An embodied intelligent robot with a seven-degree-of-freedom robotic arm

Abstract

This utility model discloses a unibody intelligent robot with seven degrees of freedom robotic arms, comprising an omnidirectional motion chassis, a column, a mobile platform, and two seven-degree-of-freedom robotic arms. The two seven-degree-of-freedom robotic arms are mounted on the left and right sides of the mobile platform, which can move vertically relative to the column. Each seven-degree-of-freedom robotic arm includes a first spin joint, a first hinge joint, a second spin joint, a second hinge joint, a third spin joint, a third hinge joint, a fourth spin joint, and a gripper connected sequentially. The first spin joint is mounted on the mobile platform, and the gripper is mounted on the fourth spin joint. This utility model enhances the robot's mobility in complex environments through the seven-degree-of-freedom robotic arms, enabling the arms to grasp target objects with relatively small amplitude of movement, thus enhancing its application in complex environments such as supermarkets and logistics warehouses.

Description

Technical Field

[0001] This utility model belongs to the field of embodied intelligent robot hardware design, and more specifically, relates to an embodied intelligent robot with a seven-degree-of-freedom robotic arm. Background Technology

[0002] Traditional mobile robots mostly adopt a single-arm or fixed-base design, lacking broad adaptability. Embossed intelligent robots with dual arms and mobility have the ability to dynamically adapt to the environment, accurately manipulate multiple types of objects, and ensure human-robot collaborative safety. They are widely used in real life, especially in unmanned scenarios such as material handling.

[0003] Existing dual-arm intelligent robots have limited mobility or restricted range of motion on their bases on mobile platforms, resulting in confined workspaces. Furthermore, the robots' arms typically have only 6 degrees of freedom (6-DOF), allowing them to reach any point within the workspace only through relatively large-scale posture adjustments. However, the complexity of environments such as supermarkets and logistics warehouses places higher demands on the robots' workspace. In addition, complex environments often prevent the robots' arms from moving freely, otherwise collisions could occur. Utility Model Content

[0004] This invention aims to overcome the shortcomings of the prior art and provide a embodied intelligent robot with a seven-degree-of-freedom robotic arm, thereby improving the embodied intelligent robot's ability to operate in complex environments such as supermarkets and logistics warehouses.

[0005] To achieve the above objectives, this utility model provides an embodied intelligent robot with seven degrees of freedom robotic arms, comprising an omnidirectional motion chassis, a column, a mobile platform, and two seven-degree-of-freedom robotic arms. The column is mounted above the omnidirectional motion chassis, and the mobile platform is mounted on the column, allowing it to slide up and down relative to the column. The two seven-degree-of-freedom robotic arms are mounted on the left and right sides of the mobile platform, and both have identical structures, arranged symmetrically about the mobile platform. Each seven-degree-of-freedom robotic arm includes a first spin joint, a first hinge joint, a second spin joint, a second hinge joint, a third spin joint, a third hinge joint, a fourth spin joint, and a gripper connected sequentially. The first spin joint is mounted on the mobile platform, and the gripper is mounted on the fourth spin joint.

[0006] According to a preferred embodiment, each spin joint includes a connecting rod, a joint motor, and a rotating part driven by the joint motor and rotatable about the axis of the connecting rod; each hinge joint includes two hinged ends and a joint motor that can drive the two ends to rotate relative to each other.

[0007] According to a preferred embodiment, the connecting rod of the first spin joint is fixedly connected to the moving platform, its rotating part is fixedly connected to one end of the first hinge joint, the other end of the first hinge joint is fixedly connected to the rotating part of the second spin joint, the connecting rod of the second spin joint is fixedly connected to one end of the second hinge joint, the other end of the second hinge joint is fixedly connected to the connecting rod of the third spin joint, the rotating part of the third spin joint is fixedly connected to one end of the third hinge joint, the other end of the third hinge joint is fixedly connected to the rotating part of the fourth spin joint, and the connecting rod of the fourth spin joint is fixedly connected to the gripper.

[0008] In the preferred embodiment, the connecting rod of the third spin joint adopts a bending design, with a bending angle of 30°-90° relative to the straight rod. This bending design is intended to mimic the bending of the human elbow joint, and it reduces the required rotation angle range of the second hinge joint.

[0009] Compared to existing technologies, this invention, featuring a seven-DOF robotic arm, introduces an additional rotational degree of freedom (a second spin joint) between the shoulder and elbow. This allows the robotic arm to adjust its joint configuration through self-motion in the joint space while maintaining the end effector's pose. This avoids interference between the robotic arm and obstacles, overcoming the limitations and dexterity of traditional six-DOF robotic arms in singular configurations. Compared to the finite inverse kinematics of a six-DOF robotic arm, the redundancy of this robotic arm allows for an infinite number of inverse kinematics. This enables the robotic arm to achieve the same end effector pose through multiple joint angle combinations, allowing it to select the optimal obstacle avoidance path in confined spaces. This prevents motion failures caused by structural interference and adapts to the multi-objective constraint requirements of complex working conditions.

[0010] This invention mounts robotic arms on both sides of a guide rail slide, significantly increasing the working range of the mechanical system. In this system, the guide rail slide module provides additional vertical movement freedom, greatly expanding the workspace of the robotic arms on both sides, making it suitable for large-scale, long-stroke operation scenarios. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of an embodied intelligent robot with a seven-degree-of-freedom robotic arm.

[0012] Figure 2 This is a schematic diagram of the omnidirectional motion chassis in the embodiment.

[0013] Figure 3 This is a schematic diagram of a seven-degree-of-freedom robotic arm for an embodied intelligent robot.

[0014] Figure 4 This is a schematic diagram of a seven-degree-of-freedom robotic arm. Figure 4In the AA sectional view, the circular box on the right indicates the spin joint structure, and the circular box on the left indicates the hinge joint structure.

[0015] Figure 5 This is a simplified diagram of the connecting rod for the third spin joint.

[0016] Figure 6 This is a schematic diagram showing the postures of a seven-DOF robotic arm reaching the same end point in different ways. Detailed Implementation

[0017] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0018] like Figure 1 As shown, this embodiment provides an embodied intelligent robot with seven degrees of freedom robotic arms, which mainly includes an omnidirectional motion chassis 1, a column 2, a mobile platform 3, and two seven-degree-of-freedom robotic arms 4. The column 2 is located on the upper part of the omnidirectional motion chassis 1, and the mobile platform 3 is located in front of the column 2. The mobile platform 3 and the column 2 can slide vertically together. The column is designed with a certain height to provide the stroke range required for the vertical movement of the mobile platform 3. The two seven-degree-of-freedom robotic arms 4 are installed on the left and right sides of the mobile platform 3. The two arms have identical structures and are symmetrical about the mobile platform 3. The robot's center of gravity is located within a supportable polygon, providing strong anti-tipping capability.

[0019] Reference Figure 3 The seven-degree-of-freedom robotic arm includes a first spin joint (joint 1), a first hinge joint (joint 2), a second spin joint (joint 3), a second hinge joint (joint 4), a third spin joint (joint 5), a third hinge joint (joint 6), a fourth spin joint (joint 7), and a gripper 40 connected sequentially. The first spin joint is mounted on a moving platform, and the gripper 40 is mounted on the fourth spin joint. The gripper 40 at the end of the robotic arm is equipped with a separate motor to control its opening and closing, thereby gripping materials. The robotic arm can be further equipped with end-effector vision sensors or pressure sensors as needed to enable precise sensing by the gripper. The gripper 40 contains a drive motor for driving its opening and closing.

[0020] Among them, such as Figures 3 to 5 As shown, the first hinge joint is used to mimic the human shoulder joint, and the second hinge joint, together with the connecting rod of the three-rotation joint, simulates the human elbow joint, wherein, as... Figure 5As shown, the connecting rod of the third spin joint adopts a bending design, and its bending angle relative to the straight rod is 30°-90°. Figure 5 The structure shown in the diagram has a bending angle of 60° relative to the straight line. This bending design is intended to mimic the bending of the human elbow joint, and it reduces the required rotation angle range of the second hinge joint. The third hinge joint simulates the human wrist joint. The hinge axis of the first hinge joint 42 is perpendicular to the rotation axes of the first spin joint 41 and the second spin joint 43, respectively. The hinge axis of the second hinge joint 44 is perpendicular to the rotation axes of the second spin joint 43 and the third spin joint 45, respectively. The hinge axis of the third hinge joint 46 is perpendicular to the rotation axes of the third spin joint 45 and the fourth spin joint 47, respectively. Figure 5 The seven blue areas in the middle each correspond to a joint, or a degree of freedom. The seven-degree-of-freedom robotic arm enhances the robot's ability to move in confined spaces, enabling the arms to grasp target items with a relatively small range of motion, thus enhancing its application capabilities in complex environments such as supermarkets and logistics warehouses.

[0021] like Figure 3 and Figure 4 As shown, in a specific embodiment, each spin joint includes a connecting rod, a joint motor, and a rotating part driven by the joint motor and rotatable relative to the connecting rod. The rotating part is sleeved on the connecting rod, and the output end of the joint motor is directly connected to the rotating part or connected to the rotating part through a reduction mechanism. If the connecting rod is fixed, the rotating part rotates relative to the axis of the connecting rod when the joint motor rotates; if the rotating part is fixed, the connecting rod rotates around its own axis when the joint motor rotates, thereby realizing the spin motion of the spin joint. Specific parameters such as the size of each spin joint, the length of the connecting rod, and the power of the joint motor can be selected as needed, and this invention does not impose any limitations on these parameters. Figure 4 In the AA sectional view, the circular box on the right indicates the spin joint structure.

[0022] like Figure 3 and Figure 4 As shown, each hinge joint includes two hinged ends (connecting parts) and a joint motor that drives the two ends to rotate relative to each other. Specific parameters such as the power of the joint motor are selected as needed. There are various ways to implement hinge joints in the prior art, which can be selected according to requirements. In one implementation, the joint motor is fixedly mounted on one end, and the joint motor is a push rod motor whose output linear displacement drives the other end to rotate relative to each other. In another optional implementation, the joint motor is fixedly mounted on one end, and the joint motor directly outputs rotational motion, which is transmitted to the hinge shaft or the other end via a reducer, thereby driving the other end to rotate relative to each other. Figure 4In the AA sectional view, the hinge joint structure is indicated by the circular box on the left.

[0023] like Figure 3 and Figure 4 As shown, in a specific embodiment, the connecting rod of the first spin joint 41 is fixedly connected to the moving platform 3, its rotating part is fixedly connected to one end of the first hinge joint 42, the other end of the first hinge joint 42 is fixedly connected to the rotating part of the second spin joint 43, the connecting rod of the second spin joint 43 is fixedly connected to one end of the second hinge joint 44, the other end of the second hinge joint 44 is fixedly connected to the connecting rod of the third spin joint 45, the rotating part of the third spin joint 45 is fixedly connected to one end of the third hinge joint 46, the other end of the third hinge joint 46 is fixedly connected to the rotating part of the fourth spin joint 47, and the connecting rod of the fourth spin joint is fixedly connected to the gripper 40.

[0024] See Figure 6 The seven-DOF robotic arm 4 can reach the same end point using different postures. By introducing an additional degree of freedom (a second spin joint), it overcomes the limitations and dexterity of traditional six-DOF robotic arms in singular configurations. While adopting a humanoid shoulder-elbow-wrist coordinated configuration, the robotic arm introduces an additional rotational degree of freedom between the shoulder and elbow, allowing it to adjust its joint configuration through self-motion in joint space while maintaining the end effector's pose, thus avoiding interference between the robotic arm and obstacles. Compared to the finite inverse kinematics of a six-DOF robotic arm, the redundancy of this robotic arm allows for an infinite inverse kinematics, enabling it to achieve the same end-point pose with multiple joint angle combinations. This allows it to select the optimal obstacle avoidance path in confined spaces, avoiding motion failures caused by structural interference, and adapting to the multi-objective constraint requirements of complex working conditions.

[0025] See Figure 2 The omnidirectional motion chassis 1 includes an omnidirectional wheel chassis 10, a battery 11, an emergency stop switch 12, and a housing 13. The battery 11 is fixed to the rear side of the omnidirectional wheel chassis 10. The housing 13 is connected and installed to the omnidirectional wheel chassis 10. The emergency stop switch 12 is located on the outer layer of the housing 13 and is designed as a button for pressing to cut off the battery in an emergency. The emergency stop switch, high-capacity battery, and other electrical equipment ensure the safety and endurance of the robot during operation.

[0026] See Figure 3The column 2 includes a motor 20, a lead screw 21, and a column housing 22. The lead screw 21 is placed vertically and can rotate when driven by the motor 20. The lead screw nut sleeved on the lead screw can move up and down along the lead screw when it rotates. The column housing 22 is installed on the outer layer of the lead screw 21 and is connected to the omnidirectional motion chassis 1. The column has a large height and a large range of vertical movement, ensuring the robot's ability to operate in the vertical direction and enabling it to grasp goods on high shelves.

[0027] See Figure 3 The mobile platform 3 includes a guide rail slide 30 and a fixed bracket 31; the guide rail slide 30 is fixedly connected to the lead screw nut of the lead screw, and the fixed bracket 31 is installed above the guide rail slide 30. In subsequent extended applications, the fixed bracket 31 can serve as an installation platform for subsequent extended equipment. For example, a vision sensor can be installed on the fixed bracket to detect the environment in the direction of the robot's movement and identify objects in front of it.

[0028] With its 7-DOF design, the robotic arm can reach any point in space through small-amplitude movements. The integrated system of the guide rail slide 30 and the robotic arm 4 can handle 8-layer shelves of different heights. The robotic arm 4 is mounted on both sides of the guide rail slide 30, significantly increasing the working range of the mechanical system. In this system, the guide rail slide 30 provides additional vertical movement freedom, greatly expanding the workspace of the two robotic arms 4, making it suitable for large-scale, long-stroke operation scenarios.

[0029] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A embodied intelligent robot with a seven-degree-of-freedom robotic arm, characterized in that, It includes an omnidirectional motion chassis, a column, a moving platform, and two seven-degree-of-freedom robotic arms. The column is mounted on top of the omnidirectional motion chassis, the moving platform is mounted on the column and can slide up and down relative to the column, and the two seven-degree-of-freedom robotic arms are mounted on the left and right sides of the moving platform. The two robotic arms have the same structure and are arranged symmetrically about the moving platform. The seven-degree-of-freedom robotic arm includes a first spin joint, a first hinge joint, a second spin joint, a second hinge joint, a third spin joint, a third hinge joint, a fourth spin joint, and a gripper connected in sequence; wherein the first spin joint is mounted on a moving platform, and the gripper is mounted on the fourth spin joint; Each spin joint includes a connecting rod, a joint motor, and a rotating part driven by the joint motor and capable of rotating about the axis of the connecting rod; each hinge joint includes two hinged ends and a joint motor capable of driving the two ends to rotate relative to each other.

2. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 1, characterized in that, The connecting rod of the first spin joint is fixedly connected to the moving platform, and its rotating part is fixedly connected to one end of the first hinge joint. The other end of the first hinge joint is fixedly connected to the rotating part of the second spin joint. The connecting rod of the second spin joint is fixedly connected to one end of the second hinge joint. The other end of the second hinge joint is fixedly connected to the connecting rod of the third spin joint. The rotating part of the third spin joint is fixedly connected to one end of the third hinge joint. The other end of the third hinge joint is fixedly connected to the rotating part of the fourth spin joint. The connecting rod of the fourth spin joint is fixedly connected to the gripper.

3. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 1, characterized in that, The hinge axis of the first hinge joint is perpendicular to the rotation axes of the first spin joint and the second spin joint, respectively. The hinge axis of the second hinge joint is perpendicular to the rotation axes of the second spin joint and the third spin joint, respectively. The hinge axis of the third hinge joint is perpendicular to the rotation axes of the third spin joint and the fourth spin joint, respectively.

4. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 2, characterized in that, The connecting rod of the third spin joint adopts a bending design, and its bending angle relative to the straight rod is 30°-90°.

5. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 1, characterized in that, The omnidirectional motion chassis includes an omnidirectional wheel chassis, a battery, an emergency stop switch, and a housing; the battery is fixed to the rear side of the omnidirectional wheel chassis; the housing is connected and installed with the omnidirectional wheel chassis, and the emergency stop switch is located on the outer layer of the housing.

6. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 1, characterized in that, The column includes a motor, a lead screw, and a column housing; the lead screw is placed vertically and can rotate when driven by the motor; the lead screw nut sleeved on the lead screw can move up and down along the lead screw when the lead screw rotates; the column housing is installed on the outer layer of the lead screw and is connected to the omnidirectional motion chassis.

7. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 6, characterized in that, The mobile platform includes a guide rail slide and a fixed bracket; the guide rail slide is fixedly connected to the lead screw nut, and the fixed bracket is installed above the guide rail slide.

8. The embodied intelligent robot with a seven-degree-of-freedom robotic arm according to claim 1, characterized in that, The gripper contains a drive motor, which is used to drive the gripper to open and close.

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