A series type bionic robot arm

Abstract

The application provides a series type bionic mechanical arm, which comprises a shell, a series type driving assembly is arranged in the shell, the series type driving assembly comprises a first driving module and a second driving module; the first driving module comprises a first driver and a first driving shaft, the first driver is fixedly connected with the shell, and the first driving shaft is in transmission connection with the first driver; the first driving shaft is hollow, and the second driving module is arranged in the first driving shaft. The series type bionic mechanical arm has the advantages of compact and simple structure and high reliability; since the driver is arranged in the shell in series, the size of the motor can be selected according to the load, the appearance of the humanoid robot is more similar to that of human beings, and the application scene adaptability of the humanoid robot is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a serial bionic robotic arm. Background Technology

[0002] Humanoid robots not only need to mimic human movement functions, but their physical appearance must also resemble that of humans. Only when both functions and appearance are similar to humans can humanoid robots seamlessly replace humans in a wide variety of work tasks across different industries. This is because human living and working environments have historically been largely designed according to ergonomics. If a humanoid robot's appearance differs from that of a human, it will be unable to perform various tasks in certain scenarios. For example, in current technology, some humanoid robots have two additional protruding drive motors on their hips compared to the typical human body. This prevents such robots from sitting in cars and driving for humans, as current cars are designed according to ergonomics. Only humanoid robots developed by mimicking human movement abilities and physical characteristics can adapt to different application environments. Future humanoid robots, like humans, will only need to learn different artificial intelligence technologies to adapt to various work tasks.

[0003] Bionic robotic arms are crucial for humanoid robots, making the development of dedicated bionic robotic arms highly significant in terms of both economic value and application prospects. Currently, most humanoid robots are designed and developed by directly mounting drive motors at the movable joints. This design severely limits the choice of motor size, such as its diameter and height, which typically affect the motor's output torque. Directly mounting the drive motor at the movable joint often limits the selection of larger motors due to space constraints, resulting in insufficient drive torque. Existing technologies utilize four-bar linkages or similar methods to relocate the motor outside the joint, such as to the middle of the leg or arm, allowing for the selection of a larger drive motor. However, since human joints often have multiple degrees of freedom, this approach is structurally complex, has low reliability, and often reduces the number of degrees of freedom at the joint. Summary of the Invention

[0004] To address at least one of the aforementioned technical problems, the present invention aims to provide a serial bionic robotic arm that is simple in structure and highly reliable. Furthermore, this serial bionic robotic arm is simple to manufacture, has lower cost, and offers higher load capacity and precision; its modular design facilitates large-scale production and application.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A serial bionic robotic arm is provided, comprising a housing, wherein a serial drive assembly is disposed within the housing, the serial drive assembly comprising a first drive module and a second drive module; the first drive module comprises a first driver and a first drive shaft, the first driver being fixedly connected to the housing, and the first drive shaft being drively connected to the first driver; the first drive shaft is hollow, and the second drive module is disposed within the first drive shaft.

[0006] Furthermore, the second drive module includes a second driver, which is fixedly connected to the first drive shaft; the second drive module also includes a second drive shaft, which is drive-connected to the second driver.

[0007] Furthermore, the rotation center lines of the first drive shaft and the second drive shaft are collinear.

[0008] Furthermore, the series drive assembly also includes a third drive module; the first drive module, the second drive module and the third drive module are arranged sequentially in the housing, and the second drive module is located between the first drive module and the third drive module.

[0009] Furthermore, the second drive shaft is hollow, and the third drive module includes a third driver and a third drive shaft. The third driver is disposed in the second drive shaft and is fixedly connected to the second drive shaft; the third drive shaft is drive-connected to the third driver.

[0010] Furthermore, it also includes a bionic wrist assembly, which includes a first joint housing that is rotatably supported on the outer shell by bearings; the first drive shaft is drively connected to the first joint housing.

[0011] Furthermore, the bionic wrist assembly also includes a second joint housing, a hollow shaft, a first bevel gear, a second bevel gear, and a connecting flange; the second joint housing is hinged to the first joint housing via the connecting flange; the hollow shaft is rotatably supported within the first joint housing and is arranged coaxially with the first joint housing; the second drive shaft is drively connected to one end of the hollow shaft; the other end of the hollow shaft passes through the first joint housing and is fixedly provided with the first bevel gear; the second bevel gear, which meshes with the first bevel gear, is fixedly connected to the second joint housing as a whole via the connecting flange and connecting screws.

[0012] Furthermore, the bionic wrist assembly also includes a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, and an output flange; the third drive shaft is rotatably supported inside the hollow shaft and is arranged coaxially with the hollow shaft; the third drive shaft passes through the hollow shaft and is provided with a third bevel gear, and the fourth bevel gear meshing with the third bevel gear is coaxially and fixedly connected to the fifth bevel gear; the sixth bevel gear meshing with the fifth bevel gear is fixedly connected to the output flange.

[0013] Furthermore, the first driver, the second driver, and the third driver are integrated motors and / or motor reducers with dual encoders.

[0014] Furthermore, the first driver, the second driver, and the third driver are hollow shaft type, and the control lines and signal lines of the first driver, the second driver, and the third driver pass through the hollow shaft and are connected to the outside of the housing.

[0015] Compared with existing technologies, the serial bionic robotic arm provided by this invention has the following advantages: The serial bionic robotic arm provided by this invention consists of a first drive module, a second drive module, and a third drive module arranged coaxially in sequence within the outer shell. That is, the rotation center lines of the first drive module, the second drive module, and the third drive module are all collinear, and the second drive module is located between the first drive module and the third drive module, forming a serial drive structure. This arrangement places the motor outside the joint position, which reduces the limitations on motor selection. At the same time, the structure is simple and has high reliability.

[0016] The serial drive assembly in the serial bionic robotic arm provided by this invention, because the actuators are arranged in series and installed in the housing, allows for the selection of appropriate motor sizes, such as the motor's diameter and height, based on load requirements. When the serial bionic robotic arm is used to assemble the arm of a humanoid robot, a relatively small-diameter but longer motor can be selected due to the arm's slender shape. When the serial bionic robotic arm is used to assemble the leg of a humanoid robot, a relatively large-diameter motor can be selected due to the leg's thick and long shape, and the motor's length can also be rationally selected according to torque requirements.

[0017] The serial bionic robotic arm provided by this invention, when used as the wrist or leg of a humanoid robot, has its actuators arranged in series and installed in the outer shell. At this time, the outer shell is equivalent to the forearm or lower leg of a human body, corresponding to the human body structure. Therefore, the humanoid robot assembled with the serial bionic robotic arm provided by this invention has a shape similar to a human and can replace humans to complete a variety of work tasks without industry differences, thus having a wider range of applications. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the serial bionic robotic arm provided by the present invention; Figure 2 This is a schematic diagram of the internal structure of the serial bionic robotic arm provided by the present invention; Figure 3 This is a partial structural diagram of the serial bionic robotic arm provided by the present invention after removing the outer shell; Figure 4 This is a schematic diagram of the internal structure of the serial bionic robotic arm provided by the present invention after the outer shell has been removed. Figure 5 This is a partial structural schematic diagram of the serial bionic robotic arm provided by the present invention; Figure 6 This is a partial internal structure diagram of the serial bionic robotic arm provided by the present invention; Figure 7 This is a partial structural schematic diagram of the serial bionic robotic arm provided by the present invention; Figure 8 This is a partial internal structure diagram of the serial bionic robotic arm provided by the present invention; Figure 9 This is a schematic diagram of the structure of the bionic wrist assembly provided by the present invention; Figure 10 This is a schematic diagram of the internal structure of the bionic wrist assembly provided by the present invention; Figure 11 This is a schematic diagram of the hollow wiring method of the serial bionic robotic arm provided by the present invention; The reference numerals in the attached figures are explained as follows: 1. Serial drive assembly, 1-10 housing, 1-11 first drive module, 1-110 first driver, 1-111 first drive shaft, 1-12 second drive module, 1-120 second driver, 1-121 second drive shaft, 1-13 third drive module, 1-130 third driver, 1-131 third drive shaft, 2. Bionic wrist assembly, 2-1 first joint housing, 2-10 bearing, 2-2 second joint housing, 2-20 hollow shaft, 2-21 first bevel gear, 2-22 second bevel gear, 2-30 third bevel gear, 2-31 fourth bevel gear, 2-32 fifth bevel gear, 2-33 sixth bevel gear, 2-3 output flange. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the art or in accordance with the product manual.

[0020] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] The following will describe the serial bionic robotic arm of the present invention in detail through specific embodiments: In this implementation, such as Figures 1-11 As shown, the serial bionic robotic arm provided in this embodiment includes components such as a serial drive assembly 1 and a bionic wrist assembly 2. The serial drive assembly 1 and the bionic wrist assembly 2 are connected by a transmission, and the serial drive assembly drives the bionic wrist assembly 2 to achieve the corresponding movement.

[0023] The series drive assembly 1 includes components such as a housing 1-10, a first drive module 1-11, a second drive module 1-12, and a third drive module 1-13. The first drive module 1-11, the second drive module 1-12, and the third drive module 1-13 are arranged coaxially within the housing 1-10, meaning their rotation center lines are all collinear, with the second drive module 1-12 positioned between the first drive module 1-11 and the third drive module 1-13. The shape of the housing 1-10 can be reasonably selected and set according to actual needs; in this embodiment, the preferred shape of the housing 1-10 is cylindrical. The rotation center lines of the aforementioned drive modules can be collinear or non-collinear with the axis of the housing 1-10; this application does not impose excessive restrictions in this regard.

[0024] The first drive module 1-11 includes a first driver 1-110 and a first drive shaft 1-111. The first driver 1-110 is fixedly installed in the housing 1-10 and is fixedly connected to the housing 1-110. The connection between the first driver 1-110 and the housing 1-10 can be achieved through common connection methods in the art, such as interference fit or screw connection, etc., and this embodiment does not impose any restrictions here. The first drive shaft 1-111 is fixedly installed at the drive end of the first driver 1-110 and can rotate under the drive of the first driver 1-110. The first drive shaft 1-111 is a hollow shaft, preferably a tubular structure similar to the structure of the housing 1-10. The outer diameter of the first drive shaft 1-111 is smaller than the inner diameter of the housing 1-10, and it can rotate freely inside the housing 1-10 under the drive of the first driver 1-110.

[0025] The second drive module 1-12 includes a second driver 1-120 and a second drive shaft 1-121. The second driver 1-120 is fixedly installed inside the first drive shaft 1-111 and can rotate with the rotation of the first drive shaft 1-111. To facilitate the fixed installation of the second driver 1-120 inside the first drive shaft 1-111, the first drive shaft 1-111 can be configured as a main body and an end cap with a separate structure. After the second driver 1-120 is installed inside the main body of the first drive shaft 1-111, the end cap can be connected to the main body. The first drive shaft 1-111 can be configured with various structural forms and connection methods for ease of installation, and this application does not impose many restrictions on this. The second drive shaft 1-121 is fixedly installed at the drive end of the second driver 1-120 and can rotate under the drive of the second driver 1-120. The second drive shaft 1-121 is a hollow shaft, preferably a tubular structure similar to the first drive shaft 1-111. The outer diameter of the second drive shaft 1-121 is smaller than the inner diameter of the first drive shaft 1-111. Under the drive of the second driver 1-120, it can rotate freely inside the first drive shaft 1-111.

[0026] The third drive module 1-13 includes a third driver 1-130 and a third drive shaft 1-131. The third driver 1-130 is fixedly installed inside the second drive shaft 1-121 and can rotate with the rotation of the second drive shaft 1-121. The installation method of the third driver 1-120 is the same as that of the second driver 1-120, and will not be described again here. The third drive shaft 1-131 is fixedly installed at the drive end of the third driver 1-130 and can rotate under the drive of the third driver 1-120. The outer diameter of the third drive shaft 1-131 is smaller than the inner diameter of the second drive shaft 1-121, and it can rotate freely inside the second drive shaft 1-121 under the drive of the third driver 1-130.

[0027] The bionic wrist assembly 2 includes components such as a first joint housing 2-1, a second joint housing 2-2, an output flange 2-3, a bearing 2-10, a hollow shaft 2-20, a first bevel gear 2-21, a second bevel gear 2-22, a third bevel gear 2-30, a fourth bevel gear 2-31, a fifth bevel gear 2-32, and a sixth bevel gear 2-33.

[0028] The first drive shaft 1-111 is connected to the first joint housing 2-1 via a transmission connection. The transmission connection between the first joint housing 2-1 and the first drive shaft 1-111 can be any common method in the art, such as an interference fit or a spline connection; this application does not impose any restrictions on this. The first joint housing 2-1 is rotatably supported on the outer shell 1-10 via a bearing 2-10 at the opposite end to the first actuator 1-110. Therefore, when the first actuator 1-110 is actuated, it drives the first joint housing 2-1 to rotate relative to the outer shell 1-10 via the first drive shaft 1-111, realizing the first degree of freedom movement of the serial bionic robotic arm.

[0029] The second drive shaft 1-121 is connected to one end of the hollow shaft 2-20, which is rotatably supported within the first joint housing 2-1 and coaxially arranged with it. A first bevel gear 2-21 is fixedly mounted on the other end of the hollow shaft 2-20, passing through the first joint housing 2-1. A second bevel gear 2-22, meshing with the first bevel gear 2-21, is integrally connected to the second joint housing 2-2 via a connecting flange 2-23 and connecting screws. The second joint housing 2-2 is hinged to the first joint housing 2-1 via the connecting flange 2-23. Therefore, when the second actuator 1-120 is actuated, it drives the hollow shaft 2-20 to rotate via the second drive shaft 1-121, which in turn drives the second joint housing 2-2 to swing relative to the first joint housing 2-1 via the bevel gear, realizing the second degree of freedom of the serial bionic robotic arm.

[0030] The third drive shaft 1-131 is rotatably supported within the hollow shaft 2-20 and is arranged coaxially with the hollow shaft 2-20. One end of the third drive shaft 1-131 is fixedly connected to the output end of the third driver 1-130, and the other end passes through the hollow shaft 2-20. A third bevel gear 2-30 is provided on the portion extending out of the hollow shaft 2-20. A fourth bevel gear 2-31 and a fifth bevel gear 2-32, which mesh with the third bevel gear 2-30, are coaxially and fixedly connected. A sixth bevel gear 2-33, which meshes with the fifth bevel gear 2-32, is fixedly connected to the output flange 2-3; wherein the third bevel gear 2-30 and the fourth bevel gear 2-31 are disposed within the first joint housing 2-1; and the fifth bevel gear 2-32 and the sixth bevel gear 2-33 are disposed within the second joint housing 2-2. Therefore, when the third actuator 1-130 is actuated, it drives the output flange 2-3 to rotate through the third drive shaft 1-131 and bevel gear transmission, thereby realizing the third degree of freedom of the serial bionic robotic arm.

[0031] In the serial bionic robotic arm provided in this embodiment, the length of the end of the first joint housing 2-1 connected to the first drive shaft 1-111 can be further increased, that is, the length of the tube section of the first joint housing 2-1 between the bearing 2-10 and the fourth bevel gear 2-31 can be longer; this arrangement can balance or reduce the rotational inertia of the serial bionic robotic arm.

[0032] In the serial bionic robotic arm provided in this embodiment, all actuators can be motors or integrated motor and reducer units; this application does not impose excessive restrictions on this. Preferably, each actuator is a motor or integrated motor and reducer unit with a hollow shaft and dual encoders. Preferably, both encoders are magnetic encoders, and both are located on the side of the actuator opposite to the output end. The two magnets are arranged symmetrically about the axis of rotation of the actuator and are connected to the input and output shafts of the actuator through a gear transmission structure. Each actuator itself can have output and input encoder serial numbers. Through the dual feedback of the two encoders, higher precision position and speed control can be achieved. At the same time, the control lines and signal lines of each actuator can pass through the hollow shaft of the actuator and connect to the external controller of the housing (not shown in the figure), which facilitates wiring layout and achieves a more aesthetically pleasing robot.

[0033] The serial bionic robotic arm provided in this embodiment, when used as the wrist or leg of a humanoid robot, has its actuators arranged in series and installed in the outer shell. At this time, the outer shell is equivalent to the arm or leg of a human body, corresponding to the human body structure. Therefore, the humanoid robot assembled using the serial bionic robotic arm provided in this embodiment has an appearance similar to a human and can replace humans to complete a variety of work tasks without industry differences, thus having a wider range of applications.

[0034] The serial drive assembly in the serial bionic robotic arm provided in this embodiment, because the actuators are arranged in series and installed in the housing, allows for the selection of appropriate motor sizes, such as motor diameter and height, based on load requirements. Furthermore, since the actuators are located outside the joint positions, the choice of motor is less restricted. When the serial bionic robotic arm is used to assemble the arm of a humanoid robot, due to the slender arm, a relatively small-diameter but longer motor can be selected. When the serial bionic robotic arm is used to assemble the leg of a humanoid robot, due to the thick and long leg, a relatively large-diameter motor can be selected, and the motor length can also be reasonably selected according to torque requirements.

[0035] The serial drive assembly in the serial bionic robotic arm provided in this embodiment uses a series arrangement of the actuators installed in the housing. Specifically, the first actuator is fixedly installed in the housing, the second actuator is fixedly installed in the first drive shaft, and the third actuator is fixedly installed in the second drive shaft. Therefore, when only the first actuator rotates, it will drive the second actuator to rotate synchronously through the first drive shaft, and further drive the third actuator to rotate synchronously through the second drive shaft. That is, when the first actuator rotates, the relative speed between the second and third actuators is 0. Assuming that the three actuators rotate at a certain speed simultaneously, for example, the output speed of the first actuator is n1, the output speed of the second actuator is n2, and the output speed of the third actuator is n3; then the absolute speed of the first drive shaft is n1, the absolute speed of the second actuator is n1+n2, and the absolute speed of the third actuator is n1+n2+n3. That is, the serial drive assembly in the serial bionic robotic arm provided in this embodiment is a follower-type serial arrangement.

[0036] The serial bionic robotic arm provided in this embodiment can have only one or two drive modules inside its outer shell. For example, when there are two drive modules inside the outer shell, they can be placed on the shoulder to achieve two degrees of freedom of movement, depending on the composition requirements of the humanoid robot. Of course, the number of drive modules inside the outer shell of the serial bionic robotic arm provided in this application can be reasonably set according to the working conditions, and this application does not impose too many restrictions on this.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and assemble the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A serial bionic robotic arm, comprising a shell, characterized in that: The housing is provided with a series drive assembly, which includes a first drive module and a second drive module; the first drive module includes a first driver and a first drive shaft, the first driver is fixedly connected to the housing, and the first drive shaft is drivenly connected to the first driver; the first drive shaft is hollow, and the second drive module is disposed in the first drive shaft.

2. The serial bionic robotic arm according to claim 1, characterized in that: The second drive module includes a second driver, which is fixedly connected to the first drive shaft; the second drive module also includes a second drive shaft, which is drive-connected to the second driver.

3. The serial bionic robotic arm according to claim 2, characterized in that: The rotation center lines of the first drive shaft and the second drive shaft are collinear.

4. The serial bionic robotic arm according to claim 3, characterized in that: The series drive assembly further includes a third drive module; the first drive module, the second drive module and the third drive module are arranged sequentially in the housing, and the second drive module is located between the first drive module and the third drive module.

5. The serial bionic robotic arm according to claim 4, characterized in that: The second drive shaft is hollow. The third drive module includes a third driver and a third drive shaft. The third driver is disposed in the second drive shaft and is fixedly connected to the second drive shaft. The third drive shaft is driven by the third driver.

6. The serial bionic robotic arm according to claim 5, characterized in that: It also includes a bionic wrist assembly, which includes a first joint housing, which is rotatably supported on the outer shell by bearings; the first drive shaft is drivenly connected to the first joint housing.

7. The serial bionic robotic arm according to claim 6, characterized in that: The bionic wrist assembly further includes a second joint housing, a hollow shaft, a first bevel gear, a second bevel gear, and a connecting flange; the second joint housing is hinged to the first joint housing via the connecting flange; the hollow shaft is rotatably supported within the first joint housing and is arranged coaxially with the first joint housing; the second drive shaft is drively connected to one end of the hollow shaft; the other end of the hollow shaft passes through the first joint housing and is fixedly provided with the first bevel gear; the second bevel gear, which meshes with the first bevel gear, is fixedly connected to the second joint housing as a whole via the connecting flange and connecting screws.

8. The serial bionic robotic arm according to claim 7, characterized in that: The bionic wrist assembly further includes a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, and an output flange; the third drive shaft is rotatably supported inside the hollow shaft and is arranged coaxially with the hollow shaft; the third drive shaft passes through the hollow shaft and is provided with a third bevel gear, and the fourth bevel gear meshing with the third bevel gear is coaxially and fixedly connected to the fifth bevel gear; the sixth bevel gear meshing with the fifth bevel gear is fixedly connected to the output flange.

9. The serial bionic robotic arm according to claim 8, characterized in that: The first driver, the second driver, and the third driver are integrated motors and / or motor reducers with dual encoders.

10. The serial bionic robotic arm according to claim 9, characterized in that: The first driver, the second driver, and the third driver are hollow shaft type, and the control lines and signal lines of the first driver, the second driver, and the third driver pass through the hollow shaft and are connected to the outside of the housing.

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