Rope-driven elbow structure and humanoid robot

Abstract

The utility model provides a rope-driven elbow structure and a humanoid robot, relates to the technical field of robots, and aims to solve the problem that an existing rope-driven elbow structure is fixed in rigidity and cannot meet use requirements under different task scenes. Comprising an elbow joint and a driving mechanism, the elbow joint comprises a first roller, a second roller and a connecting frame, and the first roller and the second roller are arranged in a tangent mode and rotationally installed on the connecting frame; the driving mechanism comprises first driving ropes used for driving the elbow joint to perform lifting action and second driving ropes used for driving the elbow joint to perform laying-down action, the number of the first driving ropes is larger than that of the second driving ropes, and each driving rope is connected with a driving motor used for enabling the driving rope to be wound and unwound. The multi-degree-of-freedom parallel mechanism has different rigidities, so that the use requirements under different task scenes can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, a kind of rope drive elbow structure and humanoid robot. BACKGROUND

[0002] With the development of robot technology, robots gradually show its important role in human production and life.For humanoid robot, arm is the key structure to realize its pick-and-place function.At present, the elbow structure of humanoid robot is various, in order to reduce the weight of robot arm, rope drive mode is often used to realize the lifting and lowering action of elbow.

[0003] However, the existing rope drive elbow structure has fixed stiffness, which cannot adapt to the use requirements in different task scenarios. UTILITY MODEL CONTENT

[0004] The first purpose of the utility model is to provide a rope drive elbow structure to solve the technical problem that the existing rope drive elbow structure has fixed stiffness and cannot adapt to the use requirements in different task scenarios.

[0005] The rope drive elbow structure provided by the utility model comprises an elbow joint and a driving mechanism, the elbow joint comprises a first roller and a second roller arranged tangentially and a connecting frame, the first roller and the second roller are both rotationally installed on the connecting frame, the driving mechanism comprises a first driving rope for driving the elbow joint to perform lifting action and a second driving rope for driving the elbow joint to perform lowering action, wherein the number of the first driving ropes is more than the number of the second driving ropes, and each driving rope is connected with a driving motor for winding and unwinding.

[0006] Further, the first roller is a roller close to the wrist structure, one side of the first roller away from the second roller is the front of the elbow joint, one side of the second roller away from the first roller is the back of the elbow joint, one end of the first driving rope and the second driving rope is fixedly connected with the first roller at the front; the driving mechanism further comprises a compression roller, the compression roller is rotationally compressed on the back, wherein the first driving rope and the second driving rope are both arranged in the shape of "∽" around the compression roller and the elbow joint, and the winding directions of the first driving rope and the second driving rope are centrally symmetric with respect to the tangent point of the compression roller and the elbow joint.

[0007] Further, the number of the first driving ropes is two, and the number of the second driving rope is one; each first driving rope is correspondingly provided with a first motor, and the second driving rope is correspondingly provided with a second motor.

[0008] Further, in the axial cross-section view of the elbow joint, the two first driving ropes are respectively located on the two sides of the second driving rope.

[0009] Further, the driving mechanism further comprises a fixing block, which is fixedly arranged on the front face of the first roller, and is used for fixing the end portions of the first driving rope and the second driving rope.

[0010] Further, the fixing block is provided with a plurality of rope penetrating holes and a fixing hole penetrating each of the rope penetrating holes, the plurality of rope penetrating holes are arranged in the axial direction of the first roller, the fixing hole is arranged on the side of the fixing block away from the first roller, and the first driving rope and the second driving rope are respectively arranged in the corresponding rope penetrating holes, and the locking member is arranged in the fixing hole and abuts against the corresponding driving rope.

[0011] Further, the connecting frame comprises a center connecting rod, a first center shaft and a second center shaft, one end of the center connecting rod is rotatably installed on the upper arm shell of the robot arm, the other end of the center connecting rod is rotatably installed on the lower arm shell of the robot arm, the first center shaft is rotatably installed on one end of the center connecting rod, and the first roller is fixedly sleeved on the first center shaft; the second center shaft is rotatably installed on the other end of the center connecting rod, and the second roller is fixedly sleeved on the second center shaft.

[0012] Further, the outer circumferential surface of the first roller and the outer circumferential surface of the second roller are both provided with a plurality of rope grooves.

[0013] Further, the outer circumferential surface of the first roller and the outer circumferential surface of the second roller are both provided with a plurality of rope grooves.

[0014] Further, the first motor and the second motor are both installed at the position of the robot body.

[0015] The beneficial effects brought by the rope driving elbow structure of the utility model are as follows:

[0016] The first roller and the second roller are tangent and are both rotationally installed on the connecting frame, so that the first roller and the second roller form a pure rolling structure. By setting the number of the first driving ropes to be more than the number of the second driving ropes, and setting a driving motor for winding and unwinding each driving rope, on the one hand, when the elbow joint performs a lifting action, the elbow joint can generate a larger torque to meet the large load requirement of the lifting action by using a larger number of the first driving ropes; and on the other hand, the simultaneous action of the first driving ropes and the second driving ropes can also realize antagonistic stiffness adjustment, specifically, when the first driving ropes and the second driving ropes are both tightened, the stiffness of the elbow joint is increased; and when the first driving ropes and the second driving ropes are both loosened, the stiffness of the elbow joint is reduced, thereby realizing stiffness adaptation in different task scenarios, for example, when a task with higher accuracy needs to be performed, the elbow joint can have larger stiffness to ensure the accuracy of the robot arm; and when interacting with a user, the stiffness can be reduced to better realize safe human-machine interaction, so that the user will not be seriously injured even if the robot arm malfunctions or loses control.

[0017] Therefore, the rope-driven elbow structure sets the first driving ropes and the second driving ropes with different numbers, and utilizes the simultaneous tightening or loosening of the first driving ropes and the second driving ropes to make the driving actions generated by the first driving ropes and the second driving ropes counteract each other, so that the antagonistic action of the first driving ropes and the second driving ropes adapts to the use requirements in different task scenarios.

[0018] The second object of the utility model provides a humanoid robot, to solve the technical problem that the stiffness of the existing rope-driven elbow structure is fixed and cannot adapt to the use requirements in different task scenarios.

[0019] The utility model provides a humanoid robot, including robot arm, the robot arm includes shoulder structure, wrist structure, upper arm shell, lower arm shell, end gripper and above -mentioned rope -driven elbow structure, the elbow joint of rope -driven elbow structure connects upper arm shell with lower arm shell, the shoulder structure is three degrees of freedom structure, and the wrist structure is three degrees of freedom structure.

[0020] The utility model provides a humanoid robot, including robot arm, the robot arm includes shoulder structure, wrist structure, upper arm shell, lower arm shell, end gripper and above -mentioned rope -driven elbow structure, the elbow joint of rope -driven elbow structure connects upper arm shell with lower arm shell, the shoulder structure is three degrees of freedom structure, and the wrist structure is three degrees of freedom structure.

[0021] By setting the above-mentioned rope-driven elbow structure in the humanoid robot, correspondingly, the humanoid robot has all the advantages of the above-mentioned rope-driven elbow structure, which will not be described one by one here.

[0022] In addition, by setting the shoulder structure of the robot arm of the humanoid robot as a three-degree-of-freedom structure, the wrist structure is also set as a three-degree-of-freedom structure, so that the degrees of freedom of the shoulder, elbow and wrist of the robot arm are configured as 3-1-3, and the inertia of the robot arm is effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can also be obtained according to the provided drawings without creative labor for those skilled in the art.

[0024] Figure 1 A structural schematic diagram of a humanoid robot is provided for the embodiments of the present application.

[0025] Figure 2 A structural schematic diagram of a robot arm of a humanoid robot is provided for the embodiments of the present application.

[0026] Figure 3 One of internal structural schematic diagrams of a robot arm of a humanoid robot is provided for the embodiments of the present application.

[0027] Figure 4 The second of internal structural schematic diagrams of a robot arm of a humanoid robot is provided for the embodiments of the present application.

[0028] Figure 5 A partial structural schematic diagram of a robot arm of a humanoid robot is provided for the embodiments of the present application.

[0029] Figure 6 A partial structural top view of a robot arm of a humanoid robot is provided for the embodiments of the present application.

[0030] Explanation of reference signs:

[0031] 010-shoulder structure; 020-wrist structure; 030-upper arm shell; 040-lower arm shell; 050-end gripper;

[0032] 100-elbow joint;

[0033] 110-first roller; 120-second roller; 130-connecting frame; 131-central connecting rod; 132-first central shaft; 133-second central shaft;

[0034] 210-first driving rope; 220-second driving rope; 230-first motor; 240-second motor; 250-pressing wheel; 260-fixing block. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned purpose, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0036] Figure 1 The structural schematic diagram of the humanoid robot provided for the present embodiment is shown in Figure 1 The present embodiment provides a humanoid robot, which comprises a robot arm. Figure 2 The structural schematic diagram of the robot arm of the humanoid robot provided for the present embodiment is shown in Figure 1 , and in combination with Figure 2 Specifically, the robot arm comprises a shoulder structure 010, a wrist structure 020, an upper arm shell 030, a lower arm shell 040, a terminal clamping jaw 050 and a rope-driven elbow structure, wherein the elbow joint 100 of the rope-driven elbow structure connects the upper arm shell 030 and the lower arm shell 040, the shoulder structure 010 is a three-degree-of-freedom structure, and the wrist structure 020 is a three-degree-of-freedom structure.

[0037] By arranging the above-mentioned rope-driven elbow structure in the humanoid robot, the elbow of the robot arm can meet various rigidity requirements.

[0038] In addition, by arranging the shoulder structure 010 of the robot arm of the humanoid robot as a three-degree-of-freedom structure and the wrist structure 020 as a three-degree-of-freedom structure, the degrees of freedom of the shoulder, elbow and wrist of the robot arm are configured as 3-1-3, which effectively reduces the inertia of the robot arm.

[0039] The specific structure and working principle of the rope-driven elbow structure will be described in detail in the following text.

[0040] Figure 3 The internal structural schematic diagram of the robot arm of the humanoid robot provided for the present embodiment is shown in Figure 4 The internal structural schematic diagram of the robot arm of the humanoid robot provided for the present embodiment is shown in Figure 5 The local structural schematic diagram of the robot arm of the humanoid robot provided for the present embodiment is shown in Figures 3 to 5As shown, the embodiment also provides a rope-driven elbow structure, which comprises an elbow joint 100 and a driving mechanism. Specifically, the elbow joint 100 comprises a first roller 110 and a second roller 120 arranged tangentially, and a connecting frame 130, and the first roller 110 and the second roller 120 are both rotationally installed on the connecting frame 130. The driving mechanism comprises a first driving rope 210 for driving the elbow joint 100 to perform a lifting action and a second driving rope 220 for driving the elbow joint 100 to perform a lowering action, wherein the number of the first driving rope 210 is greater than the number of the second driving rope 220, and each driving rope is connected with a driving motor for winding and unwinding it.

[0041] In the rope-driven elbow structure, the first roller 110 and the second roller 120 are tangentially arranged and rotationally installed on the connecting frame 130, so that the first roller 110 and the second roller 120 form a pure rolling structure. By setting the number of the first driving rope 210 to be greater than the number of the second driving rope 220, and setting a driving motor for winding and unwinding each driving rope, on the one hand, when the elbow joint 100 performs a lifting action, the greater number of the first driving rope 210 can be used to make the elbow joint 100 generate greater torque to meet the large load requirement of the lifting action, and when the elbow joint 100 performs a lowering action, the smaller number of the second driving rope 220 can be used to achieve the purpose of lowering through smaller torque. On the other hand, the simultaneous action of the first driving rope 210 and the second driving rope 220 can also realize antagonistic stiffness adjustment. Specifically, when the first driving rope 210 and the second driving rope 220 are both tightened, the stiffness of the elbow joint 100 increases; when the first driving rope 210 and the second driving rope 220 are both relaxed, the stiffness of the elbow joint 100 decreases, thereby realizing stiffness adaptation in different task scenarios. For example, when a task with greater accuracy needs to be performed, the elbow joint 100 can have greater stiffness to ensure the accuracy of the robot arm; when interacting with the user, the stiffness can be reduced to better realize safe human-machine interaction, so that even if the robot arm malfunctions or loses control, it will not cause great harm to the user.

[0042] Therefore, the rope-driven elbow structure sets the first driving rope 210 and the second driving rope 220 with different numbers, and uses the simultaneous tightening or relaxation of the first driving rope 210 and the second driving rope 220 to make the driving actions of the first driving rope 210 and the second driving rope 220 counteract each other, so as to adapt to the use requirements in different task scenarios through the antagonistic action of the first driving rope 210 and the second driving rope 220.

[0043] Please continue to refer to Figures 3 to 5In the embodiment, the first roller 110 is a roller close to the wrist structure, the side of the first roller 110 away from the second roller 120 is the front of the elbow joint 100, the side of the second roller 120 away from the first roller 110 is the back of the elbow joint 100, and one end of both the first driving rope 210 and the second driving rope 220 is fixedly connected to the first roller 110 at the front; the driving mechanism further comprises a pressing roller 250 rotatably pressed at the back, wherein both the first driving rope 210 and the second driving rope 220 are arranged in a "∽" shape around the pressing roller 250 and the elbow joint 100, and the winding directions of the first driving rope 210 and the second driving rope 220 are centrally symmetrical with respect to the tangent points of the pressing roller 250 and the elbow joint 100.

[0044] The winding mode of the first driving rope 210 and the second driving rope 220 not only makes the first roller 110 and the second roller 120 always maintain pure rolling contact, thereby improving the control accuracy of the elbow joint 100, but also simplifies the winding mode.

[0045] In the embodiment, the first roller 110 is pivotally connected to the lower arm shell, and the second roller 120 is pivotally connected to the upper arm shell.

[0046] Please continue to refer to Figures 3 to 5 In the embodiment, the number of the first driving rope 210 is two, and the number of the second driving rope 220 is one; each first driving rope 210 is correspondingly provided with a first motor 230, and the second driving rope 220 is correspondingly provided with a second motor 240.

[0047] The number of the first driving rope 210 and the second driving rope 220 in this way can not only obtain different stiffness, but also reduce the number of driving ropes, thereby reducing the driving cost and saving space.

[0048] In other embodiments, the number of the first driving rope 210 can be set to three, and the number of the second driving rope 220 can be set to one.

[0049] Figure 6 A partial structure top view of a robot arm of a humanoid robot is provided in the embodiment. Please continue to refer to Figures 3 to 5 and combine Figure 6 In the embodiment, in the axial cross-sectional view of the elbow joint 100, the two first driving ropes 210 are respectively located on both sides of the second driving rope 220.

[0050] The layout of the first driving rope 210 and the second driving rope 220 makes the force of the elbow joint 100 more balanced when the first driving rope 210 and the second driving rope 220 provide opposite directions.

[0051] Please continue to refer to Figure 3 andFigure 5 In the embodiment, the driving mechanism further comprises a fixing block 260, which is fixedly arranged on the front side of the first roller 110, and is used for fixing the end portions of the first driving rope 210 and the second driving rope 220.

[0052] The fixing block 260 is used for fixing the end portions of the first driving rope 210 and the second driving rope 220, and the fixing block 260 is arranged on the front side of the first roller 110.

[0053] In the embodiment, the fixing block 260 is provided with a plurality of rope passing holes and a fixing hole penetrating each rope passing hole, the plurality of rope passing holes are arranged in the axial direction of the first roller 110, and the fixing hole is arranged on the side of the fixing block 260 away from the first roller 110, wherein the first driving rope 210 and the second driving rope 220 are arranged in the corresponding rope passing holes, and the locking member is arranged in the fixing hole and abuts against the corresponding driving rope.

[0054] The fixing block 260 is provided with a plurality of rope passing holes and a fixing hole penetrating each rope passing hole, the plurality of rope passing holes are arranged in the axial direction of the first roller 110, and the fixing hole is arranged on the side of the fixing block 260 away from the first roller 110, wherein the first driving rope 210 and the second driving rope 220 are arranged in the corresponding rope passing holes, and the locking member is arranged in the fixing hole and abuts against the corresponding driving rope.

[0055] In the embodiment, the pressing roller 250 is rotatably arranged on the upper arm shell 030 of the robot arm.

[0056] Please continue to refer to Figures 3 to 5 In the embodiment, the connecting frame 130 comprises a center connecting rod 131, a first center shaft 132 and a second center shaft 133, wherein one end of the center connecting rod 131 is rotatably arranged on the upper arm shell 030 of the robot arm, the other end of the center connecting rod 131 is rotatably arranged on the lower arm shell 040 of the robot arm, the first center shaft 132 is rotatably arranged on one end of the center connecting rod 131, and the first roller 110 is fixedly arranged on the first center shaft 132, and the second center shaft 133 is rotatably arranged on the other end of the center connecting rod 131, and the second roller 120 is fixedly arranged on the second center shaft 133.

[0057] The connecting frame 130 comprises a center connecting rod 131, a first center shaft 132 and a second center shaft 133, wherein one end of the center connecting rod 131 is rotatably arranged on the upper arm shell 030 of the robot arm, the other end of the center connecting rod 131 is rotatably arranged on the lower arm shell 040 of the robot arm, the first center shaft 132 is rotatably arranged on one end of the center connecting rod 131, and the first roller 110 is fixedly arranged on the first center shaft 132, and the second center shaft 133 is rotatably arranged on the other end of the center connecting rod 131, and the second roller 120 is fixedly arranged on the second center shaft 133.

[0058] Please continue to refer to Figures 3 to 5In the embodiment, the outer circumferential surface of the first roller 110 and the second roller 120 is provided with a plurality of rope grooves.

[0059] By providing the plurality of rope grooves on the outer circumferential surface of the first roller 110 and the second roller 120, the first driving rope 210 and the second driving rope 220 can be accommodated and limited, and the winding caused by the movement of the first driving rope 210 and the second driving rope 220 can be prevented, so as to ensure the working reliability of the rope driving elbow structure.

[0060] Please continue to refer to Figure 1 In the embodiment, the first motor 230 and the second motor 240 are installed at the position of the robot body.

[0061] By arranging the first motor 230 and the second motor 240 at the position of the robot body, the weight of the first motor 230 and the second motor 240 can be concentrated on the body part of the humanoid robot, and the motor middle arrangement can not only reduce the weight of the robot arm, but also make the overall structure of the humanoid robot more stable.

[0062] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited to the range defined by the claims.

[0063] Finally, it should also be noted that in this paper, such as first and second relationship terms such as only to distinguish one entity or operation from another entity or operation, and does not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent in such process, method, article or equipment. Without more limitations, the element defined by the sentence "comprises a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

[0064] In the above embodiment, the description of the orientation such as "upper", "lower", "side" and the like is based on the drawings.

[0065] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rope-driven elbow structure, characterized by, The elbow joint (100) comprises a first roller (110) and a second roller (120) arranged tangentially, and a connecting frame (130), both the first roller (110) and the second roller (120) are rotatably installed on the connecting frame (130); the driving mechanism comprises a first driving rope (210) for driving the elbow joint (100) to perform a lifting action and a second driving rope (220) for driving the elbow joint (100) to perform a lowering action, wherein the number of the first driving rope (210) is more than the number of the second driving rope (220), and each driving rope is connected with a driving motor for winding and unwinding.

2. The rope-driven elbow structure according to claim 1, characterized in that, The first roller (110) is a roller close to the wrist structure, the side of the first roller (110) away from the second roller (120) is the front of the elbow joint (100), the side of the second roller (120) away from the first roller (110) is the back of the elbow joint (100), and one end of both the first driving rope (210) and the second driving rope (220) is fixedly connected with the first roller (110) at the front; the driving mechanism further comprises a pressure roller (250) rotatably pressed against the back, wherein both the first driving rope (210) and the second driving rope (220) are arranged in a "∽" shape around the pressure roller (250) and the elbow joint (100), and the winding directions of the first driving rope (210) and the second driving rope (220) are centrally symmetric with respect to the tangent points of the pressure roller (250) and the elbow joint (100).

3. The rope-driven elbow structure according to claim 2, characterized in that, The number of the first driving rope (210) is two, and the number of the second driving rope (220) is one; each first driving rope (210) is correspondingly provided with a first motor (230), and the second driving rope (220) is correspondingly provided with a second motor (240).

4. The rope-driven elbow structure according to claim 3, characterized in that, In the axial cross-sectional view of the elbow joint (100), two first driving ropes (210) are respectively located on both sides of the second driving rope (220).

5. The rope-driven elbow structure according to claim 2, wherein The driving mechanism further comprises a fixed block (260) fixedly arranged on the first roller (110) at the front, and the fixed block (260) is used for fixing the end portions of the first driving rope (210) and the second driving rope (220).

6. The rope-driven elbow structure according to claim 5, characterized in that, The fixed block (260) is provided with a plurality of rope penetrating holes and a fixing hole penetrating each rope penetrating hole, respectively, a plurality of rope penetrating holes are arranged at intervals along the axial direction of the first roller (110), and the fixing hole is arranged on the side of the fixed block away from the first roller (110), wherein the first driving rope (210) and the second driving rope (220) are respectively arranged in the corresponding rope penetrating hole, and a locking member penetrates the fixing hole and abuts against the corresponding driving rope.

7. The rope-driven elbow structure according to claim 1, wherein The connecting frame (130) comprises a center connecting rod (131), a first center shaft (132) and a second center shaft (133), wherein one end of the center connecting rod (131) is rotatably installed on an upper arm shell (030) of a robot arm, the other end of the center connecting rod (131) is rotatably installed on a lower arm shell (040) of the robot arm; the first center shaft (132) is rotatably installed on one end of the center connecting rod (131), the first roller (110) is fixedly sleeved on the first center shaft (132); the second center shaft (133) is rotatably installed on the other end of the center connecting rod (131), and the second roller (120) is fixedly sleeved on the second center shaft (133).

8. The rope-driven elbow structure according to claim 1, wherein The outer circumferential surface of the first roller (110) and the outer circumferential surface of the second roller (120) are both provided with a plurality of rope grooves.

9. The rope-driven elbow structure according to claim 2, wherein The outer circumferential surface of the pressing roller (250) is provided with a plurality of rope grooves.

10. A humanoid robot, characterized by, The robot arm comprises a shoulder structure (010), a wrist structure (020), an upper arm shell (030), a lower arm shell (040), a terminal gripper (050) and the rope-driven elbow structure according to any one of claims 1-9, wherein the elbow joint (100) of the rope-driven elbow structure connects the upper arm shell (030) and the lower arm shell (040), the shoulder structure (010) is a three-degree-of-freedom structure, and the wrist structure (020) is a three-degree-of-freedom structure.

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