Industrial-grade heavy-load humanoid robot arm, double-arm system and humanoid robot

Abstract

The invention provides an industrial-grade heavy-load humanoid robot arm, a double-arm system and a humanoid robot, and belongs to the technical field of robots. The industrial-grade heavy-load humanoid robot arm comprises a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint and a seventh driving joint; the mounting parts comprise a first mounting part, a second mounting part, a third mounting part, a fourth mounting part, a fifth mounting part, a sixth mounting part, a six-dimensional force sensor and an end effector; according to the double-arm system and the humanoid robot composed of the double-arm system, the joints and the installation parts are separated and connected in sequence, modular design can be achieved, and maintenance and upgrading are convenient, a single arm has seven degrees of freedom, complex motion trail and posture adjustment can be achieved in a three-dimensional space, and meanwhile, the robot is convenient to use. The loading and working capacity of the arm is greatly improved, the space of a driving mechanism is reduced, and the running speed during action execution is increased.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an industrial-grade large-load humanoid robot arm, a dual-arm system and a humanoid robot. Background Art

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robotics. They have a structure similar to that of humans, can adapt to more complex terrain conditions, have a more flexible working space and rapid movement capabilities, and can accomplish more complex tasks, such as handling, precise grasping, contact detection and other segmented scenarios.

[0003] The degrees of freedom of a robot arm refers to the number of directions in which the arm can move independently. The more degrees of freedom the arm has, the more complex the movements it can perform and the more spatial positions it can reach, allowing it to perform a more diverse range of tasks. Most robotic arms currently on the market have six degrees of freedom, which means they can move in six independent directions, usually three translations (up and down, left and right, front and back) and three rotations (pitch, yaw, and roll). Six-degree-of-freedom arms are already very effective in many fields and are widely used in light-load fields such as precision manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration; but they may be limited in handling tasks that require more complex operations or larger loads. For example, in contact-type large-load operation applications and deployment scenarios such as industrial sites, rescue, and dual-arm coordination, there are greater limitations. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and to provide an industrial-grade large-load humanoid robot arm, a dual-arm system and a humanoid robot. A single arm has seven degrees of freedom and can achieve complex motion trajectories and posture adjustments in three-dimensional space. At the same time, it greatly improves the load and operating capacity of the arm, reduces the space of the drive mechanism, and improves the operating speed when performing actions.

[0005] Technical solution: The industrial-grade large-load humanoid robot arm described in the present invention includes a group of joints, which are connected in sequence through mounting parts. The joints include a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint, and a seventh driving joint. The mounting parts include a first mounting part, a second mounting part, a third mounting part, a fourth mounting part, a fifth mounting part, and a sixth mounting part. The first driving joint is rotatably connected to one side of the first mounting part, and the other side of the first mounting part is rotatably connected to one side of the second driving joint, and the other side of the second driving joint is rotatably connected to one side of the second mounting part. The other side of the mounting part is rotatably connected to one side of the third driving joint, the other side of the third driving joint is rotatably connected to one side of the third mounting part, the other side of the third mounting part is rotatably connected to one side of the fourth driving joint, the other side of the fourth driving joint is rotatably connected to one side of the fourth mounting part, the other side of the fourth mounting part is rotatably connected to one side of the fifth driving joint, the other side of the fifth driving joint is rotatably connected to one side of the fifth mounting part, the other side of the fifth mounting part is rotatably connected to one side of the sixth driving joint, the other side of the sixth driving joint is rotatably connected to one side of the sixth mounting part, and the other side of the sixth mounting part is rotatably connected to the seventh driving joint. The design of the seven driving joints provides multiple degrees of freedom, enabling the robot arm to perform complex actions and tasks, such as grasping, handling, and assembly; each driving joint can be independently controlled, which allows the robot arm to perform precise motion control and improve the accuracy of the operation; through the rotational connection of the joint and the mounting part, mechanical wear can be reduced and the reliability and durability of the robot arm can be improved; by separating the joint and the mounting part and connecting them in sequence, a modular design can be achieved, which is convenient for maintenance and upgrading. If a joint or mounting part fails, it can be replaced separately without replacing the entire arm.

[0006] Furthermore, a six-dimensional force sensor is installed on the other mounting side of the seventh drive joint, and the other side of the six-dimensional force sensor is connected to the end effector. The six-dimensional force sensor can provide feedback of three-axis force and three-axis torque, which means that the robot arm can sense the magnitude and direction of the force applied to its end effector, as well as the torque. This feedback is crucial for performing tasks that require fine control.

[0007] Furthermore, a binocular depth camera is mounted on the end effector through a binocular depth camera mounting part. The binocular depth camera can obtain accurate distance information from the object to the camera by simulating the principle of human binocular vision, which is crucial for tasks that require precise operation, such as assembly, polishing or grasping. The binocular depth camera can provide position and shape information of objects in three-dimensional space, so that the robot arm can better adapt to different tasks and scenarios in complex environments. By monitoring the surrounding environment in real time, the binocular depth camera can help the robot avoid collisions with surrounding objects or people, thereby improving the safety of human-machine collaboration.

[0008] Furthermore, a limiter is provided between the first driving joint and the first mounting member, and the limiter limits the rotation angle of the first driving joint. The limiter can prevent the driving joint from rotating beyond its design range, thereby avoiding mechanical damage or overload caused by excessive rotation; at the same time, by accurately limiting the rotation angle, the repeated positioning accuracy and operation accuracy of the robot arm when performing tasks can be improved.

[0009] Furthermore, it also includes a group of covering parts and a group of dust covers, the covering parts cover the mounting parts, and the dust covers cover the mounting parts.

[0010] Further, the covering includes a first drive joint covering, a second drive joint covering, a third drive joint left covering, a third drive joint right covering, a fourth drive joint covering, and a fifth joint covering; the first drive joint covering is connected to the first mounting part by bolts, the second drive joint covering is connected to the second mounting part by bolts, the third drive joint left covering, the third drive joint right covering and the third mounting part by bolts, the fourth drive joint covering is connected to the fourth mounting part by bolts, and the fifth joint covering is connected to the fifth mounting part by bolts. The covering can protect the drive joints and mounting parts from dust, moisture, impact and other potential physical damages, thereby extending the service life of the robot arm.

[0011] Further, the dust cover includes a second drive joint dust cover, a fourth drive joint dust cover and a sixth drive joint dust cover; the second drive joint dust cover is connected to the second drive joint by bolts, the fourth drive joint dust cover is connected to the fourth drive joint by bolts, and the sixth drive joint dust cover is connected to the sixth drive joint by bolts. By preventing the accumulation of dust and debris, the cover can reduce the maintenance requirements of the joints and mounting parts and reduce maintenance costs.

[0012] The present invention also provides an industrial-grade large-load humanoid robot dual-arm system, comprising two symmetrically arranged arms. A single arm has 7 degrees of freedom, and the dual arms have 14 degrees of freedom, further improving the operating accuracy, operating radius and application scenarios of the dual arms.

[0013] Furthermore, the two arms are connected via a double-arm support frame 3 .

[0014] The present invention also provides an industrial-grade large-load humanoid robot comprising two symmetrically arranged arms.

[0015] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0016] (1) Since each additional degree of freedom can expand the working range of the arm, enabling it to reach farther or higher positions, which is particularly important for application scenarios that require covering a larger space (such as industrial sites, construction sites, etc.), the seven-degree-of-freedom arm designed in the present invention can perform more complex movements. For example, without moving the base, the arm can more flexibly bypass obstacles or work in a small space;

[0017] (2) The present invention is equipped with a six-dimensional force sensor and a binocular depth camera, which can accurately measure the force and torque borne by the end of the arm when it contacts the external environment or grasps the workpiece and performs the action, providing tactile information for the arm's compliance force control and real-time motion control, as well as the depth information of the object that can be accurately perceived;

[0018] (3) The present invention provides a limit member between the first driving joint and the first mounting member, which can prevent the driving joint from rotating beyond its design range, thereby avoiding mechanical damage or overload caused by excessive rotation;

[0019] (4) The present invention also provides an industrial-grade large-load humanoid robot dual-arm system, comprising two symmetrically arranged arms, a single arm having 7 degrees of freedom, and dual arms having 14 degrees of freedom, which further improves the operating accuracy, operating radius and application scenarios of the dual arms;

[0020] (5) In the present invention, the arm can quickly and automatically replace different types of end effectors according to different work requirements, thereby enhancing the arm's ability to adapt to complex work tasks and improving the intelligence of the arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the arm in the present invention;

[0022] Figure 2 yes Figure 1 Exploded diagram of

[0023] Figure 3 It is a schematic diagram of the structure with a cover in the present invention;

[0024] Figure 4 It is a structural schematic diagram of the double-arm system in the present invention;

[0025] Figure 5 It is the electrical communication principle diagram of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0027] Example 1

[0028] like Figures 1 to 3An industrial-grade large-load humanoid robot arm is shown, comprising a first drive joint 101, a second drive joint 128, a third drive joint 125, a fourth drive joint 126, a fifth drive joint 130, a sixth drive joint 127, and a seventh drive joint 115, and mounting parts include a first mounting part 104, a second mounting part 106, a third mounting part 108, a fourth mounting part 110, a fifth mounting part 111, and a sixth mounting part 113; the first drive joint 101 is rotatably connected to one side of the first mounting part 104, and a limiting part 102 is arranged between the first drive joint 101 and the first mounting part 104, and the limiting part 102 limits the rotation angle of the first drive joint 101. The other side of the first mounting member 104 is rotatably connected to one side of the second driving joint 105, the other side of the second driving joint 105 is rotatably connected to one side of the second mounting member 106, the other side of the second mounting member 106 is rotatably connected to one side of the third driving joint 125, the other side of the third driving joint 125 is rotatably connected to one side of the third mounting member 108, the other side of the third mounting member 108 is rotatably connected to one side of the fourth driving joint 126, the other side of the fourth driving joint 126 is rotatably connected to one side of the fourth mounting member 110, the other side of the fourth mounting member 110 is rotatably connected to one side of the fifth driving joint 130, the other side of the fifth driving joint 130 is rotatably connected to one side of the fifth mounting member 111, the other side of the fifth mounting member 111 is rotatably connected to one side of the sixth driving joint 127, the other side of the sixth driving joint 127 is rotatably connected to one side of the sixth mounting member 113, and the other side of the sixth mounting member 113 is rotatably connected to the seventh driving joint 115. A six-dimensional force sensor 117 is installed on the other mounting side of the seventh driving joint 115, and the other side of the six-dimensional force sensor 117 is connected to the end effector 116. A binocular depth camera 118 is installed on the end effector 116 through a binocular depth camera mounting member 114. The binocular depth camera 118 can accurately perceive the depth and visual information of an object, improve the intelligence of the arm, and the arm can quickly replace different types of end effectors according to actual needs, which enhances the ability of the arm to adapt to complex work tasks. The limiter 102 installed on the driving joint can limit the rotation angle of the driving joint and protect the driving joint. A test ring 103 is fixedly installed on the first mounting member 104 for protection during installation and debugging of the arm, which can be removed after the installation and debugging process is completed.

[0029] like Figure 3As shown, it also includes a set of covering parts and a set of dust covers, the covering parts cover the mounting parts, and the dust covers cover the mounting parts. The covering parts include a first drive joint covering part 124, a second drive joint covering part 105, a third drive joint left covering part 107, a third drive joint right covering part 122, a fourth drive joint covering part 121, and a fifth joint covering part 120; the first drive joint covering part 124 is connected to the first mounting part 104 by bolts, the second drive joint covering part 105 is connected to the second mounting part 106 by bolts, the third drive joint left covering part 107, the third drive joint right covering part 122 are connected to the third mounting part 108 by bolts, the fourth drive joint covering part 121 is connected to the fourth mounting part 110 by bolts, and the fifth joint covering part 120 is connected to the fifth mounting part 111 by bolts. The dust cover includes a second drive joint dust cover 123, a fourth drive joint dust cover 109 and a sixth drive joint dust cover 112; the second drive joint dust cover 123 is connected to the second drive joint 128 by bolts, the fourth drive joint dust cover 109 is connected to the fourth drive joint 126 by bolts, and the sixth drive joint dust cover 112 is connected to the sixth drive joint 127 by bolts. The above-mentioned covers and dust covers can be quickly disassembled for easy installation, debugging and maintenance. In order to increase the service life of the arm joints, the arm power line, communication line and joint controller are all built-in hollow wiring, which improves the safety and coordination of the arm operation.

[0030] The arm in this embodiment is a distributed field bus architecture, which is controlled by a multi-axis real-time industrial control system. The distributed drive humanoid arm has built-in drivers for all joints. When used, multi-axis motion control can be performed in combination with actual operation requirements and control planning. The specific communication method is as follows: Figure 5 As shown, this figure is only an example of a single arm. The number of driven joints and communication configuration can be modified according to actual configuration requirements. Figure 5 In the article, the drive-control-measurement joint control unit represents the internal hardware organization structure and communication method of the drive joint described in the full text. The communication between each drive joint is the EtherCAT protocol, and the hollow wiring method inside the joint is adopted to realize the multi-axis real-time distributed bus control architecture of PC-multi-axis real-time controller-drive-control-measurement joint control unit-drive-control-measurement joint control unit, so as to realize the precise motion control of the arm protected in this article. In particular, Figure 5 Only 5 drive-control-measurement integrated joint control units are used as a principle illustration. According to actual control requirements, up to 256 drive joints described in this article can be connected in series.

[0031] Example 2

[0032] like Figure 4 An industrial-grade large-load humanoid robot dual-arm system is shown, comprising two symmetrically arranged arms, which are connected via a dual-arm support frame 3 .

[0033] Example 3

[0034] An industrial-grade large-load humanoid robot comprises the arm or double-arm system mentioned in Example 1 or Example 2, and also comprises a leg mechanism.

[0035] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An industrial-grade heavy-load humanoid robot arm, comprising a set of joints, the joints being sequentially connected by mounting members, characterized in that: The joints include a first driving joint (101), a second driving joint (128), a third driving joint (125), a fourth driving joint (126), a fifth driving joint (130), a sixth driving joint (127), and a seventh driving joint (115); the mounting parts include a first mounting part (104), a second mounting part (106), a third mounting part (108), a fourth mounting part (110), a fifth mounting part (111), and a sixth mounting part (113); the first driving joint (101) is rotatably connected to one side of the first mounting part (104), the other side of the first mounting part (104) is rotatably connected to one side of the second driving joint (105), the other side of the second driving joint (105) is rotatably connected to one side of the second mounting part (106), and the other side of the second mounting part (106) is rotatably connected to the third driving joint (113). The third driving joint (125) is rotatably connected to one side of the third mounting member (108), the other side of the third mounting member (108) is rotatably connected to one side of the fourth driving joint (126), the other side of the fourth driving joint (126) is rotatably connected to one side of the fourth mounting member (110), the other side of the fourth mounting member (110) is rotatably connected to one side of the fifth driving joint (130), the other side of the fifth driving joint (130) is rotatably connected to one side of the fifth mounting member (111), the other side of the fifth mounting member (111) is rotatably connected to one side of the sixth driving joint (127), the other side of the sixth driving joint (127) is rotatably connected to one side of the sixth mounting member (113), and the other side of the sixth mounting member (113) is rotatably connected to the seventh driving joint (115).

2. The industrial-grade heavy-load humanoid robot arm according to claim 1, characterized in that: A six-dimensional force sensor (117) is installed on the other installation side of the seventh driving joint (115), and the other side of the six-dimensional force sensor (117) is connected to the end effector (116).

3. The industrial-grade heavy-load humanoid robot arm according to claim 2, characterized in that: A binocular depth camera (118) is mounted on the end effector (116) via a binocular depth camera mounting component (114).

4. The industrial-grade heavy-load humanoid robot arm according to claim 1, characterized in that: A limiting member (102) is provided between the first driving joint (101) and the first mounting member (104), and the limiting member (102) limits the rotation angle of the first driving joint (101).

5. The industrial-grade heavy-load humanoid robot arm according to claim 4, characterized in that: It also includes a set of covering parts and a set of dust covers, wherein the covering parts cover the mounting parts, and the dust covers cover the mounting parts.

6. The industrial-grade heavy-load humanoid robot arm according to claim 5, characterized in that: The covering parts include a first driving joint covering part (124), a second driving joint covering part (105), a third driving joint left covering part (107), a third driving joint right covering part (122), a fourth driving joint covering part (121), and a fifth joint covering part (120); the first driving joint covering part (124) is connected to the first mounting part (104) by bolts, the second driving joint covering part (105) is connected to the second mounting part (106) by bolts, the third driving joint left covering part (107), the third driving joint right covering part (122) is connected to the third mounting part (108) by bolts, the fourth driving joint covering part (121) is connected to the fourth mounting part (110) by bolts, and the fifth joint covering part (120) is connected to the fifth mounting part (111) by bolts.

7. The industrial-grade heavy-load humanoid robot arm according to claim 5, characterized in that: The dust cover comprises a second drive joint dust cover (123), a fourth drive joint dust cover (109) and a sixth drive joint dust cover (112); the second drive joint dust cover (123) is connected to the second drive joint (128) by bolts, the fourth drive joint dust cover (109) is connected to the fourth drive joint (126) by bolts, and the sixth drive joint dust cover (112) is connected to the sixth drive joint (127) by bolts.

8. An industrial-grade large-load humanoid robot dual-arm system, characterized by: The invention comprises two symmetrically arranged arms as claimed in any one of claims 1 to 7.

9. The industrial-grade large-load humanoid robot dual-arm system according to claim 8, characterized in that: The two arms are connected via a double-arm support frame (3).

10. An industrial-grade large-load humanoid robot, characterized in that: Comprising an arm as described in any one of claims 1 to 7.

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