Modularized humanoid mechanical arm with flexible touch sensor

Abstract

The invention discloses a modularized humanoid mechanical arm with a flexible touch sensor. The modularized humanoid mechanical arm comprises a large mechanical arm body. Two elbow joints are installed on the large mechanical arm, a shoulder joint and a small mechanical arm are installed on the two elbow joints respectively, a first lower buckling cover and a second lower buckling cover are installed in the large mechanical arm, a first upper buckling cover and a second upper buckling cover are installed in the shoulder joint, a driving structure is installed in the first lower buckling cover and the first upper buckling cover, and a linkage structure is installed on the driving structure. A control structure and a data acquisition board are mounted in each of the lower buckle cover II and the upper buckle cover II; according to the multi-degree-of-freedom mechanical arm, differential control is achieved through the transmission mode that two sets of motors, quasi-double-face gears, driving bevel gears and other structures are matched for mechanical transmission of the elbow joint part of the mechanical arm, the design that joints are too many and cannot be close to a human shape under the multi-degree-of-freedom condition is overcome through the technology, and meanwhile the defect that a robot arm is too large under the large load requirement is overcome; therefore, the structure similar to people in appearance and function is designed.

Description

Technical Field

[0001] The present invention relates to the technical field of service robots, and in particular to a modular humanoid robotic arm with a flexible tactile sensor. Background Art

[0002] Service robot technology, especially the field of humanoid robotic arms, is currently in a rapid development stage. Artificial intelligence and robotics technology have become increasingly mature, and humanoid robots have begun to be widely used in various fields. Robots have become an important tool to solve labor shortages, improve production efficiency and improve the quality of life. They are equipped with a variety of sensors to perceive the environment and force control to achieve some basic operations.

[0003] In the existing technology, the payload, motion accuracy, joint motion range and human-computer interaction experience of the robotic arm still need to be improved. Overall, the technical level of robotic arms is constantly improving, and the market application is gradually expanding, especially in countries and regions with serious aging problems. However, the technical challenges faced, such as the precision, flexibility and safety of operations and the payload capacity of the robotic arm, are still the key issues that need to be addressed. Therefore, a modular humanoid robotic arm with flexible tactile sensors is needed to meet people's needs. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical problem that the present invention intends to solve is to provide a modular humanoid robotic arm with a flexible tactile sensor, comprising a robotic arm upper arm; two elbow joints are installed on the robotic arm upper arm, and shoulder joints and a robotic arm forearm are respectively installed on the two elbow joints, a lower buckle cover one and a lower buckle cover two are installed in the robotic arm upper arm, an upper buckle cover one and an upper buckle cover two are installed in the shoulder joint, a driving structure is installed in the lower buckle cover one and the upper buckle cover one, a linkage structure is installed on the driving structure, a control structure and a data acquisition board are installed in the lower buckle cover two and the upper buckle cover two, the outer surfaces of the robotic arm upper arm, the shoulder joint and the robotic arm forearm are all covered with capacitive electronic skin, a pressure sensor is electrically connected to the capacitive electronic skin, and two data acquisition boards are electrically connected to the capacitive electronic skin.

[0005] Preferably, the elbow joint includes two joint parts one and two joint parts two, the two joint parts two are rotatably mounted on the two joint parts one, the two joint parts one are fixedly mounted on one side of the lower buckle cover one and the upper buckle cover one, and the two joint parts two are rotatably mounted on one side of the forearm of the robotic arm and the lower buckle cover two.

[0006] Preferably, a fixed shaft is fixedly installed on one side of the joint component one, a bearing one is sleeved on the fixed shaft, the fixed shaft is fixedly installed on the inner ring of the bearing one, a positioning flange is fixedly installed on one end of the fixed shaft, the positioning flange is in contact with one side of the inner ring of the bearing one, a connecting ring is fixedly sleeved on the outer ring of the bearing one, the connecting ring is fixedly installed on the joint component two, and the connecting ring is rotatably installed on the joint component one.

[0007] Preferably, the inner walls of the two joint parts are fixedly installed with mounting seats, the inner walls of the two mounting seats are installed with bearings 2, the outer rings of the two bearings 2 are respectively fixedly installed on the inner walls of the two mounting seats, the inner rings of the two bearings 2 are fixedly installed with rotating shafts, and the two rotating shafts are respectively fixedly installed on one side of the forearm of the robotic arm and the lower buckle cover 2.

[0008] Preferably, the driving structure includes four motors 1 and four motors 2, the two motors 1 and the two motors 2 located on the same side are respectively fixedly mounted on the inner walls of the lower buckle cover 1 and the upper buckle cover 1, the motors 1 and the motors 2 located on the same side are electrically connected to each other, the two output ends of the four motors 1 are respectively equipped with driving bevel gears and transmission wheel 1, the four driving bevel gears are each equipped with bearings 3, the outer rings of the four bearings 3 are respectively symmetrically fixedly mounted on the inner walls of the lower buckle cover 1 and the upper buckle cover 1, the output ends of the four motors 2 are each equipped with transmission wheel 2, and the transmission wheel 1 and the transmission wheel 2 located on the same side are equipped with the same transmission belt.

[0009] Preferably, the linkage structure includes a connecting shaft, which is rotatably mounted on the joint component, and two quasi-double-sided gears and two active bevel gears are rotatably mounted on the connecting shaft. The quasi-double-sided gears and the active bevel gears located on the same side are fixed to each other, and a driven bevel gear is installed at one end of the rotating shaft. The driven bevel gear is meshed with the two active bevel gears, and the two driving bevel gears are respectively meshed with the two quasi-double-sided gears.

[0010] Preferably, the control structure includes two motor controllers, which are respectively fixedly mounted on the inner walls of the lower buckle cover 2 and the upper buckle cover 2, and are respectively electrically connected to the corresponding motor 1 and motor 2, and both motor controllers are electrically connected to posture sensors.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) In the present invention, the mechanical transmission of the elbow joint of the robot arm adopts a transmission form in which two sets of motors, quasi-double-sided gears, active bevel gears and other structures cooperate to realize differential control. This technology overcomes the problem of too many joints under multiple degrees of freedom and the design that cannot be close to the human shape. At the same time, it overcomes the disadvantage that the robot arm is too large under large load requirements, thereby designing a structure that is similar to a human in appearance and function.

[0012] (2) The robot arm joint is small in size and occupies a reasonable amount of internal space. At the same time, the motor controller and the data acquisition board of the matching tactile skin sensor are placed in the joint control cavity, which reduces the wiring distance between the motor and the driver, making the entire joint modular and highly movable. The internal components are reasonably arranged and the parts have certain size restrictions to ensure the installation of each part. This allows the joint cavity to be cylindrical, making the surface smooth. The design of modular machine joints can make the robot more flexible and customizable. Due to its modular structure, different modules can be combined as needed to meet specific task requirements, allowing the robot to be used in different environments and tasks.

[0013] (3) Capacitive electronic skin technology can be used to monitor the pressure information of the robot during the handling process, so that the robotic arm can obtain large-scale multi-sensory capabilities, provide safety protection for human-machine coexistence, and provide an interactive means for human-machine collaboration. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the three-dimensional structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 2 A schematic diagram of the internal structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 3 This is a schematic diagram of the elbow joint structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 4 This is a schematic diagram of the active bevel gear structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 5 This is a schematic diagram of the driving bevel gear structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 6 This is a schematic diagram of the transmission wheel structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 7 A schematic diagram of the exploded structure of the elbow joint of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention; Figure 8 This is a schematic diagram of the rotating axis connection structure of a modular humanoid robotic arm with a flexible tactile sensor proposed by the present invention.

[0015] In the figure: 1. robot arm upper arm; 2. elbow joint; 21. joint part 1; 22. joint part 2; 211. fixed shaft; 212. bearing 1; 213. positioning flange; 214. connecting ring; 215. mounting seat; 216. bearing 2; 217. rotating shaft; 3. shoulder joint; 4. robot arm forearm; 5. lower buckle cover 1; 51. upper buckle cover 1; 511. motor 1; 512. motor 2; 513. driving bevel gear; 514. bearing 3; 515. connecting shaft; 516. quasi-double-sided gear; 517. active bevel gear; 518. driven bevel gear; 519. transmission wheel 1; 520. transmission wheel 2; 521. transmission belt; 6. lower buckle cover 2; 61. upper buckle cover 2; 611. motor controller. DETAILED DESCRIPTION

[0016] The specific embodiments of the present invention are given below. The specific embodiments are only used to further illustrate the present invention in detail and do not limit the protection scope of the claims of this application.

[0017] See also Figure 1-8 The present invention provides a technical solution: a modular humanoid robot arm with a flexible tactile sensor, comprising a robot arm upper arm 1; two elbow joints 2 are installed on the robot arm upper arm 1, and shoulder joints 3 and a robot arm forearm 4 are installed on the two elbow joints 2 respectively; a lower buckle cover 1 5 and a lower buckle cover 2 6 are installed in the robot arm upper arm 1, an upper buckle cover 1 51 and an upper buckle cover 2 61 are installed in the shoulder joint 3, a driving structure is installed in the lower buckle cover 1 5 and the upper buckle cover 1 51, and a linkage structure is installed on the driving structure; a control structure and a data acquisition board are installed in the lower buckle cover 2 6 and the upper buckle cover 2 61, and the driving structure and the linkage structure are used in combination to control the partial bending of the elbow joint 2 to achieve an arm lifting effect; the outer surfaces of the robot arm upper arm 1, the shoulder joint 3 and the robot arm forearm 4 are all covered with capacitive electronic skin, a pressure sensor is electrically connected to the capacitive electronic skin, and two data acquisition boards are electrically connected to the capacitive electronic skin, and the capacitive electronic skin is used to monitor pressure information during the robot's handling process.

[0018] Furthermore, the elbow joint 2 includes two joint parts 21 and two joint parts 22. The two joint parts 22 are rotatably installed on the two joint parts 21 respectively. The two joint parts 21 are fixedly installed on one side of the lower buckle cover 5 and the upper buckle cover 51 respectively. The two joint parts 22 are rotatably installed on one side of the robot arm forearm 4 and the lower buckle cover 2 6 respectively. The joint parts 1 21 and the joint parts 2 22 can rotate with each other to realize the lifting and placing operations of the robot arm upper arm 1 and the robot arm forearm 4.

[0019] Furthermore, a fixed shaft 211 is fixedly installed on one side of the joint component 21, and a bearing 212 is sleeved on the fixed shaft 211. The fixed shaft 211 is fixedly installed on the inner ring of the bearing 212, and a positioning flange 213 is fixedly installed on one end of the fixed shaft 211. The positioning flange 213 contacts one side of the inner ring of the bearing 212, and a connecting ring 214 is fixedly sleeved on the outer ring of the bearing 212. The connecting ring 214 is fixedly installed on the joint component 22, and the connecting ring 214 is rotatably installed on the joint component 21. When the lower buckle cover 26 or the robot arm forearm 4 is flipped, the corresponding joint component 22 can be driven to rotate, and the joint component 22 can drive the outer ring of the bearing 212 to rotate, so that the joint component 22 can be flipped more smoothly, and the robot arm 1 or the robot arm forearm 4 can be lifted when the joint component 22 is flipped.

[0020] Furthermore, the inner walls of the two joint parts 22 are fixedly installed with mounting seats 215, the inner walls of the two mounting seats 215 are installed with bearings 216, the outer rings of the two bearings 216 are respectively fixedly installed on the inner walls of the two mounting seats 215, the inner rings of the two bearings 216 are fixedly installed with rotating shafts 217, and the two rotating shafts 217 are respectively fixedly installed on one side of the robot arm forearm 4 and the lower buckle cover 26.

[0021] Furthermore, the driving structure includes four motors 1 511 and four motors 2 512. The two motors 1 511 and the two motors 2 512 located on the same side are fixedly mounted on the inner walls of the lower buckle cover 1 5 and the upper buckle cover 1 51, respectively. The motors 1 511 and the motors 2 512 located on the same side are electrically connected to each other. The two output ends of the four motors 1 511 are respectively equipped with driving bevel gears 513 and transmission wheels 1 519. The four driving bevel gears 513 are each equipped with bearings 3 514. The outer rings of the four bearings 3 514 are respectively and symmetrically fixedly mounted on the inner walls of the lower buckle cover 1 5 and the upper buckle cover 1 51. The output ends of the four motors 2 512 are each equipped with transmission wheels 2 520. The transmission wheels 1 519 and the transmission wheels 2 520 located on the same side are equipped with the same transmission belt 521 to control the operation of the two motors 1 511 at the corresponding positions. When the two When the rotation directions of the output ends of the motors 511 are opposite, the driven bevel gear 518 can be driven to rotate through the meshing between the two active bevel gears 517 and the driven bevel gear 518, and the rotating driven bevel gear 518 can drive the rotating shaft 217 to rotate. When the rotating shaft 217 rotates, it can drive the lower buckle cover 26 or the robot arm 4 at the corresponding position to rotate. If the two driving bevel gears 513 are controlled to rotate in the same direction, since the active bevel gear 517 and the driven bevel gear 518 are in a meshing state, when the two active bevel gears 517 rotate in the same direction, they can drive the driven bevel gear 518 to make a circular motion around the connecting shaft 515, so that the driven bevel gear 518 drives the rotating shaft 217 to flip, and then drives the connected lower buckle cover 26 or the robot arm 4 to flip, so that the robot arm 1 or the robot arm 4 can achieve the lifting action.

[0022] Furthermore, the linkage structure includes a connecting shaft 515, which is rotatably mounted on the joint member 21, and two quasi-double-sided gears 516 and two active bevel gears 517 are rotatably mounted on the connecting shaft 515. The quasi-double-sided gears 516 and the active bevel gears 517 on the same side are fixedly mounted to each other, and a driven bevel gear 518 is mounted on one end of the rotating shaft 217. The driven bevel gear 518 is meshed with the two active bevel gears 517, and the two driving bevel gears 513 are respectively meshed with the two quasi-double-sided gears 516. The motor 511 can be turned off and the motor 511 can be turned on. The second 512 can make the output end of the motor 2 512 drive the transmission wheel 1 519 to rotate, and the transmission wheel 1 519 can drive the transmission wheel 2 520 to rotate through the conduction cooperation with the transmission belt 521, and the transmission wheel 2 520 can drive the output end of the motor 1 511 to rotate, so as to adjust the rotation speed of the driving bevel gear 513, and control the rotation speed of the two driving bevel gears 513 at the same position. If one of the driving bevel gears 513 rotates and the other driving bevel gear 513 stops running, it can realize the simultaneous rotation and lifting of the arm, thereby realizing differential control.

[0023] Furthermore, the control structure includes two motor controllers 611, and the two motor controllers 611 are respectively fixedly mounted on the inner walls of the lower buckle cover 2 6 and the upper buckle cover 2 61, and the two motor controllers 611 are respectively electrically connected to the corresponding motor 1 511 and motor 2 512, and the two motor controllers 611 are electrically connected to posture sensors. The motor controllers 611 can be used to control the operation of the motor 1 511 and the motor 2 512 at the corresponding positions, and the posture sensor can be used to detect the posture of the robotic arm.

[0024] The working principle and working process of the present invention are as follows: the motor controller 611 can be used to control the operation of the two motors 511 at the corresponding positions. When the rotation directions of the output ends of the two motors 511 are opposite, the output ends of the motors 511 can drive the driving bevel gear 513 to rotate. By setting the bearing 3 514, the driving bevel gear 513 can rotate more smoothly. The continuously rotating driving bevel gear 513 can drive the quasi-double-sided gear 516 to rotate by meshing with the quasi-double-sided gear 516. The quasi-double-sided gear 516 drives the active bevel gear 517 to rotate, so that the rotating quasi-double-sided gear 516 and the active bevel gear 517 will rotate on the connecting shaft 515, thereby making the two active bevel gears 517 able to rotate in opposite directions to each other, thereby The driven bevel gear 518 is driven to rotate through the meshing between the two active bevel gears 517 and the driven bevel gear 518, and the rotating driven bevel gear 518 can drive the rotating shaft 217 to rotate. When the rotating shaft 217 rotates, it will drive the inner ring of the bearing 216 to rotate, so that the rotating shaft 217 can rotate more smoothly. When the rotating shaft 217 rotates, it can drive the lower buckle cover 2 6 or the robot arm 4 at the corresponding position to rotate, so as to adjust the angle of the robot arm 1 and the robot arm 4. If the two driving bevel gears 513 are controlled to rotate in the same direction, the rotating two driving bevel gears 513 can drive the two quasi-double-sided gears 516 to rotate in the same direction through the meshing influence with the quasi-double-sided gear 516. At this time, the rotating two quasi-double-sided gears 516 are driven to rotate in the same direction. The gear 516 can drive the two active bevel gears 517 to rotate in the same direction. Since the active bevel gear 517 and the driven bevel gear 518 are in meshing state, when the two active bevel gears 517 rotate in the same direction, they can drive the driven bevel gear 518 to make a circular motion around the connecting shaft 515, so that the driven bevel gear 518 drives the rotating shaft 217 to flip, and then drives the connected lower buckle cover 2 6 or the mechanical arm forearm 4 to flip. When the lower buckle cover 2 6 or the mechanical arm forearm 4 flips, it can drive the corresponding joint part 22 to rotate. The joint part 22 can drive the outer ring of the bearing 1 212 to rotate, so that the joint part 22 can be turned more smoothly. Under the flipping of the joint part 22, the mechanical arm 1 or the mechanical arm forearm 4 can be realized. The lifting action can be performed, and by turning off the motor 1 511 and turning on the motor 2 512, the output end of the motor 2 512 can drive the transmission wheel 1 519 to rotate, and the transmission wheel 1 519 can drive the transmission wheel 2 520 to rotate through the conduction cooperation with the transmission belt 521, and the transmission wheel 2 520 can drive the output end of the motor 1 511 to rotate, so as to adjust the rotation speed of the driving bevel gear 513, and control the rotation speed of the two driving bevel gears 513 at the same position. If one of the driving bevel gears 513 rotates and the other driving bevel gear 513 stops running, the rotating driving bevel gear 513 can drive the active bevel gear 517 at the corresponding position to rotate, so that the active bevel gear 517 drives the driven bevel gear 518 to rotate.The driven bevel gear 518 meshes with another driving bevel gear 517 and moves in a circle around it, thereby realizing the simultaneous arm rotation and arm lifting, thus achieving differential control.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0026] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A modular humanoid robotic arm with flexible tactile sensors, comprising a robotic arm (1); Features: The mechanical arm upper arm (1) is provided with two elbow joints (2), the two elbow joints (2) are provided with shoulder joints (3) and a mechanical arm lower arm (4), the mechanical arm upper arm (1) is provided with a lower buckle cover 1 (5) and a lower buckle cover 2 (6), the shoulder joint (3) is provided with an upper buckle cover 1 (51) and an upper buckle cover 2 (61), the lower buckle cover 1 (5) and the upper buckle cover 1 (51) are provided with a driving structure, a linkage structure is provided on the driving structure, the lower buckle cover 2 (6) and the upper buckle cover 2 (61) are provided with a control structure and a data acquisition board, the outer surfaces of the mechanical arm upper arm (1), the shoulder joint (3) and the mechanical arm lower arm (4) are all covered with a capacitive electronic skin, the capacitive electronic skin is electrically connected with a pressure sensor, and the two data acquisition boards are electrically connected with the capacitive electronic skin.

2. A modular humanoid robotic arm with flexible tactile sensors according to claim 1, Features: The elbow joint (2) comprises two joint parts one (21) and two joint parts two (22), the two joint parts two (22) are rotatably mounted on the two joint parts one (21), the two joint parts one (21) are fixedly mounted on one side of the lower buckle cover one (5) and the upper buckle cover one (51), and the two joint parts two (22) are rotatably mounted on one side of the robot arm forearm (4) and the lower buckle cover two (6).

3. A modular humanoid robotic arm with flexible tactile sensors according to claim 2, Features: A fixed shaft (211) is fixedly mounted on one side of the joint component 1 (21), a bearing 1 (212) is sleeved on the fixed shaft (211), the fixed shaft (211) is fixedly mounted on the inner ring of the bearing 1 (212), a positioning flange (213) is fixedly mounted on one end of the fixed shaft (211), the positioning flange (213) is in contact with one side of the inner ring of the bearing 1 (212), a connecting ring (214) is fixedly sleeved on the outer ring of the bearing 1 (212), the connecting ring (214) is fixedly mounted on the joint component 2 (22), and the connecting ring (214) is rotatably mounted on the joint component 1 (21).

4. The modular humanoid robotic arm with flexible tactile sensors according to claim 2, Features: The inner walls of the two joint parts (22) are fixedly mounted with mounting seats (215), the inner walls of the two mounting seats (215) are mounted with bearings (216), the outer rings of the two bearings (216) are respectively fixedly mounted on the inner walls of the two mounting seats (215), the inner rings of the two bearings (216) are respectively fixedly mounted with rotating shafts (217), and the two rotating shafts (217) are respectively fixedly mounted on one side of the mechanical arm forearm (4) and the lower buckle cover (6).

5. The modular humanoid robotic arm with flexible tactile sensors according to claim 1, Features: The driving structure comprises four motors 1 (511) and four motors 2 (512), the two motors 1 (511) and the two motors 2 (512) located on the same side are respectively fixedly mounted on the inner walls of the lower buckle cover 1 (5) and the upper buckle cover 1 (51), the motors 1 (511) and the motors 2 (512) located on the same side are electrically connected to each other, the two output ends of the four motors 1 (511) are respectively mounted with driving bevel gears (513) and transmission wheel 1 (519), the four driving bevel gears (513) are all mounted with bearings 3 (514), the outer rings of the four bearings 3 (514) are respectively and symmetrically fixedly mounted on the inner walls of the lower buckle cover 1 (5) and the upper buckle cover 1 (51), the output ends of the four motors 2 (512) are all mounted with transmission wheel 2 (520), and the transmission wheel 1 (519) and the transmission wheel 2 (520) located on the same side are driven and mounted with the same transmission belt (521).

6. The modular humanoid robotic arm with flexible tactile sensors according to claim 1, Features: The linkage structure comprises a connecting shaft (515), the connecting shaft (515) being rotatably mounted on the joint member 1 (21), two quasi-double-sided gears (516) and two active bevel gears (517) being rotatably mounted on the connecting shaft (515), the quasi-double-sided gears (516) and the active bevel gears (517) being located on the same side and being fixedly mounted to each other, a driven bevel gear (518) being mounted on one end of the rotating shaft (217), the driven bevel gear (518) being meshed with the two active bevel gears (517), and the two driving bevel gears (513) being respectively meshed with the two quasi-double-sided gears (516).

7. The modular humanoid robotic arm with flexible tactile sensors according to claim 1, Features: The control structure comprises two motor controllers (611), the two motor controllers (611) being fixedly mounted on the inner walls of the second lower buckle cover (6) and the second upper buckle cover (61), respectively, the two motor controllers (611) being electrically connected to the corresponding first motor (511) and second motor (512), respectively, and the two motor controllers (611) being electrically connected to posture sensors.

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