Tandem type bionic mechanical arm

Abstract

The utility model provides a tandem type bionic mechanical arm which comprises a shell, a tandem type driving assembly is arranged in the shell, and the tandem 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 second driving module comprises a second driver and a second driving shaft, the second driver is fixedly connected with the shell, and the second driving shaft is in transmission connection with the second driver; the second driving shaft is hollow, and the first driving shaft is arranged in the second driving shaft. The tandem type bionic mechanical arm is compact and simple in structure and high in reliability; the proper size of the motor can be selected according to the load requirement, so that the shape of the humanoid robot is closer to that of human beings, and the application scene adaptability of the humanoid robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, 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. Utility Model Content

[0004] To address at least one of the aforementioned technical problems, the purpose of this invention is to provide a serially designed bionic robotic arm that is simple in structure and highly reliable. Furthermore, this serially designed 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 this utility model is as follows:

[0006] A serial bionic robotic arm is provided, comprising a housing, within which a serial drive assembly is disposed, the serial drive assembly including 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 being fixedly connected to the housing, and the first drive shaft being driveably connected to the first driver; the second drive module includes a second driver and a second drive shaft, the second driver being fixedly connected to the housing, and the second drive shaft being driveably connected to the second driver; the second drive shaft is hollow, and the first drive shaft is disposed within the second drive shaft.

[0007] Furthermore, the first drive shaft is rotatably supported in the second drive shaft, and the first drive shaft and the second drive shaft are arranged coaxially.

[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 third drive module includes a third driver and a third drive shaft, the third drive shaft being drive-connected to the third driver; the third driver is fixedly connected to the housing.

[0010] Furthermore, the third drive shaft is hollow, and the second drive shaft is rotatably supported in the third drive shaft.

[0011] Furthermore, the first drive shaft, the second drive shaft, and the third drive shaft are sequentially sleeved from the inside out and arranged coaxially; the third drive shaft is rotatably supported in the outer shell.

[0012] 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 third drive shaft is either drively connected to the first joint housing or is part of the first joint housing.

[0013] 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, or the hollow shaft is part of the second drive 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.

[0014] 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 first drive shaft is rotatably supported inside the hollow shaft and is arranged coaxially with the hollow shaft; the third bevel gear is provided after the first drive shaft passes through the hollow shaft, and the fourth bevel gear, which meshes with the third bevel gear, is coaxially and fixedly connected to the fifth bevel gear; the sixth bevel gear, which meshes with the fifth bevel gear, is fixedly connected to the output flange.

[0015] Furthermore, the first driver, the second driver, and the third driver are all integrated motors and / or motor reducers with dual encoders.

[0016] Compared with the prior art, the serial bionic robotic arm provided by this utility model has the following advantages:

[0017] The serial bionic robotic arm provided by this utility model 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 the reliability is high.

[0018] The serial drive assembly in the serial bionic robotic arm provided by this invention, because the drivers 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, according to 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 slender arm. 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 thick and long legs, and the motor length can also be reasonably selected according to torque requirements.

[0019] The serial bionic robotic arm provided by this utility model, 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 with the serial bionic robotic arm provided by this utility model has a similar appearance 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

[0020] Figure 1 This is a schematic diagram of the overall structure of the serial bionic robotic arm provided by this utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the serial bionic robotic arm provided by this utility model;

[0022] Figure 3 This is a partial structural diagram of the serial bionic robotic arm provided by this utility model after removing the outer shell.

[0023] Figure 4 This is a schematic diagram of the internal structure of the serial bionic robotic arm provided by this utility model after the outer shell has been removed.

[0024] Figure 5 This is a partial structural schematic diagram of the serial bionic robotic arm provided by this utility model;

[0025] Figure 6 This is a partial internal structure diagram of the serial bionic robotic arm provided by this utility model;

[0026] Figure 7 This is a partial structural schematic diagram of the serial bionic robotic arm provided by this utility model;

[0027] Figure 8 This is a partial internal structure diagram of the serial bionic robotic arm provided by this utility model;

[0028] Figure 9 This is a schematic diagram of the structure of the bionic wrist assembly provided by this utility model;

[0029] Figure 10 This is a schematic diagram of the internal structure of the bionic wrist assembly provided by this utility model;

[0030] The reference numerals in the attached figures are explained as follows:

[0031] 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

[0032] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model 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 utility model, and should not be construed as limiting the present utility model. 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.

[0033] In the description of this utility model, 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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 utility model according to the specific circumstances.

[0035] The following will provide a detailed description of the serial bionic robotic arm of this invention through specific embodiments:

[0036] In this implementation, such as Figure 1-10 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 1 drives the bionic wrist assembly 2 to achieve the corresponding movement.

[0037] 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 configured as needed; in this embodiment, the housing 1-10 is preferably 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.

[0038] 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 1-10. The connection between the first driver 1-110 and the housing 1-110 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 and the output shaft of the first driver 1-110 can be an integral structure, that is, the first drive shaft 1-111 and the output shaft of the first driver 1-110 are the same shaft. The first drive shaft 1-111 and the output shaft of the first driver 1-110 can also be separate structures, that is, the first drive shaft 1-111 and the output shaft of the first driver 1-110 are connected by transmission.

[0039] 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 in the housing 1-10 and is fixedly connected to the housing 1-10. 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 structural form of the second drive shaft 1-121 and the output shaft of the second driver 1-120 is the same as the corresponding structure in the first drive module, and will not be described again here.

[0040] 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 in the housing 1-10 and is fixedly connected to the housing 1-10. 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 1-130. The structural form of the output shaft of the third drive shaft 1-131 and the third driver 1-130 is the same as the corresponding structure in the first drive module, and will not be described again here.

[0041] Both the second drive module 1-12 and the third drive module 1-13 are hollow, meaning the second driver 1-120 and the second drive shaft 1-121, as well as the third driver 1-130 and the third drive shaft 1-131, are hollow. The first drive shaft 1-111, the second drive shaft 1-121, and the third drive shaft 1-131 are sequentially nested from the inside out, coaxially arranged, and all extend from one end of the outer casing 1-10. The first drive shaft 1-111 is rotatably supported within the second drive shaft 1-121, and the second drive shaft 1-121 is rotatably supported within the third drive shaft 1-131.

[0042] 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.

[0043] The third drive shaft 1-131 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 third drive shaft 1-131 can be selected from common methods in the art, such as interference fit or spline connection. This application does not impose any restrictions on this. Preferably, the third drive shaft 1-131 is a part of the first joint housing 2-1.

[0044] The first joint housing 2-1 can be rotatably supported on the outer shell 1-10 at the other end opposite to the first actuator 1-110 via the bearing 2-10. Therefore, when the third actuator 1-130 is actuated, it drives the first joint housing 2-1 to rotate relative to the outer shell 1-10 via the third drive shaft 1-131, realizing the first degree of freedom of the serial bionic robotic arm.

[0045] The second drive shaft 1-121 is rotatably supported within the first joint housing 2-1 and is coaxially arranged with the first joint housing 2-1. A first bevel gear 2-21 is fixedly mounted on the portion of the second drive shaft 1-121 that passes 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 second joint housing 2-2 to swing relative to the first joint housing 2-1 via the second drive shaft 1-121 and the bevel gear, realizing the second degree of freedom movement of the serial bionic robotic arm.

[0046] The first drive shaft 1-111 is rotatably supported within the second drive shaft 1-121 and is coaxially arranged with the second drive shaft 1-121. A third bevel gear 2-30 is mounted on the portion of the first drive shaft 1-111 that passes through the second drive shaft 1-121. 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. The third bevel gear 2-30 and the fourth bevel gear 2-31 are located within the first joint housing 2-1; the fifth bevel gear 2-32 and the sixth bevel gear 2-33 are located within the second joint housing 2-2. Therefore, when the first actuator 1-110 is actuated, it drives the output flange 2-3 to rotate via the first drive shaft 1-111 and the bevel gears, realizing the third degree of freedom of the serial bionic robotic arm.

[0047] 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 third drive shaft 1-131 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.

[0048] In the serial bionic robotic arm provided in this embodiment, all drivers can be motors or integrated motor and reducer units; this application does not impose excessive restrictions on this. Preferably, each driver is a hollow shaft motor or integrated motor and reducer unit with dual encoders. Preferably, both encoders are ring magnetic encoders, one ring magnetic encoder is coaxially mounted at the output end of the driver, and the other ring magnetic encoder is coaxially mounted at the other end of the driver. Each driver 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 driver can be led out through holes in corresponding parts of the housing and connected to a controller (not shown in the figure) outside the housing.

[0049] 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.

[0050] 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 compose 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 compose 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.

[0051] 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, the second actuator, and the third actuator are all fixedly installed in the housing. The first drive shaft 1-111, the second drive shaft 1-121, and the third drive shaft 1-131 are sequentially nested from the inside out and arranged coaxially. That is, each of the first, second, and third actuators is independently controlled. Assuming that the three actuators simultaneously rotate at a certain speed, 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 n2, and the absolute speed of the third actuator is n3. In other words, the serial drive assembly in the serial bionic robotic arm provided in this embodiment is an independent serial arrangement.

[0052] 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.

[0053] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" 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.

[0054] 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 second drive module includes a second driver and a second drive shaft. The second driver is fixedly connected to the housing, and the second drive shaft is drivenly connected to the second driver. The second drive shaft is hollow, and the first drive shaft is disposed in the second drive shaft.

2. The serial bionic robotic arm according to claim 1, characterized in that: The first drive shaft is rotatably supported in the second drive shaft, and the first drive shaft and the second drive shaft are arranged coaxially.

3. The serial bionic robotic arm according to claim 2, 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.

4. The serial bionic robotic arm according to claim 3, characterized in that: The third drive module includes a third driver and a third drive shaft, the third drive shaft being connected to the third driver in a transmission manner; the third driver is fixedly connected to the housing.

5. The serial bionic robotic arm according to claim 4, characterized in that: The third drive shaft is hollow, and the second drive shaft is rotatably supported in the third drive shaft.

6. The serial bionic robotic arm according to claim 5, characterized in that: The first drive shaft, the second drive shaft, and the third drive shaft are sequentially sleeved from the inside out and arranged coaxially; the third drive shaft is rotatably supported in the outer shell.

7. The serial bionic robotic arm according to claim 6, characterized in that: It also includes a bionic wrist assembly, which includes a first joint housing that is rotatably supported on the outer shell by bearings; the third drive shaft is either driven to the first joint housing or is part of the first joint housing.

8. The serial bionic robotic arm according to claim 7, 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 drivenly connected to one end of the hollow shaft, or the hollow shaft is part of the second drive 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.

9. The serial bionic robotic arm according to claim 8, 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 first drive shaft is rotatably supported inside the hollow shaft and is arranged coaxially with the hollow shaft; the third bevel gear is provided after the first drive shaft passes through the hollow shaft, and the fourth bevel gear, which meshes with the third bevel gear, is coaxially and fixedly connected to the fifth bevel gear; the sixth bevel gear, which meshes with the fifth bevel gear, is fixedly connected to the output flange.

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

Images