Multi-degree-of-freedom bionic arm of humanoid robot

Abstract

A multi-degree-of-freedom bionic arm of a humanoid robot belongs to the technical field of robots, and seven degrees of freedom of the robot arm are formed by a shoulder swing arm rotating mechanism, a shoulder left-right swing arm rotating mechanism, a big arm axial rotating mechanism, an elbow rotating mechanism, a small arm axial rotating mechanism, a wrist rotating mechanism and a wrist inner drive rotating mechanism. Holes and grooves are formed in the elbow part for laying cables, the cables are not exposed, and the shell size of the elbow joint is reduced. And the cable does not run about when the elbow moves in a large range, so that interference with other parts is avoided. A connecting rod mechanism composed of a first output disc, two connecting rods and a second output disc is arranged on the side face, the load inertia of a forearm joint, a whole arm force arm and the tail end is reduced, and the arm load capacity and motion performance are improved; the wrist drives the front-back and left-right freedom degree axes of the hand to coincide at one point, and the flexibility of the wrist is improved. Due to seven degrees of freedom, the robot is more bionic, the degrees of freedom are also on the same straight line after the arms of a person are straightened laterally, and the movement offset is small.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and specifically relates to a humanoid robot with a multi-degree-of-freedom bionic arm. Background Technology

[0002] Currently, in the field of robotics, bionic robotic arms typically require lighter weight, higher energy density, and more flexible degrees of freedom. Higher flexibility reduces the load torque amplification caused by a long lever arm. Torque amplification necessitates higher strength for all components, requiring larger motors and reducers. Increased component weight increases segmented inertia and end-effector inertia, reducing the overall arm's motion performance. Furthermore, the increased space occupied by the arm reduces its energy density and flexibility. Additionally, current bionic robotic arms, with their multiple degrees of freedom, suffer from tangled wiring, wire pulling and bending, and exposed wiring at high operating ranges. Summary of the Invention

[0003] The purpose of this invention is to solve the problems existing in the background technology and to provide a humanoid robot with a multi-degree-of-freedom bionic arm.

[0004] A humanoid robot with multiple degrees of freedom bionic arm includes a shoulder swing arm rotation mechanism, a shoulder swing arm rotation mechanism fixing plate, a shoulder swing arm rotation mechanism extension section, a shoulder left and right swing arm rotation mechanism fixing component, a shoulder left and right swing arm rotation mechanism, a large arm axial rotation mechanism fixing component, a large arm axial rotation mechanism, a large arm axial rotation mechanism output adapter, a large arm axial rotation mechanism output component, an elbow rotation mechanism, an elbow output component, a forearm axial rotation mechanism, a forearm adapter, a wrist rotation mechanism, a forearm plate, a first output disk, a connecting rod, a second output disk, a wrist adapter, a wrist internal drive rotation mechanism, a wrist output component, a robotic hand, and cables; the shoulder swing arm rotation mechanism, the shoulder left and right swing arm rotation mechanism, the large arm axial rotation mechanism, the elbow rotation mechanism, the forearm axial rotation mechanism, the wrist rotation mechanism, and the wrist internal drive rotation mechanism constitute the seven degrees of freedom of the robot arm.

[0005] The shoulder swing arm rotation mechanism fixing plate is fixed to the shoulder of the humanoid robot. The shoulder swing arm rotation mechanism is fixed to the shoulder swing arm rotation mechanism fixing plate. The extension section of the shoulder swing arm rotation mechanism is fixedly connected to the left and right shoulder swing arm rotation mechanism fixing parts. The left and right shoulder swing arm rotation mechanisms are fixed in the left and right shoulder swing arm rotation mechanism fixing parts. The output end of the left and right shoulder swing arm rotation mechanism is fixed together with the upper arm axial rotation mechanism fixing part. The upper arm axial rotation mechanism is fixed to the upper arm axial rotation mechanism fixing part. The output end of the upper arm axial rotation mechanism is fixed to the upper arm axial rotation mechanism output adapter. The lower end of the upper arm axial rotation mechanism output adapter is fixed to the upper arm axial rotation mechanism output part. The elbow rotation mechanism is fixed to the lower end of the upper arm axial rotation mechanism output part. The output end of the elbow rotation mechanism is fixed to the elbow. The output component is fixed, the forearm axial rotation mechanism is fixed at the output end and the lower end of the elbow output component, the output end of the forearm axial rotation mechanism is fixed to the forearm adapter, the wrist rotation mechanism is fixed at the lower end of the forearm adapter, the wrist adapter is located below the forearm adapter, the upper part of the forearm plate is movably sleeved on the output end of the wrist rotation mechanism and fixed to the forearm adapter, the lower part of the forearm plate is movably sleeved on the wrist adapter, the output end of the wrist rotation mechanism is fixed to the first output disk, the second output disk is fixed to the wrist adapter, two connecting rods are pivotally connected between the first output disk and the second output disk, the rotation of the wrist rotation mechanism can drive the wrist adapter to swing, the wrist internal drive rotation mechanism is fixed in the lower end of the wrist adapter, the output end of the wrist internal drive rotation mechanism is fixed to the wrist output component, and the lower end of the wrist output component is fixed to the robot arm.

[0006] The cable enters through the center hole of the shoulder swing arm rotation mechanism, passes through it sequentially from top to bottom, and exits through the forearm plate. The cable enters through the center hole of the elbow rotation mechanism, exits through the centerline hole at the top of the elbow output component, is laid downward along the cable groove of the elbow output component, and exits through the center hole at the bottom of the elbow output component and the center hole of the forearm axial rotation mechanism. In this way, the cable at the elbow is not exposed.

[0007] The output end of the wrist rotation mechanism is perpendicular to the connecting rod, and the wrist adapter of the wrist internal drive rotation mechanism is fixed and connected to the lower end of the connecting rod; the first output disk, the two connecting rods and the second output disk constitute a linkage mechanism.

[0008] The working process of this utility model:

[0009] The shoulder swing arm rotation mechanism, the shoulder left and right swing arm rotation mechanism, the upper arm axial rotation mechanism, the elbow rotation mechanism, the forearm axial rotation mechanism, the wrist rotation mechanism, and the wrist internal drive rotation mechanism can enable the robot's arm to have seven degrees of freedom of movement.

[0010] The beneficial effects of this utility model are:

[0011] 1. Elbow cable design: The elbow parts have openings and slots for cable routing, and the cables are not exposed. The advantages are: the cables are not exposed, which reduces the volume of the elbow joint shell; the cables will not run around during a wide range of elbow movements and will not interfere with other parts.

[0012] 2. Vertical Side Linkage Design: The output end of the wrist rotation mechanism is perpendicular to the link. The wrist adapter, which is fixed to the wrist internal drive rotation mechanism, is connected to the lower end of the link. The first output plate, two links, and the second output plate constitute a linkage mechanism. This means that the linkage mechanism is set on the side of the wrist, and the degrees of freedom coincide with the wrist adapter, which mimics the human wrist for greater flexibility. The advantages are: it reduces the distance between the forearm joint modules, reduces the overall arm lever arm, thereby increasing the arm's load capacity; it reduces the end-load inertia, increasing the overall arm's motion performance; and the forward and backward and left and right degree-of-freedom axes of the wrist-driven hand coincide at one point, increasing wrist flexibility.

[0013] 3. The whole has seven degrees of freedom: The advantages are: more biomimetic, these degrees of freedom are also on the same straight line when the human arm is stretched out to the side; small motion bias. Attached Figure Description

[0014] Figure 1 This is a line-based three-dimensional schematic diagram of an embodiment of this utility model;

[0015] Figure 2 This is a line-based exploded view of an embodiment of this utility model;

[0016] Figure 3 This is a partial three-dimensional schematic diagram of the line-shaped elbow of an embodiment of the present utility model;

[0017] Figure 4 This is a colored three-dimensional schematic diagram of an embodiment of the present utility model;

[0018] Figure 5 This is a three-dimensional schematic diagram with coloring from another perspective of an embodiment of this utility model;

[0019] Figure 6 This is a partial three-dimensional schematic diagram of the colored elbow in an embodiment of this utility model;

[0020] Figure 7 This is another colored partial three-dimensional schematic diagram of the elbow according to an embodiment of the present invention. Detailed Implementation

[0021] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, a humanoid robot multi-degree-of-freedom bionic arm includes a shoulder swing arm rotation mechanism 1, a shoulder swing arm rotation mechanism fixing plate 2, a shoulder swing arm rotation mechanism extension section 3, a shoulder left and right swing arm rotation mechanism fixing component 4, a shoulder left and right swing arm rotation mechanism 5, a large arm axial rotation mechanism fixing component 6, a large arm axial rotation mechanism 7, a large arm axial rotation mechanism output adapter 8, a large arm axial rotation mechanism output component 9, an elbow rotation mechanism 10, an elbow output component 11, a forearm axial rotation mechanism 12, and a small arm axial rotation mechanism 13. The arm adapter 13, wrist rotation mechanism 14, forearm plate 15, first output plate 16, connecting rod 17, second output plate 18, wrist adapter 19, wrist internal drive rotation mechanism 20, wrist output component 21, robotic arm 22 and cable 23; the shoulder swing arm rotation mechanism 1, shoulder left and right swing arm rotation mechanism 5, upper arm axial rotation mechanism 7, elbow rotation mechanism 10, forearm axial rotation mechanism 12, wrist rotation mechanism 14 and wrist internal drive rotation mechanism 20 constitute the seven degrees of freedom of the robot arm.

[0022] The shoulder arm rotation mechanism fixing plate 2 is fixed to the shoulder of the humanoid robot. The shoulder arm rotation mechanism 1 is fixed to the shoulder arm rotation mechanism fixing plate 2. The shoulder arm rotation mechanism extension section 3 is fixedly connected to the shoulder left and right arm rotation mechanism fixing parts 4. The shoulder left and right arm rotation mechanisms 5 are fixed in the shoulder left and right arm rotation mechanism fixing parts 4. The output end of the shoulder left and right arm rotation mechanism 5 is fixed together with the upper arm axial rotation mechanism fixing part 6. The upper arm axial rotation mechanism 7 is fixed to the upper arm axial rotation mechanism fixing part 6. The output end of the upper arm axial rotation mechanism 7 is fixed to the upper arm axial rotation mechanism output adapter 8. The lower end of the upper arm axial rotation mechanism output adapter 8 is fixed to the upper arm axial rotation mechanism output part 9. The elbow rotation mechanism 10 is fixed to the lower end of the upper arm axial rotation mechanism output part 9. The output end of the elbow rotation mechanism 10 is fixed to the elbow output part 11. The forearm axial rotation mechanism 12... The output end of the forearm axial rotation mechanism 12 is fixed to the lower end of the elbow output component 11, and the output end of the forearm axial rotation mechanism 12 is fixed to the forearm adapter 13. The wrist rotation mechanism 14 is fixed to the lower end of the forearm adapter 13, and the wrist adapter 19 is located below the forearm adapter 13. The upper part of the forearm plate 15 is movably sleeved on the output end of the wrist rotation mechanism 14 and fixed to the forearm adapter 13. The lower part of the forearm plate 15 is movably sleeved on the wrist adapter 19. The output end of the wrist rotation mechanism 14 is fixed to the first output disk 16, and the second output disk 18 is fixed to the wrist adapter 19. Two connecting rods 17 are pivotally connected between the first output disk 16 and the second output disk 18. The rotation of the wrist rotation mechanism 14 can drive the wrist adapter 19 to swing. The wrist internal drive rotation mechanism 20 is fixed in the lower end of the wrist adapter 19. The output end of the wrist internal drive rotation mechanism 20 is fixed to the wrist output component 21, and the lower end of the wrist output component 21 is fixed to the robot hand 22.

[0023] For example, 3. Figure 6 and Figure 7 As shown, the cable 23 enters through the central hole of the shoulder swing arm rotation mechanism 1, passes through from top to bottom, and exits through the forearm plate 15. The cable 23 enters through the central hole of the elbow rotation mechanism 10, exits through the centerline hole at the top of the elbow output component 11, is laid downward along the cable groove 111 of the elbow output component 11, and exits through the central hole at the bottom of the elbow output component 11 and the central hole of the forearm axial rotation mechanism 12. Thus, the cable 23 at the elbow is not exposed.

[0024] The output end of the wrist rotation mechanism 14 is perpendicular to the connecting rod 17, and the wrist adapter 19 of the wrist internal drive rotation mechanism 20 is fixed and connected to the lower end of the connecting rod 17; the first output disk 16, the two connecting rods 17 and the second output disk 18 constitute a linkage mechanism.

[0025] The working process of this embodiment:

[0026] The shoulder swing arm rotation mechanism 1, the shoulder left and right swing arm rotation mechanism 5, the upper arm axial rotation mechanism 7, the elbow rotation mechanism 10, the forearm axial rotation mechanism 12, the wrist rotation mechanism 14, and the wrist internal drive rotation mechanism 20 can drive the robot's arm to have seven degrees of freedom of movement.

[0027] The innovative points of this utility model are:

[0028] 1. Elbow cable design: The elbow part has holes and slots for cable 23, which is not exposed. The advantages are: the elbow cable 23 is not exposed, which reduces the volume of the elbow joint shell; the elbow will not run around during a wide range of motion and will not cause interference with other parts.

[0029] 2. Vertical side linkage design: The output end of the wrist rotation mechanism 14 is perpendicular to the linkage 17. The wrist adapter 19, which is fixed to the wrist internal drive rotation mechanism 20, is connected to the lower end of the linkage 17. The first output disk 16, the two linkages 17, and the second output disk 18 constitute a linkage mechanism. That is, a linkage mechanism is set on the side of the wrist, and the degrees of freedom coincide with the wrist adapter 19, which imitates the human wrist to be more flexible. The advantages are: reducing the distance of the forearm joint module, reducing the overall arm lever arm, thereby increasing the arm load capacity; reducing the end load inertia, increasing the overall arm motion performance; and aligning the forward and backward and left and right degree-of-freedom axes of the wrist and hand at one point, increasing the flexibility of the wrist.

[0030] 3. The whole has seven degrees of freedom: The advantages are: more biomimetic, these degrees of freedom are also on the same straight line when the human arm is stretched out to the side; small motion bias.

Claims

1. A humanoid robot with multiple degrees of freedom bionic arm, characterized in that: It includes a shoulder swing arm rotation mechanism (1), a shoulder swing arm rotation mechanism fixing plate (2), a shoulder swing arm rotation mechanism extension section (3), a shoulder left and right swing arm rotation mechanism fixing part (4), a shoulder left and right swing arm rotation mechanism (5), a large arm axial rotation mechanism fixing part (6), a large arm axial rotation mechanism (7), a large arm axial rotation mechanism output adapter (8), a large arm axial rotation mechanism output part (9), an elbow rotation mechanism (10), an elbow output part (11), a forearm axial rotation mechanism (12), a forearm adapter part (13), a wrist rotation mechanism (14), a forearm plate (15), a first output plate (16), a connecting rod (17), a second output plate (18), a wrist adapter part (19), a wrist internal drive rotation mechanism (20), a wrist output part (21), a robotic arm (22), and a cable (23). The shoulder swing arm rotation mechanism (1), the shoulder left and right swing arm rotation mechanism (5), the upper arm axial rotation mechanism (7), the elbow rotation mechanism (10), the forearm axial rotation mechanism (12), the wrist rotation mechanism (14), and the wrist internal drive rotation mechanism (20) constitute the seven degrees of freedom of the robot arm.

2. The humanoid robot multi-degree-of-freedom bionic arm according to claim 1, characterized in that: The shoulder arm rotation mechanism fixing plate (2) is fixed to the shoulder of the humanoid robot. The shoulder arm rotation mechanism (1) is fixed on the shoulder arm rotation mechanism fixing plate (2). The shoulder arm rotation mechanism extension section (3) is fixedly connected to the shoulder left and right arm rotation mechanism fixing parts (4). The shoulder left and right arm rotation mechanism (5) is fixed in the shoulder left and right arm rotation mechanism fixing parts (4). The output end of the shoulder left and right arm rotation mechanism (5) is fixed together with the upper arm axial rotation mechanism fixing parts (6). The upper arm axial rotation... The rotating mechanism (7) is fixed to the boom axial rotation mechanism fixing part (6), the output end of the boom axial rotation mechanism (7) is fixed to the boom axial rotation mechanism output adapter (8), the lower end of the boom axial rotation mechanism output adapter (8) is fixed to the boom axial rotation mechanism output part (9), the elbow rotating mechanism (10) is fixed to the lower end of the boom axial rotation mechanism output part (9), the output end of the elbow rotating mechanism (10) is fixed to the elbow output part (11), and the forearm axial rotation mechanism (12) is fixed to the output end and The lower end of the elbow output component (11) and the output end of the forearm axial rotation mechanism (12) are fixed to the forearm adapter (13). The wrist rotation mechanism (14) is fixed to the lower end of the forearm adapter (13). The wrist adapter (19) is located below the forearm adapter (13). The upper part of the forearm plate (15) is movably sleeved on the output end of the wrist rotation mechanism (14) and fixed to the forearm adapter (13). The lower part of the forearm plate (15) is movably sleeved on the wrist adapter (19). The output end of the wrist rotation mechanism (14) is fixed to the forearm adapter (13). The first output disk (16) is fixed, the second output disk (18) is fixed to the wrist adapter (19), and two connecting rods (17) are pivotally connected between the first output disk (16) and the second output disk (18). The rotation of the wrist rotation mechanism (14) can drive the wrist adapter (19) to swing. The wrist internal drive rotation mechanism (20) is fixed in the lower end of the wrist adapter (19). The output end of the wrist internal drive rotation mechanism (20) is fixed to the wrist output component (21), and the lower end of the wrist output component (21) is fixed to the robot (22).

3. The humanoid robot multi-degree-of-freedom bionic arm according to claim 2, characterized in that: The cable (23) enters through the center hole of the shoulder swing arm rotation mechanism (1), passes through from top to bottom, and exits through the forearm plate (15). The cable (23) enters through the center hole of the elbow rotation mechanism (10), exits through the center hole at the top of the elbow output component (11), is laid down along the wire groove (111) of the elbow output component (11), and exits through the center hole at the bottom of the elbow output component (11) and the center hole of the forearm axial rotation mechanism (12).

4. The humanoid robot multi-degree-of-freedom bionic arm according to claim 2, characterized in that: The output end of the wrist rotation mechanism (14) is perpendicular to the connecting rod (17), and the wrist adapter (19) of the wrist internal drive rotation mechanism (20) is fixed and connected to the lower end of the connecting rod (17); the first output disk (16), the two connecting rods (17) and the second output disk (18) constitute the linkage mechanism.

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