, the convex axes orthogonal to the rotation axis on the hip cross axis are hinged to the hip rotation frame and the thigh rod respectively, the two ends of the hip pitch transmission rod are hinged to the hip cross axis and the hydraulic rod of the hip pitch hydraulic cylinder respectively, the hydraulic cylinder body of the hip pitch hydraulic cylinder is fixed to the thigh rod, the hip cross axis is hinged to the hip differential frame, the end of the hydraulic rod of the hip differential hydraulic cylinder is a fisheye bearing, the end of the hydraulic cylinder body is a universal joint, the hydraulic rod ends of the two hip differential hydraulic cylinders are hinged to the two ends of the hip differential frame, and the ends of the hydraulic cylinder bodies are hinged to the hips respectively.

[0020] Furthermore, the knee joint includes a knee hydraulic cylinder, a constraint link, a knee transmission link and a knee actuation link; the hydraulic cylinder end of the knee hydraulic cylinder is fixedly connected to the thigh rod, the hydraulic rod end is hinged to the knee transmission link, the two ends of the constraint link are respectively hinged to the thigh rod and the knee transmission link, one end of the knee actuation link is fixedly connected to the calf rod, and the other end is hinged to the knee transmission link.

[0021] Furthermore, the ankle joint includes an ankle pitch hydraulic cylinder, an ankle side swing hydraulic cylinder, an ankle cross axis, an ankle side swing axis and an ankle side swing axis base; the hydraulic cylinder body end of the ankle pitch hydraulic cylinder is hinged to the calf rod, the hydraulic rod end is hinged to the ankle cross axis, the hydraulic cylinder body end of the ankle side swing hydraulic cylinder is hinged to the calf rod, the hydraulic rod end is hinged to one end of the ankle side swing axis, the other end of the ankle side swing axis is hinged to the ankle side swing axis base, the ankle side swing axis base is fixed to the foot, and the convex axes orthogonal to the rotation axis on the ankle cross axis are hinged to the calf rod and the foot respectively.

[0022] Furthermore, the torso includes a frame, a battery, a control system, a waist pitch motor, a waist spin motor, a waist side swing motor, a first pitch motor frame, a second pitch motor frame, a side swing motor frame, a spin motor frame and a stabilizing axis; the fixed ends of the battery, the control system and the waist spin motor are all fixed in the frame, the fixed end of the waist pitch motor is fixedly connected to the first pitch motor frame, and the output end is fixedly connected to the side swing motor frame, the fixed end of the waist side swing motor is fixedly connected to the side swing motor frame, and the output end is fixedly connected to the spin motor frame, the output end of the waist spin motor is fixedly connected to the spin motor frame, one end of the stabilizing axis is fixedly connected to the side swing motor frame, and the other end is hinged to the second pitch motor frame, and the first pitch motor frame and the second pitch motor frame are fixedly connected to the hip;

[0023] The head includes a head shell, a depth camera, a head pitch motor and a head spin motor; the output ends of the depth camera and the head spin motor are fixed to the head shell, and the output end of the head pitch motor is fixed to the fixed end of the head spin motor; the fixed end of the head pitch motor and the motor frame are both fixed to the frame.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) A new connecting rod parallel mechanism is adopted to gather the motor power and improve the load capacity of the wrist joint; a universal joint is used to achieve the motion decoupling of the wrist joint's rotational freedom and improve the range of motion of the wrist joint.

[0026] (2) A robotic arm that uses parallel mechanisms to drive multiple degrees of freedom joints, thereby improving the output capacity of the end of the robotic arm. At the same time, all actuators are installed near the frame end through a connecting rod mechanism, which reduces the inertia of the moving parts and improves the dynamic performance of the robotic arm.

[0027] (3) In view of the different limb performance requirements of the tasks undertaken by the upper and lower limbs of humanoid robots, a design method for a hybrid humanoid robot is proposed, that is, the upper limbs and lower limbs are driven by electricity and hydraulically respectively. By combining the advantages of electric drive and hydraulic drive systems, the high load and high explosive force of the upper and lower limbs of the robot can be achieved while reducing the complexity of the mechanism and the overall weight.

[0028] (4) Hydraulic components such as the hydraulic oil source, valve block, and hydraulic cylinder are all integrated in the lower limbs. The weight of the robot is concentrated in the lower limbs, making it easier for the robot to maintain its own balance.

[0029] (5) Compared with fully hydraulically driven humanoid robots, the upper limbs use a more efficient electronic control solution instead of a hydraulic valve control solution, which has higher energy efficiency and longer endurance while meeting the performance requirements of the upper and lower limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A three-dimensional diagram of an electro-hydraulic hybrid driven humanoid robot;

[0032] Figure 2 The front, left and back views of the humanoid robot arm;

[0033] Figure 3 This is a cross-sectional view of the elbow joint;

[0034] Figure 4 This is a local axonometric view of the wrist joint;

[0035] Figure 5 Three-dimensional view of the humanoid robot's lower limbs after removing the outer shell and hydraulic pipes;

[0036] Figure 6 This is an exploded view of the hip joint;

[0037] Figure 7 This is an exploded view of the ankle joint;

[0038] Figure 8 Three-view drawing of the humanoid robot torso;

[0039] Figure 9 An exploded view of a humanoid robot torso;

[0040] Figure 10 Three views of a humanoid robot head;

[0041] In the figure: 1, trunk, 2, mechanical leg, 3, mechanical arm, 4, head, 5, hip, 21, parallel hip joint, 22, knee joint, 23, ankle joint, 31, three-degree-of-freedom spherical parallel shoulder joint, 32, single-degree-of-freedom parallelogram link elbow joint, 33, three-degree-of-freedom link parallel wrist joint, 101, frame, 10, battery, 103, control system, 104, waist pitch motor, 105, waist spin motor, 106, waist roll motor, 107, pitch motor rack 1, 108, roll motor rack, 109, spin motor rack, 110, pitch motor rack 2, 111, stabilizing shaft, 201, hip spin rack, 202, hip cross shaft, 203, hip pitch transmission rod, 204, thigh rod, 205, hip differential rack, 206, hip differential hydraulic cylinder, 207, hip pitch hydraulic cylinder, 208, knee hydraulic cylinder, 209, constraint link, 210, knee transmission link, 211, knee actuation link, 212, shank rod, 213, ankle pitch hydraulic cylinder, 214, ankle roll hydraulic cylinder, 215, ankle cross shaft, 216, ankle roll shaft, 217, ankle roll shaft base, 218, foot, 301, shoulder drive motor, 302, motor rack, 303, left and right force arm, 304, middle force arm, 305, transmission link, 306, output platform, 307, large arm rod, 308, small arm rod, 309, end effector, 310, active force arm, 311, driven force arm, 312, shaft transmission link, 313, elbow link, 314, virtual constraint link, 315, wrist drive motor, 316, wrist active force arm, 317, upper arm link, 318, adapter link, 319, lower arm link, 320, retaining rack, 321, wrist link, 322, adapter shaft, 323, wrist pitch element, 324, wrist roll element, 325, wrist spin shaft, 326, universal joint, 327, elbow joint shaft, 328, elbow drive motor, 401, head shell, 402, depth camera, 403, head pitch motor, 404, head spin motor. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and points of the present application more clear, the present application is further described below in combination with the drawings and implementation examples. It should be understood that the specific implementation examples described herein are only used to explain the present application and do not limit the present application.

[0043] The present application proposes a link parallel wrist joint for a mechanical arm, a seven-degree-of-freedom high-load mechanical arm and an electro-hydraulic hybrid driven humanoid robot, which has high limb load, high explosive force and lower weight and complexity, i.e. an electric drive scheme and a parallel mechanism are adopted to meet the high end load demand of the upper limb, simplify the structure of the upper limb and reduce the weight of the upper limb, at the same time, a hydraulic drive scheme is adopted to meet the high load and high explosive motion demand of the lower limb, and a parallel mechanism is further adopted to improve the force and torque output performance of the lower limb.

[0044] As shown in Figure 2 and Figure 4 The application proposes a connecting rod parallel wrist joint for a mechanical arm, which comprises a wrist pitching element 323, a wrist yawing element 324, an end effector 309, two transmission chains distributed in parallel on both sides of the mechanical arm, and three wrist driving motors 315 mounted on the mechanical arm, wherein two of the wrist driving motors 315 drive the transmission chains respectively, and the other wrist driving motor 315 drives the end effector 309 of the mechanical arm;

[0045] One end of each of the two transmission chains is fixedly connected with the output end of the wrist driving motor 315, and the other end is hingedly connected with both ends of the wrist yawing element 324; the wrist yawing element 324 is further hingedly connected with the wrist pitching element 323 to form a cross hinge, and the wrist pitching element 323 is hingedly connected on the mechanical arm, so that the wrist pitching element 323 can make pitching and yawing movements; the bottom of the wrist yawing element 324 is hingedly connected with the end effector 309 through a bearing;

[0046] The output end of the wrist driving motor 315 driving the end effector 309 of the mechanical arm is fixedly connected with one end of a wrist self-rotating shaft 325, and the other end of the wrist self-rotating shaft 325 is connected with the end effector 309 through a universal joint 326.

[0047] The transmission chain comprises a wrist main power arm 316, an upper arm connecting rod 317, a conversion connecting rod 318, a lower arm connecting rod 319, a retainer 320, a wrist connecting rod 321, and a conversion shaft 322;

[0048] The wrist main power arm 316 is connected with the wrist driving motor 315 driving the transmission chain, one end of the upper arm connecting rod 317 is hingedly connected with the wrist main power arm 316, the other end is hingedly connected with one end of the conversion connecting rod 318, the middle part of the conversion connecting rod 318 is hingedly connected on the mechanical arm, the lower arm connecting rod 319 has three hinging points, the leading end is hingedly connected with the other end of the conversion connecting rod 318, the tail end is connected with the wrist connecting rod 321 through a fisheye bearing, the middle end is hingedly connected with one end of the retainer 320, the other end of the retainer is hingedly connected on the mechanical arm, and the other end of the wrist connecting rod 321 is hingedly connected with the conversion shaft 322.

[0049] As shown in Figure 2 and Figure 4 The application proposes a seven-degree-of-freedom high-load mechanical arm, which comprises a three-degree-of-freedom spherical parallel shoulder joint 31, a large arm rod 307, a single-degree-of-freedom parallelogram connecting rod elbow joint 32, a small arm rod 308, a three-degree-of-freedom connecting rod parallel wrist joint 33, and an end effector 309;

[0050] The parallelogram connecting rod elbow joint 32 is connected with the spherical parallel shoulder joint 31 through the large arm rod 307, the connecting rod parallel wrist joint 33 is connected with the elbow joint 32 through the small arm rod 308, and the end effector 309 is hingedly connected with the connecting rod parallel wrist joint 33.

[0051] As shown in Figure 2 , the three-degree-of-freedom spherical parallel shoulder joint 31 includes shoulder drive motor 301, motor frame 302, left and right force arms 303, middle force arm 304, transmission connecting rod 305, output platform 306, the fixed end of the three coaxial shoulder drive motors 301 is fixed on the three motor frames 302 respectively, the output end of the three shoulder drive motors 301 is fixed with two left and right force arms 303 and a middle force arm 304 respectively, the three motor frames 302 are fixed with each other, two left and right force arms 303 and a middle force arm 304 are hinged with one end of the three transmission connecting rods 305 respectively, the other end of the three transmission connecting rods 305 is hinged with the output platform 306 at the same time, and the output platform 306 is connected with the large arm rod 307.

[0052] As shown in Figure 2 , the single-degree-of-freedom parallelogram connecting rod elbow joint 32 includes elbow drive motor 328, driving force arm 310, driven force arm 311, shaft transmission connecting rod 312, elbow connecting rod 313, virtual constraint connecting rod 314 and elbow joint shaft 327, the fixed end of the elbow drive motor 328 is fixed on the large arm rod 307, the output end is fixed with the driving force arm 310, the driven force arm 311 is hinged with the large arm rod 307, the rotation axis of the driven force arm 311 and the driving force arm 310 is coaxial, one end of the shaft transmission connecting rod 312 is hinged with the driving force arm 310 and the driven force arm 311, the other end is hinged with the elbow connecting rod 313, the elbow connecting rod is fixed with the small arm rod 308, one end of the two virtual constraint connecting rods 314 is hinged with the driving force arm 310 and the driven force arm 311 respectively, the other end is hinged with the elbow connecting rod 313 at the same time, the driving force arm 310, the driven force arm 311, the virtual constraint connecting rod 314 and the elbow connecting rod 313 constitute a parallelogram structure. Two elbow joint shafts 327 are fixed on both sides of the small arm rod 308 and are rotatably connected with the large arm rod 307 through bearings, and the two elbow joint shafts 327 are also hinged with the middle part of the two transfer connecting rods 318 through bearings.

[0053] As shown in Figure 2 and Figure 4As shown, the connecting rod parallel wrist joint 33 includes a wrist drive motor 315, a wrist active force arm 316, an upper arm connecting rod 317, a transfer connecting rod 318, a lower arm connecting rod 319, a retaining frame 320, a wrist connecting rod 321, a transfer shaft 322, a wrist pitching member 323, a wrist side swing member 324, a wrist spin axis 325 and a universal joint 326. The fixed ends of the two wrist drive motors 315 that control the pitching and side swinging movements of the wrist joint are fixed on the upper arm rod 307, and the output ends are connected to the two wrist active force arms 316. One end of the upper arm connecting rod 317 is hinged to the wrist active force arm 316, and the other end is hinged to the transfer connecting rod 318. The transfer connecting rod 318 is hinged to the shaft joint shaft 327. The lower arm connecting rod 31 9 has three hinge points, the head end is hinged to the conversion link 318, the tail end is connected to the wrist link 321 through a fisheye bearing, the middle end is hinged to one end of the holder 320, the other end of the holder is hinged to the small arm rod 308, the other end of the wrist link 321 is hinged to the adapter shaft 322, the wrist side swing member 324 is hinged to the other end of the adapter shaft 322, the wrist pitch member 323 and the end effector 309 respectively, the wrist pitch member 323 is hinged to the small arm rod 308, the fixed end of the wrist drive motor 315 that controls the rotation of the wrist joint is fixed on the small arm rod 308, the output end is fixed to the wrist rotation axis 325, one end of the universal joint 326 is fixed to the wrist rotation axis 325, and the other end is fixed to the end effector 309. Two transmission chains consisting of a wrist main force arm 316, an upper arm link 317, a transfer link 318, a lower arm link 319, a retaining frame 320, a wrist link 321 and a transfer shaft 322 are distributed on both sides of the robotic arm. One end of the transmission chain is fixedly connected to the output end of the wrist drive motor 315 on the upper arm rod 307, and the other end is hinged to the hinge points on both sides of the wrist side pendulum 324. The relative movement between the transmission chains controls the pitch and roll movement of the wrist joint. The wrist drive motor 315 on the small arm rod 308 is decoupled from the movement of the two wrist drive motors 315 on the upper arm rod 307 through the universal joint 326.

[0054] The specific working principle of the connecting rod parallel wrist joint is as follows:

[0055] Combine Figure 2 and Figure 4As shown, the movement output by the wrist drive motor 315 is equivalently transmitted to the transfer link 318 through the upper arm link 317, and the movement of the transfer link 318 is then transmitted to the hinge points on both sides of the wrist side pendulum 324 through the lower arm link 319 and the wrist link 321. When the two wrist drive motors 315 on the upper arm rod 307 rotate in the same direction, the wrist link 321 pushes or pulls the adapter shaft 322 and the wrist side swing piece 324 at the same time, and the wrist side swing piece 324 will drive the wrist pitch piece 323 to perform a pitch motion, and at this time the end effector 309 pitches forward and backward; when the two wrist drive motors 325 rotate relative to each other, one of the wrist links 321 pushes the adapter shaft 322 and the wrist side swing piece 324, and the other wrist link 321 pulls the adapter shaft 322 and the wrist side swing piece 324, driving the wrist side swing piece 324 to perform a side swing motion, and at this time the end effector 309 swings left and right; when the wrist drive motor 315 on the lower arm rod 308 rotates, the power is transmitted to the end effector 309 through the wrist spin shaft 325 and the universal joint 326, and at this time the end effector 309 rotates around the axis. The pitch and roll motion of the wrist joint are jointly controlled by two transmission chains, which improves the torque output capacity of the wrist joint. At the same time, the transmission chain also enables the two wrist drive motors to be placed on the large arm 307 close to the frame, reducing the overall motion inertia of the robotic arm. The movements of the wrist drive motor 315 on the large arm 307 and the two wrist drive motors 315 on the small arm 308 are decoupled. When the end effector 309 performs roll motion, pitch motion or a combination of the two, the universal joint 326 will passively adjust the angle so that the power output by the wrist drive motor 315 on the small arm 308 can be transmitted to the end effector 309 at any time without being affected by the wrist pitch and roll angles. The three-hinge design of the lower arm link 319 and the installation of the retaining frame 320 improve the stability of the transmission chain motion. The robotic arm is driven by a connecting rod mechanism as a whole, with high structural rigidity and low motion inertia, and is capable of high-load, high-precision, and high-dynamic tasks. Figure 1 As shown, the present invention proposes an electro-hydraulic hybrid drive humanoid robot, including an electrically driven upper limb and a hydraulically driven lower limb, the electrically driven upper limb including a torso 1, two robotic arms 3 and a head 4, the hydraulically driven lower limb including a hip 5 and two robotic legs 2, the head 4, robotic arms 3, and hip 5 are respectively installed on the upper part, both sides and bottom of the torso 1, and the two robotic legs 2 are installed at the bottom of the hip 5. The robot as a whole has a bilaterally symmetrical structure, the robotic arm 3 includes a three-degree-of-freedom spherical parallel joint 31 and a parallelogram link arm 32, the parallelogram link arm 32 is installed at the motion output end of the three-degree-of-freedom spherical parallel joint 31, the robotic leg 2 includes a parallel hip joint 21, a knee joint 22 and an ankle joint 23, the parallel hip joint 21 is installed at the bottom of the hip 5; the knee joint 22 is hinged to the parallel hip joint 21 through a thigh rod 204, the knee joint 22 is hinged to the ankle joint 23 through a calf rod 212, and the ankle joint is fixedly connected to the foot 218.

[0056] As shown in Figure 5 and Figure 6 , the parallel hip joint 21 comprises a hip spin frame 201, a hip cross shaft 202, a hip pitch transmission rod 203, a hip differential frame 205, a hip differential hydraulic cylinder 206 and a hip pitch hydraulic cylinder 207, the hip spin frame 201 is hinged with the hip 5, the convex shafts on the hip cross shaft 202 which are orthogonal to the rotation axis are respectively hinged with the hip spin frame 201 and the thigh rod 204, the two ends of the hip pitch transmission rod 203 are respectively hinged with the hip cross shaft 202 and the hydraulic rod of the hip pitch hydraulic cylinder 207, the hydraulic cylinder of the hip pitch hydraulic cylinder 207 is fixed with the thigh rod 204, the hip cross shaft 202 is hinged with the hip differential frame 205, the hydraulic rod end of the hip differential hydraulic cylinder 206 is a fish eye bearing, the hydraulic cylinder end is a universal shaft, the hydraulic rod ends of the two hip differential hydraulic cylinders 206 are hinged with the two ends of the hip differential frame 205, and the hydraulic cylinder ends are respectively hinged with the hip 5.

[0057] As shown in Figure 5 and Figure 7 , the knee joint 22 comprises a knee hydraulic cylinder 208, a constraint connecting rod 209, a knee transmission connecting rod 210, a knee actuating connecting rod 211, the cylinder end of the knee hydraulic cylinder is fixed with the thigh rod 204, the rod end is hinged with the knee transmission connecting rod 210, the two ends of the constraint connecting rod 209 are respectively hinged with the thigh rod 204 and the knee transmission connecting rod 210, one end of the knee actuating connecting rod is fixed with the shank rod 212, and the other end is hinged with the knee transmission connecting rod 210.

[0058] As shown in Figure 5 and Figure 8 , the ankle joint 23 comprises an ankle pitch hydraulic cylinder 213, an ankle roll hydraulic cylinder 214, an ankle cross shaft 215, an ankle roll shaft 216 and an ankle roll shaft base 217, the cylinder end of the ankle pitch hydraulic cylinder 213 is hinged with the shank rod 212, the rod end is hinged with the ankle cross shaft 215, the cylinder end of the ankle roll hydraulic cylinder 214 is hinged with the shank rod 214, the rod end is hinged with one end of the ankle roll shaft 216, the other end of the ankle roll shaft 216 is hinged with the ankle roll shaft base 217, the ankle roll shaft base 217 is fixed with the foot 218, and the convex shafts on the ankle cross shaft 215 which are orthogonal to the rotation axis are respectively hinged with the shank rod 212 and the foot 218.

[0059] As shown in Figure 8 and Figure 9As shown, the torso 1 includes a frame 101, a battery 102, a control system 103, a waist pitch motor 104, a waist spin motor 105, a waist sway motor 106, a first pitch motor frame 107, a second pitch motor frame 110, a sway motor frame 108, a spin motor frame 109 and a stabilizing shaft 111. The fixed ends of the two batteries 102, the control system 103 and the waist spin motor 105 are all fixed in the frame 101. The fixed end of the waist pitch motor 104 is fixedly connected to the first pitch motor frame 107, and the output end is fixedly connected to the side swing motor frame 108; the fixed end of the waist side swing motor 106 is fixedly connected to the side swing motor frame 108, and the output end is fixedly connected to the spin motor frame 109; the output end of the waist spin motor 105 is fixedly connected to the spin motor frame 109; one end of the stabilizing shaft 111 is fixedly connected to the side swing motor frame 108, and the other end is hinged to the second pitch motor frame 110.

[0060] like Figure 10 As shown, the head 4 includes a head shell 401, a depth camera 402, a head pitch motor 403 and a head spin motor 404. The output ends of the depth camera 402 and the head spin motor 404 are fixed to the head shell 401, and the output end of the head pitch motor 403 is fixed to the fixed end of the head spin motor 404.

[0061] like Figure 1 , Figure 2 , Figure 5 , Figure 9 and Figure 10 As shown, the fixed end of the head pitch motor 403 and the motor frame 302 are respectively fixed to the frame 101 , and the first pitch motor frame 107 and the second pitch motor frame 110 are fixed to the hip 5 .

[0062] The above specific embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A connecting rod parallel wrist joint for a robotic arm, characterized in that: The joint comprises a wrist pitch member (323), a wrist side swing member (324), an end effector (309), two transmission chains distributed on both sides of the robotic arm and connected in parallel, and three wrist drive motors (315) mounted on the robotic arm, wherein two wrist drive motors (315) respectively drive the transmission chains, and the other wrist drive motor (315) drives the end effector (309) of the robotic arm; One end of the two transmission chains is fixedly connected to the output end of the wrist drive motor (315), and the other end is hinged to both ends of the wrist side swing member (324); the wrist side swing member (324) is also hinged to the wrist pitch member (323) to form a cross hinge, and the wrist pitch member (323) is hinged to the robotic arm so that the wrist pitch member (323) can perform pitch and side swing movements; the bottom of the wrist side swing member (324) is hinged to the end effector (309) through a bearing; The transmission chain includes a wrist active force arm (316), an upper arm connecting rod (317), a transfer connecting rod (318), a lower arm connecting rod (319), a retaining frame (320), a wrist connecting rod (321) and a transfer shaft (322); The wrist main force arm (316) is connected to the wrist drive motor (315) of the drive transmission chain, one end of the upper arm connecting rod (317) is hinged to the wrist main force arm (316), and the other end is hinged to one end of the transfer connecting rod (318), the middle part of the transfer connecting rod (318) is hinged to the robot arm, and the lower arm connecting rod (319) has three hinge points, the head end is hinged to the other end of the transfer connecting rod (318), the tail end is hinged to the wrist connecting rod (321) through a fisheye bearing, the middle end is hinged to one end of the retaining frame (320), the other end of the retaining frame is hinged to the robot arm, and the other end of the wrist connecting rod (321) is hinged to the transfer shaft (322); The output end of the wrist drive motor (315) that drives the end effector (309) of the robotic arm is fixedly connected to one end of the wrist spin axis (325), and the other end of the wrist spin axis (325) is connected to the end effector (309) through a universal joint (326).

2. A seven-degree-of-freedom high-load robotic arm, characterized in that: The robot arm includes a three-degree-of-freedom spherical parallel shoulder joint (31), a large arm rod (307), a single-degree-of-freedom parallelogram connecting rod elbow joint (32), a small arm rod (308), a three-degree-of-freedom connecting rod parallel wrist joint (33) and an end effector (309); The single-degree-of-freedom parallelogram link elbow joint (32) is connected to the spherical parallel shoulder joint (31) via a large arm rod (307), the link parallel wrist joint (33) is connected to the single-degree-of-freedom parallelogram link elbow joint (32) via a small arm rod (308), and the end effector (309) is hinged to the link parallel wrist joint (33); The connecting rod parallel wrist joint (33) includes three wrist drive motors (315), a wrist active force arm (316), an upper arm connecting rod (317), a transfer connecting rod (318), a lower arm connecting rod (319), a retaining frame (320), a wrist connecting rod (321), a transfer shaft (322), a wrist pitch member (323), a wrist side swing member (324), a wrist spin axis (325) and a universal joint (326); The wrist main force arm (316), the upper arm connecting rod (317), the transfer connecting rod (318), the lower arm connecting rod (319), the retaining frame (320), the wrist connecting rod (321) and the transfer shaft (322) form a transmission chain and are distributed in parallel on both sides of the robot arm; The fixed ends of the two wrist drive motors (315) for controlling the pitch and roll motions of the wrist joint are fixed on the big arm rod (307), and the output ends are respectively connected to the two wrist main force arms (316). One end of the upper arm connecting rod (317) is hinged to the wrist main force arm (316), and the other end is hinged to the transfer connecting rod (318). The middle part of the transfer connecting rod (318) is hinged to the parallelogram connecting rod elbow joint (32) with a single degree of freedom. The lower arm connecting rod (319) has three hinge points. The head end is hinged to the transfer connecting rod (318), the tail end is hinged to the wrist connecting rod (321) through a fisheye bearing, and the middle end is hinged to one end of the retaining frame (320). The other end of the holder is hinged to the small arm rod (308), the other end of the wrist link (321) is hinged to the transfer shaft (322), the wrist side swing member (324) is hinged to the other end of the transfer shaft (322), the wrist pitch member (323) and the end effector (309), the wrist pitch member (323) is hinged to the small arm rod (308), the fixed end of the wrist drive motor (315) for controlling the rotation of the wrist joint is fixed to the small arm rod (308), the output end is fixed to the wrist rotation shaft (325), one end of the universal joint (326) is fixed to the wrist rotation shaft (325), and the other end is fixed to the end effector (309); The relative motion between the transmission chains controls the pitch and sway motion of the wrist joint, and the two transmission chains work together to control and increase the torque output; the wrist drive motor (315) on the small arm (308) is decoupled from the motion of the two wrist drive motors (315) on the large arm (307) through the universal joint (326). When the end effector (309) performs sway motion, pitch motion or a combination of the two, the universal joint (326) will passively adjust the angle so that the power output by the wrist drive motor (315) on the small arm (308) can be transmitted to the end effector (309) at any time.

3. The seven-degree-of-freedom high-load robotic arm according to claim 2, characterized in that: The three-degree-of-freedom spherical parallel shoulder joint (31) comprises a shoulder drive motor (301), a motor frame (302), left and right force arms (303), an intermediate force arm (304), a transmission connecting rod (305) and an output platform (306). The fixed ends of the three coaxially placed shoulder drive motors (301) are respectively fixed to the three motor frames (302). The output ends of the three shoulder drive motors (301) are respectively fixed to the two left and right force arms (303) and the one intermediate force arm (304). The three motor frames (302) are fixed to each other. The two left and right force arms (303) and the one intermediate force arm (304) are respectively hinged to one end of the three transmission connecting rods (305). The other ends of the three transmission connecting rods (305) are simultaneously hinged to the output platform (306). The output platform (306) and the upper arm (307) are fixedly connected.

4. The seven-degree-of-freedom high-load robotic arm according to claim 2, characterized in that: The single-degree-of-freedom parallelogram connecting rod elbow joint (32) comprises an elbow drive motor (328), a main power arm (310), a slave power arm (311), a shaft transmission connecting rod (312), an elbow connecting rod (313), a virtual constraint connecting rod (314) and an elbow joint shaft (327), wherein the fixed end of the elbow drive motor (328) is fixed on the big arm rod (307), the output end is fixed to the main power arm (310), the slave power arm (311) is hinged to the big arm rod (307), the rotation axis of the slave power arm (311) and the main power arm (310) is coaxial, and one end of the shaft transmission connecting rod (312) is connected to the main power arm (310), the slave power arm (311) and the slave power arm (310) 1) hinged, the other end is hinged to the elbow link (313), the elbow link is fixed to the small arm rod (308), one end of the two virtual constraint links (314) is hinged to the active force arm (310) and the slave force arm (311), and the other end is hinged to the elbow link (313), the active force arm (310), the slave force arm (311), the virtual constraint link (314) and the elbow link (313) form a parallelogram structure, two elbow joint shafts (327) are fixed to both sides of the small arm rod (308), and are rotatably connected to the large arm rod (307) through bearings, and the two elbow joint shafts (327) are also hinged to the middle of the two transfer links (318) through bearings.

5. An electro-hydraulic hybrid driven humanoid robot based on the seven-degree-of-freedom high-load manipulator according to any one of claims 2 to 4, characterized in that: The humanoid robot comprises an electrically driven upper limb and a hydraulically driven lower limb, wherein the electrically driven upper limb comprises a trunk (1), two seven-degree-of-freedom high-load mechanical arms (3) and a head (4), and the hydraulically driven lower limb comprises a hip (5) and two mechanical legs (2), wherein the head (4), the mechanical arms (3) and the hip (5) are respectively mounted on the upper part, both sides and the bottom of the trunk (1), and the two mechanical legs (2) are mounted on the bottom of the hip (5), and the robot as a whole has a bilaterally symmetrical structure; The mechanical leg (2) comprises a parallel hip joint (21), a knee joint (22), an ankle joint (23), a thigh rod (204), a shank rod (212) and a foot (218); the parallel hip joint (21) is mounted on the bottom of the hip (5); the knee joint (22) is connected to the parallel hip joint (21) via the thigh rod (204), the knee joint (22) is connected to the ankle joint (23) via the shank rod (212), and the ankle joint (23) is fixedly connected to the foot (218).

6. The electro-hydraulic hybrid driven humanoid robot according to claim 5, characterized in that: The parallel hip joint (21) includes a hip spin frame (201), a hip cross axis (202), a hip pitch transmission rod (203), a hip differential frame (205), a hip differential hydraulic cylinder (206) and a hip pitch hydraulic cylinder (207); the hip spin frame (201) is hinged to the hip (5), the convex axes orthogonal to the rotation axis on the hip cross axis (202) are respectively hinged to the hip spin frame (201) and the thigh rod (204), and the two ends of the hip pitch transmission rod (203) are respectively hinged to the hip The cross shaft (202) and the hydraulic rod of the hip pitch hydraulic cylinder (207) are hinged, the hydraulic cylinder body of the hip pitch hydraulic cylinder (207) is fixed to the thigh rod (204), the hip cross shaft (202) is hinged to the hip differential frame (205), the end of the hydraulic rod of the hip differential hydraulic cylinder (206) is a fisheye bearing, the end of the hydraulic cylinder body is a universal joint, the hydraulic rod ends of the two hip differential hydraulic cylinders (206) are hinged to the two ends of the hip differential frame (205), and the ends of the hydraulic cylinder bodies are respectively hinged to the hip (5).

7. The electro-hydraulic hybrid driven humanoid robot according to claim 5, characterized in that: The knee joint (22) includes a knee hydraulic cylinder (208), a constraint link (209), a knee transmission link (210) and a knee actuation link (211); the hydraulic cylinder end of the knee hydraulic cylinder is fixedly connected to the thigh rod (204), the hydraulic rod end is hinged to the knee transmission link (210), the two ends of the constraint link (209) are hinged to the thigh rod (204) and the knee transmission link (210), respectively, one end of the knee actuation link is fixedly connected to the shank rod (212), and the other end is hinged to the knee transmission link (210).

8. The electro-hydraulic hybrid driven humanoid robot according to claim 5, characterized in that: The ankle joint (23) includes an ankle pitch hydraulic cylinder (213), an ankle lateral swing hydraulic cylinder (214), an ankle cross shaft (215), an ankle lateral swing shaft (216) and an ankle lateral swing shaft base (217); the hydraulic cylinder body end of the ankle pitch hydraulic cylinder (213) is hinged to the shank rod (212), the hydraulic rod end is hinged to the ankle cross shaft (215), the hydraulic cylinder body end of the ankle lateral swing hydraulic cylinder (214) is hinged to the shank rod (212), the hydraulic rod end is hinged to one end of the ankle lateral swing shaft (216), the other end of the ankle lateral swing shaft (216) is hinged to the ankle lateral swing shaft base (217), the ankle lateral swing shaft base (217) is fixed to the foot (218), and the convex shafts orthogonal to the rotation axis on the ankle cross shaft (215) are hinged to the shank rod (212) and the foot (218) respectively.

9. The electro-hydraulic hybrid driven humanoid robot according to claim 5, characterized in that: The trunk (1) comprises a frame (101), a battery (102), a control system (103), a waist pitch motor (104), a waist spin motor (105), a waist side swing motor (106), a first pitch motor rack (107), a second pitch motor rack (110), a side swing motor rack (108), a spin motor rack (109) and a stabilizing shaft (111); the fixed ends of the battery (102), the control system (103) and the waist spin motor (105) are all fixed in the frame (101), and the fixed end of the waist pitch motor (104) is fixed to the first pitch motor rack (110). The pitch motor frame (107) is fixedly connected, and the output end is fixedly connected to the side swing motor frame (108); the fixed end of the waist side swing motor (106) is fixedly connected to the side swing motor frame (108), and the output end is fixedly connected to the spin motor frame (109); the output end of the waist spin motor (105) is fixedly connected to the spin motor frame (109); one end of the stabilizing shaft (111) is fixedly connected to the side swing motor frame (108), and the other end is hinged to the second pitch motor frame (110); the first pitch motor frame (107) and the second pitch motor frame (110) are fixedly connected to the hip (5); The head (4) comprises a head shell (401), a depth camera (402), a head pitch motor (403) and a head spin motor (404); the output ends of the depth camera (402) and the head spin motor (404) are fixed to the head shell (401), and the output end of the head pitch motor (403) is fixed to the fixed end of the head spin motor (404); the fixed end of the head pitch motor (403) and the motor frame (302) are both fixed to the frame (101).

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