Modular forearm assembly and humanoid robot with same

Abstract

The invention discloses a modularized forearm assembly, and relates to the technical field of humanoid robots, the modularized forearm assembly comprises a forearm shell assembly, a forearm assembly, a forearm assembly, a forearm assembly and a forearm assembly, the forearm assembly comprises a first shell and a second shell, and one side of the first shell is provided with a notch part; the first driving assembly is in driving connection with the small arm shell assembly; a mechanical gripper assembly; the visual auxiliary assembly comprises a forearm protection shell used for sealing the notch part, a camera assembly fixedly installed on the forearm protection shell and a second driving assembly used for driving the forearm protection shell to be close to or away from the first shell. The visual auxiliary assembly is arranged in the modularized forearm assembly, the camera assembly can be moved out of the forearm shell assembly or contained in the forearm shell assembly through opening and closing of the forearm protection shell in the visual auxiliary assembly, and visual auxiliary of the position of the view blind area is achieved through opening and closing of the forearm protection shell in the position of the view blind area; therefore, the humanoid effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a modular forearm assembly and a humanoid robot having the modular forearm assembly. Background Art

[0002] At present, humanoid robots have good mobility when facing complex terrain, so the research and development of humanoid robots has received more and more attention in recent years. Humanoid robots need to use their arms to carry objects with the help of vision, so the structural design of the arm module of humanoid robots is particularly important, especially in the design of the forearm part.

[0003] The arms in the prior art are usually connected to various motors through an internal skeleton and then covered with an outer shell. During use, visual assistance of the forearm is not always required (for example, in some non-blind areas). This leads to problems such as inadequate visual assistance in the forearm part of the existing arms, inaccurate sampling values ​​of dexterous hand rotation, complicated assembly procedures, cumbersome testing and maintenance, and increased costs of frame bionics and auxiliary structures. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a modular forearm assembly and a humanoid robot having the modular forearm assembly.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows: A modular small arm assembly, comprising: A forearm housing assembly comprises a first housing and a second housing, wherein the first housing and the second housing are butted together to form the forearm housing assembly, and a notch is provided on a side of the first housing away from the second housing; A first driving assembly is drivingly connected to the forearm housing assembly and is used to drive the forearm housing assembly to rotate around its own axis; A mechanical gripper assembly, arranged at the other end of the forearm housing assembly; and a visual aid component, comprising a forearm guard shell for closing the notch, a camera component fixedly mounted on the forearm guard shell, and a second driving component for driving the forearm guard shell to approach or move away from the first shell; Among them, the camera assembly is located at one end of the forearm guard shell adjacent to the robotic gripper assembly. When the forearm guard shell closes the notch, the camera assembly is located inside the first shell; when the notch is not closed, the camera assembly is located outside the first shell.

[0006] As a preferred solution of the modular forearm assembly described in the present invention, the second driving component includes a mounting base fixedly installed in the forearm outer shell assembly, a driving electric cylinder hinged on the mounting base, and a shell pull rod hinged on the mounting base, and the driving shaft of the driving electric cylinder and the other end of the shell pull rod are both hinged to the forearm shell.

[0007] As a preferred solution of the modular forearm assembly described in the present invention, wherein: the distance between one end of the driving electric cylinder hinged to the mounting seat and the robotic claw assembly is greater than the distance between one end of the driving shaft of the driving electric cylinder hinged to the forearm protective shell and the robotic claw assembly, and the distance between one end of the protective shell pull rod hinged to the mounting seat and the robotic claw is smaller than the distance between one end of the protective shell pull rod hinged to the forearm protective shell and the robotic claw.

[0008] As a preferred solution of the modular forearm assembly of the present invention, wherein: a third driving assembly for driving the manipulator claw to swing is arranged in the forearm housing assembly; The third driving assembly includes a bearing seat fixedly mounted in the forearm housing assembly, the bearing seat is located at one end of the forearm housing assembly adjacent to the manipulator gripper assembly, a cross bearing assembly is hinged in the bearing seat, two shaft heads located on the first axis in the cross bearing assembly are hinged to the bearing seat, and two shaft heads located on the second axis in the cross bearing assembly are hinged to the manipulator gripper assembly; One end of the robotic gripper assembly hinged to the cross bearing assembly extends into the forearm housing assembly and forms two first connecting ball heads, and the straight line where the two first connecting ball heads are located is parallel to the first axis, and the third drive assembly also includes a first transmission rod and a second transmission rod arranged in the forearm housing assembly, and a first transmission rod driving device and a second transmission rod driving device, respectively used to drive the first transmission rod and the second transmission rod to approach or move away from the robotic gripper assembly, and one end of the first transmission rod and the second transmission rod are respectively hinged to the two first connecting ball heads.

[0009] As a preferred solution of the modular forearm assembly of the present invention, the second axis is parallel to the thickness direction of the palm of the robot gripper.

[0010] As a preferred solution of the modular forearm assembly described in the present invention, wherein: the first transmission rod driving device and the second transmission rod driving device both include a driving motor fixedly installed in the forearm housing assembly, a driving disk fixedly connected to the outside of the rotating shaft of the driving motor, and a second connecting ball head fixedly installed on the driving disk, the second connecting ball head is located at a non-center of the driving disk, and the other ends of the first transmission rod and the second transmission rod are respectively hinged to the two second connecting ball heads.

[0011] As a preferred solution of the modular forearm assembly of the present invention, the two drive motors are arranged in sequence along the axis of the forearm housing assembly.

[0012] As a preferred solution of the modular forearm assembly of the present invention, a magnetic encoder reading head for collecting the rotation angles of the two driving motors is arranged in the forearm housing assembly.

[0013] As a preferred solution of the modular forearm assembly of the present invention, it also includes a forearm end shell assembly, which is arranged at one end of the forearm outer shell assembly, and the first drive assembly is at least partially accommodated in the forearm end shell assembly.

[0014] The present invention also provides a humanoid robot, comprising the modular forearm assembly as described in any one of the above items.

[0015] The beneficial effects of the present invention are: (1) The present invention is provided with a visual assistance component in the modular forearm assembly. By opening and closing the forearm protective shell in the visual assistance component, the camera component can be moved to the outside of the forearm outer shell component or accommodated in the forearm outer shell component. By opening and closing the forearm protective shell in the blind spot of the field of vision, visual assistance is achieved in the blind spot of the field of vision, thereby achieving a better human-like effect.

[0016] (2) The third driving assembly in the present invention includes a cross bearing assembly, a first transmission rod, a second transmission rod and two transmission rod driving devices. The two transmission rods can move in different ways to realize the up and down and left and right flipping of the robot gripper assembly, which not only simplifies the assembly process, but also facilitates subsequent testing and maintenance, while also reducing the cost of the frame bionics and auxiliary structures.

[0017] (3) The present invention also provides a magnetic encoder reading head for collecting the rotation angles of the two drive motors in the forearm housing assembly. The magnetic encoder reading head is used to sample the rotation of the drive disk, so that the rotation sampling value of the manipulator gripper assembly is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0019] Figure 1 A schematic diagram of the structure of a modular arm assembly provided in Example 1; Figure 2It is a schematic diagram of the structure in the modular forearm assembly when the forearm shell is opened; Figure 3 It is a structural schematic diagram of the third drive component in the modular arm assembly; Figure 4 A schematic diagram of the structure of the third drive assembly in the modular forearm assembly provided in Example 1; Figure 5 It is a schematic diagram of the axis in the modular forearm assembly in Example 1; Among them: 100, forearm housing assembly; 110, first shell; 120, second shell; 200, first drive assembly; 300, robot gripper assembly; 310, connection part; 400, visual aid assembly; 410, forearm guard shell; 420, camera assembly; 430, mounting seat; 440, driving electric cylinder; 450, guard shell pull rod; 500, third drive assembly; 510, bearing seat; 520, cross bearing assembly; 530, first connecting ball head; 540, first transmission rod; 550, second transmission rod; 560, driving motor; 570, driving disk; 580, second connecting ball head; 590, magnetic encoder reading head; 600, forearm end shell assembly. DETAILED DESCRIPTION

[0020] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific implementation modes and in combination with the accompanying drawings.

[0021] Embodiment 1: Figure 1 A schematic diagram of the structure of the modular forearm assembly provided for the present embodiment. The device includes a forearm housing assembly 100, a first drive assembly 200, a manipulator gripper assembly 300, and a visual assistance assembly 400. Among them, the first drive assembly 200 is arranged at one end of the forearm housing assembly 100, and is used to drive the forearm housing assembly 100 to rotate as a whole around its own axis. The manipulator gripper assembly 300 is arranged at the other end of the forearm housing assembly 100. The opening and closing of the forearm guard shell 410 in the visual assistance assembly 400 can move the camera assembly 420 to the outside of the forearm housing assembly 100 or be accommodated in the forearm housing assembly 100, so as to realize visual assistance in the blind spot position of the field of vision.

[0022] Specifically, the arm housing assembly 100 includes a first housing 110 and a second housing 120. The first housing 110 and the second housing 120 are both hollow arc-shaped housings. After the first housing 110 and the second housing 120 are butted up and down, a hollow arm housing assembly 100 with openings at both ends is formed.

[0023] See also Figure 3The robot gripper assembly 300 is connected to the left end of the forearm housing assembly 100, and the forearm end housing assembly 600 is connected to the right end of the forearm housing assembly 100, and a rotatable connection is formed between the forearm end housing assembly 600 and the forearm housing assembly 100. The first drive assembly 200 is at least partially accommodated in the forearm end housing assembly 600 and is drivingly connected to the forearm housing assembly 100. When the first drive assembly 200 is in operation, it can drive the forearm housing assembly 100 to rotate as a whole around its own axis, that is, the rotation axis is Figure 5 The axis L1 in.

[0024] In this embodiment, the first driving assembly 200 includes a servo motor, which can accurately control the rotation angle of the forearm housing assembly 100 .

[0025] See also Figure 2 , a notch is provided at the upper end of the first shell 110, that is, the side of the first shell 110 away from the second shell 120. The visual auxiliary component 400 includes a forearm protective shell 410 for closing the sealing portion, a camera component 420 fixedly mounted on the forearm protective shell 410, and a second driving component for driving the forearm protective shell 410 to approach or move away from the first shell 110. Among them, the camera component 420 is fixedly mounted on the inner side of the forearm protective shell 410, and is located at one end of the forearm protective shell 410 adjacent to the robot gripper component 300, that is, at the left end of the forearm protective shell 410. The second driving component includes a mounting seat 430 fixedly mounted in the forearm outer shell component 100, and the mounting seat 430 is fixedly mounted in the second shell 120. A driving electric cylinder 440 is hinged at the upper end of the mounting seat 430, and the end of the piston rod of the driving electric cylinder 440 is hinged to the inner side of the forearm protective shell 410. When the electric cylinder 440 is driven to control the piston rod to extend outward, the piston rod will tilt the forearm shell 410 upward, so that the camera assembly 420 on the forearm shell 410 is located outside the forearm shell assembly 100, thereby collecting images of the area where the manipulator gripper assembly 300 is located, ensuring visual assistance for the blind area of ​​the forearm's partial field of vision. When visual assistance is not needed, the electric cylinder 440 is driven to control the piston rod to retract inward, and the piston rod will drive the forearm shell 410 to move toward the first shell 110 until the notch at the upper end of the first shell 110 is closed. At this time, the camera assembly 420 is located inside the forearm shell assembly 100, so that the camera assembly 420 can be protected.

[0026] In addition, a shell pull rod 450 is hinged on the mounting seat 430, one end of which is hinged to the mounting seat 430, and the other end is hinged to the inner side of the forearm shell 410. At the same time, the distance between the end of the driving electric cylinder 440 hinged to the mounting seat 430 and the robot gripper assembly 300 is greater than the distance between the end of the driving electric cylinder 440 driving shaft hinged to the forearm shell 410 and the robot gripper assembly 300, while the distance between the end of the shell pull rod 450 hinged to the mounting seat 430 and the robot gripper is smaller than the distance between the end of the shell pull rod 450 hinged to the forearm shell 410 and the robot gripper, that is, the inclination direction of the piston rod of the driving electric cylinder 440 is opposite to the inclination direction of the shell pull rod 450, see Figure 2 When the driving electric cylinder 440 drives the forearm shield 410 to tilt upward, the shield pull rod 450 will also gradually lift up. The shield pull rod 450 can limit the maximum stroke of the forearm shield 410, thereby limiting the lifting height of the forearm shield 410.

[0027] A third driving assembly 500 for driving the manipulator gripper to swing is also provided in the forearm housing assembly 100. A roughly U-shaped connecting portion 310 is provided at the end of the manipulator gripper assembly 300, and both ends of the U-shaped connecting portion 310 are hinged portions. The third driving assembly 500 includes a bearing seat 510 fixedly mounted in the forearm housing assembly 100, and the bearing seat 510 is located at the left end of the forearm housing assembly 100, that is, adjacent to one end of the manipulator gripper assembly 300. A cross bearing assembly 520 is hinged in the bearing seat 510, and the cross bearing assembly 520 includes a cross-shaped shaft body and shaft heads installed at the four ends of the shaft body. Among them, the two shaft heads located on the first axis are hinged to the bearing seat 510, and the two shaft heads located on the second axis are hinged to the two hinged portions at the ends of the manipulator gripper assembly 300. When the cross bearing assembly 520 rotates around the first axis, the robot gripper assembly 300 can be turned upside down as a whole; when the cross bearing assembly 520 rotates around the second axis, the robot gripper assembly 300 can be swung left and right as a whole. Figure 5 The axis L2 in the cross bearing assembly 520 is Figure 5 The axis L3 in.

[0028] See also Figure 4, a hinged portion of the manipulator gripper assembly 300 that is hinged to the cross bearing assembly 520 extends into the arm housing assembly 100 and forms two first connecting ball heads 530. The straight line where the two first connecting ball heads 530 are located is parallel to the first axis in the cross bearing assembly 520. The third drive assembly 500 also includes a first transmission rod 540 and a second transmission rod 550 installed in the arm housing assembly 100, as well as a first transmission rod 540 driving device and a second transmission rod 550 driving device. Among them, the first transmission rod 540 driving device and the second transmission rod 550 driving device both include a driving motor 560 fixedly installed in the arm housing assembly 100, and the two driving motors 560 are both fixedly installed on the second housing 120, and the two driving motors 560 are arranged in sequence along the axis of the arm housing assembly 100, that is, arranged one after the other along the length direction of the arm housing assembly 100. A circular driving disc 570 is coaxially and fixedly mounted on the outer side of the rotating shaft of each driving motor 560, and a second connecting ball head 580 is fixedly mounted at a non-center of the driving disc 570. One end of the first transmission rod 540 and the second transmission rod 550 are respectively hinged to the two first connecting ball heads 530, and the other ends of the first transmission rod 540 and the second transmission rod 550 are respectively hinged to the second connecting ball heads 580 on the two driving discs 570.

[0029] When the driving motor 560 in any one of the transmission rod driving devices is in operation, the corresponding driving disk 570 can be driven to rotate, and then the second connecting ball head 580 thereon can be driven to rotate around the rotating shaft of the driving motor 560. Since the lengths of the first transmission rod 540 and the second transmission rod 550 are fixed, the transmission of the first transmission rod 540 and the second transmission rod 550 will drive the first connecting ball head 530 to move accordingly. At this time, there are two driving modes. The first one is to control the first transmission rod 540 and the second transmission rod 550 to move in the same direction, that is, to control the first transmission rod 540 and the second transmission rod 550 to move toward the robot gripper assembly 300 at the same time or to move away from the robot gripper assembly 300 at the same time. At this time, the force applied to the robot gripper assembly 300 by the first connecting ball head 530 will drive the cross bearing assembly 520 to rotate around the first axis, thereby driving the robot gripper to flip up and down. The second method is: controlling the first transmission rod 540 and the second transmission rod 550 to move in opposite directions, that is, one of the transmission rods moves toward the robotic gripper assembly 300, and the other transmission rod moves away from the robotic gripper assembly 300. At this time, the force applied to the robotic gripper assembly 300 through the first connecting ball head 530 will drive the cross bearing assembly 520 to rotate around the second axis, thereby driving the robotic gripper to flip left and right.

[0030] It can be understood that the U-shaped connecting portion 310 provided at the end of the manipulator gripper assembly 300 limits the angle between the manipulator gripper assembly 300 and the forearm housing assembly 100 to a preset range when the manipulator gripper assembly 300 flips up and down or left and right around the wrist joint, thereby preventing motion interference between them and ensuring the normal movement of the manipulator gripper assembly 300.

[0031] Preferably, a magnetic encoder reading head 590 for collecting the rotation angles of the two drive motors 560 is also provided in the forearm housing assembly 100. The drive disk 570 is rotationally sampled by the magnetic encoder reading head 590 to make the rotation sampling value of the robot gripper assembly 300 more accurate.

[0032] Therefore, the above technical solution enables the camera assembly 420 to be moved to the outside of the forearm outer shell assembly 100 or accommodated in the forearm outer shell assembly 100 through the opening and closing of the forearm guard shell 410 in the visual assistance assembly 400, thereby realizing visual assistance in the blind spot of the field of vision, thereby achieving a better human-like effect.

[0033] Embodiment 2: This embodiment provides a humanoid robot, comprising a modular torso assembly, a modular arm upper arm elbow joint portion, and the modular forearm assembly provided in Embodiment 1. The modular arm upper arm elbow joint portion comprises a fourth drive assembly and an elbow joint shell. At least a portion of the elbow joint shell is accommodated in the modular forearm assembly, and the fourth drive assembly is connected to the modular forearm assembly.

[0034] The modular humanoid robot provided in this embodiment realizes the humanoid upper limb movement of the modular humanoid robot by adopting the upper arm part of the modular arm component and the modular forearm assembly, and the humanoid upper limb movement has a good humanoid effect.

[0035] In addition to the above embodiments, the present invention may also have other implementation modes; any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A modular arm assembly, characterized in that: include: A forearm housing assembly (100) comprises a first housing (110) and a second housing (120), wherein the first housing (110) and the second housing (120) are butted together to form the forearm housing assembly (100), and a notch is provided on a side of the first housing (110) away from the second housing (120); A first driving assembly (200) is drivingly connected to the forearm housing assembly (100) and is used to drive the forearm housing assembly (100) to rotate around its own axis; A mechanical gripper assembly (300), arranged at the other end of the forearm housing assembly (100); and a visual assistance component (400), comprising a forearm protective shell (410) for closing the notch, a camera component (420) fixedly mounted on the forearm protective shell (410), and a second driving component for driving the forearm protective shell (410) to move closer to or away from the first housing (110); The camera assembly (420) is located at one end of the forearm protective shell (410) adjacent to the robotic gripper assembly (300); when the forearm protective shell (410) closes the notch, the camera assembly (420) is located inside the first shell (110); when the notch is not closed, the camera assembly (420) is located outside the first shell (110).

2. The modular arm assembly according to claim 1, characterized in that: The second driving assembly comprises a mounting base (430) fixedly mounted in the forearm housing assembly (100), a driving electric cylinder (440) hinged on the mounting base (430), and a shell pull rod (450) hinged on the mounting base (430), wherein the driving shaft of the driving electric cylinder (440) and the other end of the shell pull rod (450) are both hinged to the forearm shell (410).

3. The modular arm assembly according to claim 2, characterized in that: The distance between the end at which the driving electric cylinder (440) is hinged to the mounting seat (430) and the robotic gripper assembly (300) is greater than the distance between the driving shaft of the driving electric cylinder (440) and the end at which the forearm protective shell (410) is hinged and the robotic gripper assembly (300), and the distance between the end at which the protective shell pull rod (450) is hinged to the mounting seat (430) and the robotic gripper is less than the distance between the end at which the protective shell pull rod (450) is hinged to the forearm protective shell (410) and the robotic gripper.

4. The modular arm assembly according to claim 1, characterized in that: A third driving assembly (500) for driving the mechanical gripper to swing is arranged in the forearm housing assembly (100); The third driving assembly (500) comprises a bearing seat (510) fixedly mounted in the forearm housing assembly (100), the bearing seat (510) being located at one end of the forearm housing assembly (100) adjacent to the manipulator gripper assembly (300), a cross bearing assembly (520) being hingedly connected in the bearing seat (510), two shaft heads located on a first axis in the cross bearing assembly (520) being hingedly connected to the bearing seat (510), and two shaft heads located on a second axis in the cross bearing assembly (520) being hingedly connected to the manipulator gripper assembly (300); One end of the manipulator gripper assembly (300) hinged to the cross bearing assembly (520) extends into the arm housing assembly (100) and forms two first connecting ball heads (530), and the straight line where the two first connecting ball heads (530) are located is parallel to the first axis. The third driving assembly (500) also includes a first transmission rod (540) and a second transmission rod (550) arranged in the arm housing assembly (100) and a first transmission rod (540) driving device and a second transmission rod (550) driving device respectively used to drive the first transmission rod (540) and the second transmission rod (550) to approach or move away from the manipulator gripper assembly (300), and one end of the first transmission rod (540) and the second transmission rod (550) are respectively hinged to the two first connecting ball heads (530).

5. The modular arm assembly according to claim 4, characterized in that: The second axis is parallel to the thickness direction of the palm of the robot gripper.

6. The modular arm assembly according to claim 4, characterized in that: The first transmission rod (540) driving device and the second transmission rod (550) driving device both comprise a driving motor (560) fixedly mounted in the forearm housing assembly (100), a driving disk (570) fixedly connected to the outside of the rotating shaft of the driving motor (560), and a second connecting ball head (580) fixedly mounted on the driving disk (570), wherein the second connecting ball head (580) is located at a non-center position of the driving disk (570), and the other ends of the first transmission rod (540) and the second transmission rod (550) are respectively hinged to the two second connecting ball heads (580).

7. The modular arm assembly according to claim 6, characterized in that: The two driving motors (560) are arranged in sequence along the axis of the forearm housing assembly (100).

8. The modular arm assembly according to claim 6, characterized in that: A magnetic encoder reading head (590) for collecting the rotation angles of the two drive motors (560) is arranged inside the forearm housing component (100).

9. The modular arm assembly according to claim 1, characterized in that: It also includes a forearm end shell assembly (600), wherein the forearm end shell assembly (600) is arranged at one end of the forearm outer shell assembly (100), and the first drive assembly (200) is at least partially accommodated in the forearm end shell assembly (600).

10. A humanoid robot, characterized in that: Comprising the modular forearm assembly as described in any one of claims 1 to 9.

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