CN106217357B - Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot - Google Patents
Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot Download PDFInfo
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- CN106217357B CN106217357B CN201610740813.3A CN201610740813A CN106217357B CN 106217357 B CN106217357 B CN 106217357B CN 201610740813 A CN201610740813 A CN 201610740813A CN 106217357 B CN106217357 B CN 106217357B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The embodiment of the invention discloses a kind of six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror.The six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror includes：Shoulder joint, elbow joint, wrist joint, large arm shell and forearm shell；The first motor connecting seat that large arm shell both sides export connecting plate and elbow joint with the second of shoulder joint respectively fastens, and forearm shell both sides export connecting plate with the 4th of elbow joint the respectively and carpal second motor connecting base fastens.The embodiment of the present invention and uses different executing agencies by using the structure of serial-parallel mirror, while reducing motor burden, to increase to the control of shoulder joint, to improve the accuracy of movement.
Description
Technical field
The present embodiments relate to apery mechanical arm technical fields, and in particular to a kind of six degree of freedom based on serial-parallel mirror
Apery mechanical arm and robot.
Background technology
Mechanical arm can replace the mankind to complete many work, or assist human work.Work especially in the presence of a harsh environment,
Mechanical arm has the advantage of bigger compared with the mankind.It is designed using with the apery mechanical arm of robot arm Homogeneous, can control and advise well
Draw its movement.
The joint structure design of current existing mechanical arm mainly has series connection and two classes in parallel.For using series connection joint knot
The scheme of structure design, since each degree of freedom is all driven by separate electrical motor so that motor burden is big, influences to load；And for using
The scheme of joint structure design in parallel, each of which degree of freedom have multiple motor coupling drivings, share motor burden, have certain
Load capacity, however its shoulder joints control difficulty is larger, and bionical degree is relatively low.
Invention content
One purpose of the embodiment of the present invention is to solve that the existing bionical degree of apery mechanical arm is low, and load capacity is poor
The problem of.
The embodiment of the present invention proposes a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror, including：Shoulder joint, elbow
Joint, wrist joint, large arm shell and forearm shell.
The shoulder joint includes：First motor, the first planetary reduction gear, the first rotary encoder, first motor connector,
First axle sleeve, first bearing lid, the first shaft joint, the first input shaft, first bevel gear, second bevel gear, the first output shaft,
One deep groove ball bearing, the first thrust ball bearing, the first angular contact bearing, second bearing lid, two the first output connecting plates, second
Export connecting plate, two the first hubcap pieces and the second motor, the second planetary reduction gear, the second rotary encoder, the first electricity
Machine connecting plate, the second shaft joint, the first transmission gear, two the second deep groove ball bearings, the second transmission gear, two third zanjons
Ball bearing, the first sleeve, second sleeve, the 4th deep groove ball bearing, the second angular contact bearing, the first straight-tooth wheel decelerator protecgulum,
First straight-tooth wheel decelerator body, the second straight-tooth wheel decelerator rear cover, the first connecting plate, two the second connecting plates, first shell, two
A first magnetic coder fixed block, two the first L-type trunk connecting plates；
The first motor, first planetary reduction gear and first rotary encoder are sequentially connected with, and are led to successively
First motor connector, the first axle sleeve, first bearing lid and the first straight-tooth wheel decelerator protecgulum is crossed to fix；First planetary reduction gear
Output shaft be connected with the first input shaft by the first shaft joint；First input shaft is connect with first bevel gear, first bevel gear
It is engaged with second bevel gear；Second bevel gear, the first deep groove ball bearing, the first thrust ball bearing and the first angular contact bearing
It being each attached on the first output shaft, described two first output connecting plates are separately mounted to the both ends of first output shaft, and
Described two first output connecting plates are fixed respectively by two the first hubcap pieces；Second output connecting plate and described two the
One output connecting plate is fixedly connected；Second motor, the second planetary reduction gear, the second rotary encoder are sequentially connected with, and pass through
One connecting plate for electric motor is fixed with the first straight-tooth wheel decelerator protecgulum；The output shaft of second planetary reduction gear by the second shaft joint with
First transmission gear is connected；Described two second deep groove ball bearings are separately mounted to first transmission gear both sides, and described two
A third deep groove ball bearing is separately mounted to second transmission gear both sides, and first transmission gear is driven with described second
Gear engages, and second transmission gear is mounted on the first sleeve；It is first sleeve and first connecting plate, described
Second sleeve fastens, the 4th deep groove ball bearing and second angular contact bearing be installed in the second sleeve with it is described
Between first input shaft；First connecting plate is fixed by described two second connecting plates with the first shell；Described two
A first magnetic coder fixed block is mounted in the first shell；The first straight-tooth wheel decelerator protecgulum and described first
Straight-tooth wheel decelerator body, the second straight-tooth wheel decelerator rear cover are fixedly connected with first connecting plate；Described two first L
Type trunk connecting plate is separately fixed at the first straight-tooth wheel decelerator body both sides；
The elbow joint includes：Third motor, third planet retarder, third rotary encoder, third shaft joint, second
Input shaft, third hand tap gear, the 4th bevel gear, the second output shaft, two third angular contact bearings, the second shaft end cover plate, two
Third exports connecting plate, the 4th output connecting plate and the 4th motor, fourth planet retarder, the 4th rotary encoder, third
Transmission gear, the first graphite self-lubricating bearing, the 4th transmission gear, two the 5th deep groove ball bearings, second shell, two second
Magnetic coder fixed block, the first shell cover, the second shell cover, first motor connecting seat, third shell；
The third motor, the third planet retarder and the third rotary encoder are sequentially connected, and described
The output shaft of three planetary reduction gears is connect with second input shaft by the third shaft joint, the second input shaft end
Equipped with third hand tap gear, third hand tap gear is engaged with the 4th bevel gear；4th bevel gear is fixed on second output shaft
On, described two second output shafts both ends are attached separately to third angular contact bearing both sides, the installation of second shaft end cover plate
In side of the third angular contact bearing far from the 4th bevel gear；Described two third output connecting plates are separately mounted to described second
Output shaft both sides, and connect with the 4th output connecting plate；
4th motor, the fourth planet retarder and the 4th rotary encoder are sequentially connected, and the described 4th
The output shaft of planetary reduction gear is connect with one end of the third transmission gear；The first graphite self-lubricating bearing is mounted on institute
State the other end of third transmission gear；The third transmission gear is engaged with the 4th transmission gear, the 4th driving cog
Wheel is set on the third shaft joint, and described two 5th deep groove ball bearings and the second bearing lid are set in described the
On four transmission gears；Second shaft end cover plate is fixedly connected with the second shell, and second output shaft passes through described the
Two shells, described two second magnetic coder fixed blocks are mounted in second shell inside；First shell cover and described second
Shell cover is arranged at outside the second shell；The outside of the third transmission gear and the 4th transmission gear is equipped with first
Motor connecting base, described two 5th deep groove ball bearings outsides are equipped with third shell, the third shell and the first motor
Connecting seat fastens；
The wrist joint includes：5th motor, fifth line star retarder, the 5th rotary encoder, the first connecting cylinder, two
6th deep groove ball bearing, the second motor connecting base, first bearing cylinder, third magnetic coder fixed block, the 4th magnetic coder are fixed
Block, the first steering engine connector, two the second steering engine connectors, two third steering engine connectors, the first high-power steering engine, preceding wrist are solid
Fixed board；
5th motor, the fifth line star retarder and the 5th rotary encoder are sequentially connected, and the described 5th
The output shaft of planetary reduction gear is fastened with first connecting cylinder by jackscrew；Described two 6th deep groove ball bearings are set in
The outside of first connecting cylinder, second motor connecting base are fixedly connected with first connecting cylinder；Described two six
Deep groove ball bearing is set on the first bearing cylinder, and second motor connecting base is fastened with the first bearing cylinder；Institute
It states third magnetic coder fixed block to be fixed on the first bearing cylinder, and the third magnetic coder fixed block and the described 4th
Magnetic coder fixed block fastens；The first bearing cylinder is fastened with the first steering engine connector, and described two second steering engines connect
Fitting is fastened with the first steering engine connector both sides respectively, and described two third steering engine connectors are mounted on described two second
Among steering engine connector, and the first high-power steering engine is mounted among described two third steering engine connectors, the preceding wrist
Fixed plate is mounted on the output shaft of the described first high-power steering engine；
Large arm shell both sides are fastened with the second output connecting plate and the first motor connecting seat respectively, described
Forearm shell both sides are fastened with the 4th output connecting plate and second motor connecting base respectively.
Optionally, the gear ratio of first transmission gear and the second transmission gear, the third hand tap gear and described
The gear ratio of the gear ratio of four bevel gears, the third transmission gear and the 4th transmission gear is preset value.
Optionally, the gear ratio of the first bevel gear and the second bevel gear is 1:2.
Optionally, first transmission gear and second transmission gear ratio are 1:2.
Optionally, the third hand tap gear and the 4th number of teeth in bevel gears and hypoid gears ratio are 1:2.
Optionally, the third transmission gear and the 4th transmission gear ratio are 1:2.
Optionally, first input shaft and the first bevel gear, first input shaft and the first bevel gear,
The output shaft of the fourth planet retarder and the third transmission gear, are fastened by jackscrew.
The invention also provides a kind of imitative human upper limb robots, including above-mentioned apery mechanical arm.
As shown from the above technical solution, the six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that the embodiment of the present invention proposes
And robot is by using the structure of serial-parallel mirror, and different executing agencies is used, while reducing motor burden, to increase
Add the control to shoulder joint, to improve the accuracy of movement.
Description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to attached drawing, attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 shows a kind of the outer of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
Portion's structural schematic diagram；
Shoulder in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror provided Fig. 2 shows one embodiment of the invention
The structural schematic diagram in joint；
Fig. 3 is shown the in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The structural schematic diagram of one shell；
Fig. 4 shows shoulder in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The sectional view in joint；
Fig. 5 shows elbow in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The structural schematic diagram in joint；
Fig. 6 is shown the in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The structural schematic diagram of two shells；
Fig. 7 shows elbow in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The sectional view in joint；
Fig. 8 shows wrist in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The structural schematic diagram in joint；
Fig. 9 is shown the in a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
The structural schematic diagram of one bearing；
Wherein, 1, shoulder joint；2, elbow joint；3, wrist joint；4, large arm shell；5, forearm shell；
1-1, first motor；1-2, the first planetary reduction gear；1-3, the first rotary encoder；1-4, first motor connection
Part；1-5, the first axle sleeve；1-6, first bearing lid；1-7, the first shaft joint；1-8, the first input shaft；1-9, first bevel gear；
1-10, second bevel gear；1-11, the first output shaft；1-12, the first deep groove ball bearing；1-13, the first thrust ball bearing；1-14、
First angular contact bearing；1-15, second bearing lid；1-16-1, the first output connecting plate a；1-16-2, the first output connecting plate b；
1-17, the second output connecting plate；1-18-1, the first hubcap piece a；1-18-2, the first hubcap piece b；1-19, the second motor；
1-20, the second planetary reduction gear；1-21, the second rotary encoder；1-22, first motor connecting plate；1-23, the second shaft joint；
1-24, the first transmission gear；1-25-1, the second deep groove ball bearing a；1-25-2, the second deep groove ball bearing b；1-26, the second transmission
Gear；1-27-1, third deep groove ball bearing a；1-27-2, third deep groove ball bearing b；1-28, the first sleeve；1-29, second set
Cylinder；1-30, the 4th deep groove ball bearing 1-31, the second angular contact bearing；1-32, the first straight-tooth wheel decelerator protecgulum；1-33, first
Straight-tooth wheel decelerator body；1-34, the second straight-tooth wheel decelerator rear cover；1-35, the first connecting plate；1-36-1, the second connecting plate a；
1-36-2, the second connecting plate b；1-37, first shell；1-38-1, the first magnetic coder fixed block a；1-38-2, the first magnetic coding
Device fixed block b；1-39-1, the first L-type trunk connecting plate form a；1-39-2, the first L-type trunk connecting plate form b；
2-1, third motor；2-2, third planet retarder；2-3, third rotary encoder；2-4, third shaft joint；2-
5, the second input shaft；2-6, third hand tap gear；2-7, the 4th bevel gear；2-8, the second output shaft；2-9-1, the third angle engagement shaft
Hold a；2-9-2, third angular contact bearing b；2-10, the second shaft end cover plate；2-11-1, third output connecting plate a；2-11-2,
Three output connecting plate b；2-12, the 4th output connecting plate；2-13, the 4th motor；2-14, fourth planet retarder；2-15, the 4th
Rotary encoder；2-16, third transmission gear；2-17, the first graphite self-lubricating bearing；2-18, the 4th transmission gear；2-19-
1, the 5th deep groove ball bearing a；2-19-2, the 5th deep groove ball bearing b；2-20, second shell；2-21-1, the second magnetic coder are solid
Determine block a；2-21-2, the second magnetic coder fixed block b；2-22, the first shell cover；2-23, the second shell cover；2-24, first motor connect
Joint chair；2-25, third shell；
3-1, the 5th motor；3-2, fifth line star retarder；3-3, the 5th rotary encoder；3-4, the first connecting cylinder；3-
5-1, the 6th deep groove ball bearing a；3-5-2, the 6th deep groove ball bearing b；3-6, the second motor connecting base；3-7, first bearing cylinder；
3-8, third magnetic coder fixed block；3-9, the 4th magnetic coder fixed block；3-10, the first steering engine connector；3-11-1, second
Steering engine connector a；3-11-2, the second steering engine connector b；3-12-1, third steering engine connector a；3-12-2, the connection of third steering engine
Part b；3-13, the first high-power steering engine；3-14, preceding wrist fixed plate.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 shows a kind of the outer of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of the invention provides
Portion's structural schematic diagram, referring to Fig. 1, which includes：Shoulder joint 1, elbow joint 2, wrist joint 3, large arm shell 4 and
Forearm shell 5, wherein；
Elbow joint 2 is connect with shoulder joint 1, wrist joint 3 respectively,
Large arm shell 4 is separately connected shoulder joint 1 and elbow joint 2, and forearm shell 5 is separately connected elbow joint 2 and wrist joint 3.
Fig. 2-4 respectively illustrates a kind of six-degree-of-freedom humanoid machinery based on serial-parallel mirror of one embodiment of the invention offer
The sectional view of the structural schematic diagram and shoulder joint of shoulder joint and first shell in arm, referring to Fig. 2-4, which includes：
First motor 1-1, the first planetary reduction gear 1-2, the first rotary encoder 1-3, first motor connector 1-4, the first axle sleeve 1-
5, first bearing lid 1-6, the first shaft joint 1-7, the first input shaft 1-8, first bevel gear 1-9, second bevel gear 1-10, first
Output shaft 1-11, the first deep groove ball bearing 1-12, the first thrust ball bearing 1-13, the first angular contact bearing 1-14, second bearing
Cover 1-15, two the first output connecting plate 1-16, the second output connecting plate 1-17, two the first hubcap piece 1-18, Yi Ji
Two motor 1-19, the second planetary reduction gear 1-20, the second rotary encoder 1-21, first motor connecting plate 1-22, the second connecting shaft
Device 1-23, the first transmission gear 1-24, two the second deep groove ball bearing 1-25, the second transmission gear 1-26, two third zanjons
Ball bearing 1-27, the first sleeve 1-28, second sleeve 1-29, the 4th deep groove ball bearing 1-30, the second angular contact bearing 1-31,
Gear reduction unit protecgulum 1-32, the first straight-tooth wheel decelerator body 1-33, the second straight-tooth wheel decelerator rear cover 1-34, first connect always
Fishplate bar 1-35, two the second connecting plate 1-36, first shell 1-37, two the first magnetic coder fixed block 1-38, two the first L
Type trunk connecting plate 1-39.
The connection relation of each component of shoulder joint 1 is as follows：
First motor 1-1, the first planetary reduction gear 1-2, the first rotary encoder are sequentially connected with 1-3, pass sequentially through first
Motor contact 1-4, the first axle sleeve 1-5, first bearing lid 1-6 and the first straight-tooth wheel decelerator protecgulum 1-32 are fixed.The first row
The output shaft of star retarder 1-2 is connected by the first shaft joint 1-6 with the first input shaft 1-8.The cones of first input shaft 1-8 and first
Gear 1-9 is fixed by jackscrew, and first bevel gear 1-9 is engaged with second bevel gear 1-10.Second bevel gear 1-10 and first is deep
Ditch ball bearing 1-12, the first thrust ball bearing 1-13, the first angular contact bearing 1-14 are fixed on together on the first output shaft 1-12,
The first output connecting plate 1-15 is fixed at first both ends output shaft 1-10 respectively, and is fixed respectively by the first hubcap piece 1-17.
Second output connecting plate 1-16 is fixed with two first output connecting plate 1-15.
Second motor 1-19, the second planetary reduction gear 1-20, the second rotary encoder are sequentially connected with 1-21, pass through the first electricity
Machine connecting plate 1-22 is fixed with the first straight-tooth wheel decelerator protecgulum 1-32.The output shaft of second planetary reduction gear 1-20 passes through second
Shaft joint 1-23 is connected with the first transmission gear 1-23.Second deep groove ball bearing 1- is installed first both sides transmission gear 1-23 respectively
24, and engaged with the second transmission gear 1-25.Third deep groove ball bearing 1-27 is installed in second both sides transmission gear 1-25 respectively, and
On the first sleeve 1-28.First sleeve 1-28 and the first connecting plate 1-34 and second sleeve 1-29 fastenings.Second sleeve
4th deep groove ball bearing 1-30, the second angular contact bearing 1-31 are housed, guarantee between the two can between 1-29 and the first input shaft 1-8
Realize opposite sliding.
First connecting plate 1-35 is fixed by two the second connecting plate 1-36 and first shell 1-37.In first shell 1-37
There are two the first magnetic coder fixed block 1-38 to fixed magnetic coder circuit board for dress.First straight-tooth wheel decelerator protecgulum 1-32
It is fixed with the first straight-tooth wheel decelerator body 1-33, the second straight-tooth wheel decelerator rear cover 1-34 and the first connecting plate 1-35.Second is straight
Gear reduction unit rear cover 1-34 outer openings are to fixed magnetic coder circuit board.First both sides straight-tooth wheel decelerator body 1-33 point
The first L-type trunk connecting plate 1-39 is not fixed.
Fig. 5-Fig. 7 respectively illustrates a kind of six-degree-of-freedom humanoid machine based on serial-parallel mirror of one embodiment of the invention offer
The sectional view of the structural schematic diagram and elbow joint of elbow joint and second shell in tool arm, referring to Fig. 5-Fig. 7, elbow joint 2 wraps
It includes：Third motor 2-1, third planet retarder 2-2, third rotary encoder 2-3, third shaft joint 2-4, the second input shaft 2-
5, third hand tap gear 2-6, the 4th bevel gear 2-7, the second output shaft 2-8, two third angular contact bearing 2-9, the second hubcaps
Piece 2-10, two third output connecting plate 2-11, the 4th output connecting plate 2-12 and the 4th motor 2-13, fourth planet subtract
Fast device 2-14, the 4th rotary encoder 2-15, third transmission gear 2-16, the first graphite self-lubricating bearing 2-17, the 4th transmission
Gear 2-18, two the 5th deep groove ball bearing 2-19, second shell 2-20, two the second magnetic coder fixed block 2-21, first
Shell cover 2-22, the second shell cover 2-23, first motor connecting seat 2-24, third shell form 2-25.
The connection relation of each component of elbow joint 2 is as follows：
Third motor 2-1, third planet retarder 2-2, third rotary encoder 2-3 are sequentially connected with, and third planet is slowed down
The output shaft of device 2-2 is connect with the second input shaft 2-5 by third shaft joint 2-3, and the second ends input shaft 2-5 are bored equipped with third
Gear 2-6, third hand tap gear 2-6 are engaged with the 4th bevel gear 2-7.4th bevel gear 2-7 is fixed on the second output shaft 2-8
On.Second both ends output shaft 2-8 are respectively provided with third angular contact bearing 2-9, and far from the 4th bevel gear 2-7 offsides equipped with the
Two shaft end cover plate 2-10.Second output shaft 2-8 both-side ends are respectively provided with third output connecting plate 2-11, the 4th output connecting plate
2-12 is fixed with two third output connecting plate 2-11.
4th motor 2-13, fourth planet retarder 2-14, the 4th rotary encoder 2-15 are sequentially connected with, and fourth planet subtracts
The output shaft of fast device 2-14 is fixed with third transmission gear 2-16 by jackscrew.The other end of third transmission gear 2-16 is equipped with the
One graphite self-lubricating bearing 2-17.Third transmission gear 2-16 is engaged with the 4th transmission gear 2-18.4th transmission gear 2-18
It is sleeved on third shaft joint 2-5, two the 5th deep groove ball bearing 2-19 and second bearing cover plate 2-10 are sleeved on the 4th transmission gear
On 2-18.Second shaft end cover plate 2-9 and second shell 2-20 is fixed.Second output shaft 2-8 passes through second shell 2-20.Second shell
Upper and lower ends are respectively equipped with the second magnetic coder fixed block 2-21 to fixed magnetic coder circuit board, and in outside inside body 2-20
Equipped with the first shell cover 2-22 and the second shell cover 2-23.The outside of third transmission gear 2-16 and the 4th transmission gear 2-18 are equipped with the
Third shell 2-25 is housed, third shell 2-25 and the on the outside of one motor connecting base 2-24, two the 5th deep groove ball bearing 2-19
One motor connecting base 2-24 fastenings.Third shell 2-25 outer openings are to fixed magnetic coder circuit board.
Fig. 8 and Fig. 9 respectively illustrates a kind of six-degree-of-freedom humanoid based on serial-parallel mirror of one embodiment of the invention offer
The structural schematic diagram of wrist joint and first bearing in mechanical arm, referring to Fig. 8 and Fig. 9, wrist joint 3 includes：5th motor 3-1,
Five planetary reduction gear 3-2, the 5th rotary encoder 3-3, the first connecting cylinder 3-4, two the 6th deep groove ball bearing 3-5, the second electricity
Machine connecting seat 3-6, first bearing cylinder 3-7, third magnetic coder fixed block 3-8, the 4th magnetic coder fixed block 3-9, the first rudder
Machine connector 3-10, two the second steering engine connector 3-11, two third steering engine connector 3-12, the first high-power steering engine 3-
13, preceding wrist fixed plate forms 3-14, wherein；
The connection relation of each component of wrist joint 3 is as follows：
5th motor 3-1, fifth line star retarder 3-2, the 5th rotary encoder 3-3 are sequentially connected with, and fifth line star slows down
The output shaft of device 3-2 is fastened with the first connecting cylinder 3-4 by jackscrew, and there are two the 6th zanjons for the outer sheath of the first connecting cylinder 3-4
Ball bearing 3-5-1.The second motor connecting base 3-6, two the 6th deep groove ball bearing 3-5 is fixed on the outside of first connecting cylinder 3-7
It is fastened with first bearing cylinder 3-7 equipped with first bearing cylinder 3-7, the second motor connecting base 3-6.Is fixed on first bearing cylinder 3-7
Three magnetic coder fixed block 3-8, third magnetic coder fixed block 3-8 and the 4th magnetic coder fixed block 3-9 are fastened, and the 4th magnetic is compiled
Code device fixed block 3-9 is to fixed magnetic coder circuit board.3-7 has limited screw trepanning, first bearing on first bearing cylinder
There is limiting slot on cylinder 3-7.First bearing cylinder 3-7 and the first steering engine connector 3-10 are fastened, the first steering engine connector 3-10 two
Side is fastened with the second steering engine connector 3-11, third steering engine connector 3-12 there are two dresses among the second steering engine connector 3-11,
First high-power steering engine 3-13, the output shaft installation of the first high-power steering engine 3-13 are installed between two third steering engine connector 3-12
Preceding wrist fixed plate 3-14.
The present embodiment by using serial-parallel mirror structure, and use different executing agencies, with reduce motor burden
While, increase the control to shoulder joint, to improve the accuracy of movement.
Each number of element types of the apery mechanical arm proposed below to the application, parameter are illustrated：
1. shoulder executing agency：
A) two parameters of electric machine：Maxon DCX series, electrographite brush, ball bearing, outer diameter 35mm, rated power 80W, volume
Constant voltage 24V, output torque 121mNm；
B) retarder：Maxon GPX series epicyclic gearboxes, 3 grades of decelerations, outer diameter 42, reduction ratio 156:1, maximum output
Torque 15Nm
C) reduction box：
I. spur gear group：Linear cutter, carbon steel, gear ratio 1:2
1. 1.5 number of teeth 22 of incoming spur gear modulus
2. spreading out of 1.5 number of teeth 44 of spur gear modulus
Ii. bevel gear set：Japanese KG, steel, gear ratio 1:2
1. 1.5 number of teeth 18 of incoming bevel gear modulus
2. spreading out of 1.5 number of teeth 36 of bevel gear modulus
D) encoder：16 line rotary encoder+AS5045 magnetic coder chips of Maxon ENX
E) steering engine：Nothing
2. ancon executing agency：
A) two parameters of electric machine：Maxon DCX series, electrographite brush, ball bearing, outer diameter 26mm, rated power 40W, volume
Constant voltage 24V, output torque 57.8mNm；
B) retarder：Maxon GPX series epicyclic gearboxes, 3 grades of decelerations, outer diameter 32, reduction ratio 186:1, maximum output
Torque 6.6Nm
C) reduction box：
I. spur gear group：Linear cutter, carbon steel, gear ratio 1:2
1. 1 number of teeth 24 of incoming spur gear modulus
2. spreading out of 1 number of teeth 48 of spur gear modulus
Ii. bevel gear set：Japanese KG, steel, gear ratio 1:2
1. 1 number of teeth 20 of incoming bevel gear modulus
2. spreading out of 1 number of teeth 40 of bevel gear modulus
D) encoder：16 line rotary encoder+AS5045 magnetic coder chips of Maxon ENX
E) steering engine：Nothing
3. wrist executing agency：
A) parameter of electric machine：Maxon DCX series, electrographite brush, ball bearing, outer diameter 22mm, rated power 20W, volume
Constant voltage 24V, output torque 31.5mNm；
B) retarder：Maxon GPX series epicyclic gearboxes, 3 grades of decelerations, outer diameter 26, reduction ratio 231:1, maximum output
Torque 6Nm
C) gear-box：Nothing
D) encoder：16 line rotary encoder+AS5045 magnetic coder chips of Maxon ENX
E) steering engine：Hitec HSR-5980SG, metal gear, 6V, 24kg/cm
The operation principle for being somebody's turn to do the six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror referring to Fig. 1-9 pairs carries out specifically
It is bright：
1, shoulder joint kinesitherapy
Shoulder joint is designed using cascaded structure, including two freedom of motion independent of one another, operation principle are respectively：
Shoulder joint one degree of freedom moves：When first motor 1-1 rotations, movement passes sequentially through the first planetary reduction gear 1-
2, the first shaft joint 1-6 and the first input shaft 1-8 pass to first bevel gear 1-9.First bevel gear 1-9 drives second bevel gear
1-10 is rotated.Second bevel gear 1-10 drives the first output shaft 1-12 movements, then drives the first output connecting plate 1-15 and the
Two output connecting plate 1-16 rotations.During the motion, the first rotary encoder 1-3 can acquire the rotating speed of first motor 1-1,
Fixed magnetic coder circuit can acquire the corner of the first output shaft 1-12 on first magnetic coder fixed block 1-38.
Second degree of freedom movement of shoulder joint：When the second motor 1-19 rotations, movement passes sequentially through the second planetary reduction gear
1-20, the second shaft joint 1-23 pass to the first transmission gear 1-23.First transmission gear 1-23 drives the second transmission gear 1-
25 rotations.Second transmission gear 1-25 drives the first sleeve 1-28 rotations, then drives the first connecting plate 1-34, the second connecting plate
1-36, second sleeve 1-29, first shell 1-37 unitary rotations.Due to being equipped between second sleeve 1-29 and the first input shaft 1-8
4th deep groove ball bearing 1-30, the second angular contact bearing 1-31 can realize opposite sliding between the two, therefore the second motor 1-19 turns
Shoulder joint one degree of freedom is not interfered with when dynamic.During the motion, the second rotary encoder 1-21 can acquire the second electricity
The rotating speed of machine 1-19, fixed magnetic coder circuit can acquire second at the second straight-tooth wheel decelerator rear cover 1-34 outer openings
The corner of transmission gear 1-25.
2, elbow joint motion
Elbow joint is designed using parallel-connection structure, including two coupled motions degree of freedom, its working principle is that：
When the 2-1 rotations of third motor, it is defeated that movement passes sequentially through third planet retarder 2-2, third shaft joint 2-3 and second
Enter axis 2-5 and pass to third hand tap gear 2-6, third hand tap gear 2-6 drives the 4th bevel gear 2-7 rotations.4th bevel gear 2-7 bands
Dynamic second output shaft 2-8 movements then drive the third output connecting plate 2-12 rotations of output connecting plate 2-11 and the 4th；
When the 4th motor 2-13 rotations, movement passes to third transmission gear 2-16 by fourth planet retarder 2-14.
Third transmission gear 2-16 drives the 4th transmission gear 2-18 rotations.4th transmission gear 2-18 drives third shaft joint 2-5 to turn
It is dynamic.Since third shaft joint 2-5 and the second shaft end cover plate 2-9 and second shell 2-20 are fixed, the rotation of the 4th motor 2-13 is not
It can only cause the rotation of second shell 2-20, the rotation that can also to turn between the 4th bevel gear 2-7 and third hand tap gear 2-6
It is dynamic.Therefore the rotation of the 4th motor makes the coupled motions simultaneously of two degree of freedom of ancon.
During the motion, third rotary encoder 2-3 can acquire the rotating speed of third motor 2-1, the 4th rotary coding
Device 2-15 can acquire the rotating speed of the 4th motor 2-13, fixed magnetic coder circuit energy on the second magnetic coder fixed block 2-21
The corner of the second output shaft 2-8 is enough acquired, fixed magnetic coder circuit can acquire at third shell 2-25 outer openings
The corner of four transmission gear 2-18.
3, wrist joints sporting
Wrist joint is designed using cascaded structure, including two freedom of motion independent of one another, operation principle are respectively：
Wrist joint one degree of freedom moves：When the 5th motor 3-1 rotations, movement is passed by fifth line star retarder 3-2
Pass the first connecting cylinder 3-7.First connecting cylinder 3-7 drives the first steering engine connector 3-10 rotations.During the motion, the 5th rotation
The rotating speed of the 5th motor 3-1 can be acquired by turning encoder 3-3, and fixed magnetic coder is electric on the 4th magnetic coder fixed block 3-9
Road can acquire the corner of fifth line star retarder 3-2.
Second degree of freedom movement of wrist joint：When the first high-power steering engine 3-13 rotations, wrist fixed plate 3-14 turns before driving
It is dynamic.
Specific implementation mode two：Illustrate present embodiment in conjunction with Fig. 2, Fig. 3, the first bevel gear 1-9 of present embodiment with
Second bevel gear 1-10 gear ratios are 1:2, in this way design are so that structure is more reasonable.It is other composition and connection relation with it is above-mentioned interior
Hold identical.
Specific implementation mode three：Illustrate present embodiment, the first transmission gear 1-23 of present embodiment in conjunction with Fig. 2, Fig. 4
It is 1 with the second transmission gear 1-25 gear ratios:2, in this way design are so that structure is more reasonable.Other compositions and connection relation and tool
Body embodiment two is identical.
Specific implementation mode four：Illustrate present embodiment in conjunction with Fig. 5, Fig. 6, the third hand tap gear 2-6 of present embodiment with
4th bevel gear 2-7 gear ratios are 1:2, in this way design are so that structure is more reasonable.Other compositions and connection relation and specific reality
It is identical to apply mode three.
Specific implementation mode five：Illustrate present embodiment, the third transmission gear 2-16 of present embodiment in conjunction with Fig. 5, Fig. 7
It is 1 with the 4th transmission gear 2-18 gear ratios:2, in this way design are so that structure is more reasonable.Other compositions and connection relation and tool
Body embodiment four is identical.
Based on identical innovation and creation, the invention also provides a kind of imitative human upper limb robots, including above-mentioned apery
Mechanical arm；
Shaft joint in the apery mechanical arm is all made of positive coupling, and to prevent transmission parts from overloading, it is whole to improve device
The safety of body；Shell and connecting plate etc., are all made of aluminum material, to reduce the main screw lift of robot, improve robot
Dexterity of action.
It should be noted that the present invention will be described rather than limits the invention for the above embodiment, and this
Field technology personnel can design replacement embodiment without departing from the scope of the appended claims.In claim
In, any reference mark between bracket should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In element or step not listed in the claims.Word "a" or "an" before element do not exclude the presence of it is multiple this
The element of sample.The present invention can by means of include several different elements hardware and by means of properly programmed computer come
It realizes.In the unit claims listing several devices, several in these devices can be by the same hardware
It embodies.The use of word first, second, and third does not indicate that any sequence.These words can be construed to
Title.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (8)
1. a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror, which is characterized in that including：Shoulder joint, elbow joint, wrist close
Section, large arm shell and forearm shell；
The shoulder joint includes：First motor, the first planetary reduction gear, the first rotary encoder, first motor connector, first
Axle sleeve, first bearing lid, the first shaft joint, the first input shaft, first bevel gear, second bevel gear, the first output shaft, first are deeply
Ditch ball bearing, the first thrust ball bearing, the first angular contact bearing, second bearing lid, two the first output connecting plates, the second outputs
Connecting plate, two the first hubcap pieces and the second motor, the second planetary reduction gear, the second rotary encoder, first motor connect
Fishplate bar, the second shaft joint, the first transmission gear, two the second deep groove ball bearings, the second transmission gear, two third deep-groove ball axis
Hold, the first sleeve, second sleeve, the 4th deep groove ball bearing, the second angular contact bearing, the first straight-tooth wheel decelerator protecgulum, first
Straight-tooth wheel decelerator body, the second straight-tooth wheel decelerator rear cover, the first connecting plate, two the second connecting plates, first shell, two
One magnetic coder fixed block, two the first L-type trunk connecting plates；
The first motor, first planetary reduction gear and first rotary encoder are sequentially connected with, and pass sequentially through
One motor contact, the first axle sleeve, first bearing lid and the first straight-tooth wheel decelerator protecgulum are fixed；First planetary reduction gear it is defeated
Shaft is connected by the first shaft joint with the first input shaft；First input shaft is connect with first bevel gear, first bevel gear and the
Two bevel gears engage；Second bevel gear, the first deep groove ball bearing, the first thrust ball bearing and the first angular contact bearing are solid
It is scheduled on the first output shaft, described two first output connecting plates are separately mounted to the both ends of first output shaft, and pass through
Two the first hubcap pieces fix described two first output connecting plates respectively；Second output connecting plate and described two first defeated
Go out connecting plate to be fixedly connected；Second motor, the second planetary reduction gear, the second rotary encoder are sequentially connected with, and pass through the first electricity
Machine connecting plate is fixed with the first straight-tooth wheel decelerator protecgulum；The output shaft of second planetary reduction gear passes through the second shaft joint and first
Transmission gear is connected；Described two second deep groove ball bearings are separately mounted to first transmission gear both sides, and described two
Three deep groove ball bearings are separately mounted to second transmission gear both sides, first transmission gear and second transmission gear
Engagement, and second transmission gear is mounted on the first sleeve；First sleeve and first connecting plate, described second
Sleeve fastens, and the 4th deep groove ball bearing and second angular contact bearing are installed in the second sleeve and described first
Between input shaft；First connecting plate is fixed by described two second connecting plates with the first shell；Described two
One magnetic coder fixed block is mounted in the first shell；The first straight-tooth wheel decelerator protecgulum and first straight-tooth
Wheel decelerator body, the second straight-tooth wheel decelerator rear cover are fixedly connected with first connecting plate；Described two first L-type bodies
Involvement fishplate bar is separately fixed at the first straight-tooth wheel decelerator body both sides；
The elbow joint includes：Third motor, third planet retarder, third rotary encoder, third shaft joint, the second input
Axis, third hand tap gear, the 4th bevel gear, the second output shaft, two third angular contact bearings, the second shaft end cover plate, two thirds
Export connecting plate, the 4th output connecting plate and the 4th motor, fourth planet retarder, the 4th rotary encoder, third transmission
Gear, the first graphite self-lubricating bearing, the 4th transmission gear, two the 5th deep groove ball bearings, second shell, two the second magnetic are compiled
Code device fixed block, the first shell cover, the second shell cover, first motor connecting seat, third shell；
The third motor, the third planet retarder and the third rotary encoder are sequentially connected, and described the third line
The output shaft of star retarder is connect with second input shaft by the third shaft joint, and the second input shaft end is equipped with
Third hand tap gear, third hand tap gear are engaged with the 4th bevel gear；4th bevel gear is fixed on second output shaft, institute
It states two the second output shaft both ends and is attached separately to third angular contact bearing both sides, second shaft end cover plate is mounted on described
Side of the third angular contact bearing far from the 4th bevel gear；It is defeated that described two third output connecting plates are separately mounted to described second
Shaft both sides, and connect with the 4th output connecting plate；
4th motor, the fourth planet retarder and the 4th rotary encoder are sequentially connected, the fourth planet
The output shaft of retarder is connect with one end of the third transmission gear；The first graphite self-lubricating bearing is mounted on described the
The other end of three transmission gears；The third transmission gear is engaged with the 4th transmission gear, the 4th driving cog wheel case
It is located on the third shaft joint, described two 5th deep groove ball bearings and the second bearing lid are set in the described 4th and pass
On moving gear；Second shaft end cover plate is fixedly connected with the second shell, and second output shaft passes through the second shell
Body, described two second magnetic coder fixed blocks are mounted in second shell inside；First shell cover and second shell cover
It is arranged at outside the second shell；The outside of the third transmission gear and the 4th transmission gear is equipped with first motor
Connecting seat, described two 5th deep groove ball bearings outsides are equipped with third shell, and the third shell is connect with the first motor
Seat fastening；
The wrist joint includes：5th motor, fifth line star retarder, the 5th rotary encoder, the first connecting cylinder, two the 6th
Deep groove ball bearing, the second motor connecting base, first bearing cylinder, third magnetic coder fixed block, the 4th magnetic coder fixed block,
One steering engine connector, two the second steering engine connectors, two third steering engine connectors, the first high-power steering engine, preceding wrist fixed plate；
5th motor, the fifth line star retarder and the 5th rotary encoder are sequentially connected, the fifth line star
The output shaft of retarder is fastened with first connecting cylinder by jackscrew；Described two 6th deep groove ball bearings are set in described
The outside of first connecting cylinder, second motor connecting base are fixedly connected with first connecting cylinder；Described two 6th zanjons
Ball bearing is set on the first bearing cylinder, and second motor connecting base is fastened with the first bearing cylinder；Described
Three magnetic coder fixed blocks are fixed on the first bearing cylinder, and the third magnetic coder fixed block is compiled with the 4th magnetic
Code device fixed block fastening；The first bearing cylinder is fastened with the first steering engine connector, described two second steering engine connectors
It is fastened respectively with the first steering engine connector both sides, described two third steering engine connectors are mounted on described two second steering engines
Among connector, and the first high-power steering engine is mounted among described two third steering engine connectors, and the preceding wrist is fixed
Plate is mounted on the output shaft of the described first high-power steering engine；
Large arm shell both sides are fastened with the second output connecting plate and the first motor connecting seat respectively, the forearm
Shell both sides are fastened with the 4th output connecting plate and second motor connecting base respectively.
2. apery mechanical arm according to claim 1, which is characterized in that first transmission gear and the second transmission gear
Gear ratio, the gear ratio of the third hand tap gear and the 4th bevel gear, the third transmission gear and it is described 4th pass
The gear ratio of moving gear is preset value.
3. apery mechanical arm according to claim 1, which is characterized in that the first bevel gear and the second bevel gear
Gear ratio be 1:2.
4. apery mechanical arm according to claim 1, which is characterized in that first transmission gear is driven with described second
Gear ratio is 1:2.
5. apery mechanical arm according to claim 1, which is characterized in that the third hand tap gear and the 4th bevel gear
Gear ratio is 1:2.
6. apery mechanical arm according to claim 1, which is characterized in that the third transmission gear is driven with the described 4th
Gear ratio is 1:2.
7. apery mechanical arm according to claim 1, which is characterized in that first input shaft bores tooth with described first
Wheel, first input shaft and the first bevel gear, the output shaft of the fourth planet retarder and the third driving cog
Wheel, is fastened by jackscrew.
8. a kind of imitative human upper limb robot, which is characterized in that including：Such as claim 1-7 any one of them apery machinery
Arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610740813.3A CN106217357B (en) | 2016-08-26 | 2016-08-26 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
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| CN201610740813.3A CN106217357B (en) | 2016-08-26 | 2016-08-26 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
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| CN106217357B true CN106217357B (en) | 2018-07-17 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956289A (en) * | 2017-03-22 | 2017-07-18 | 陕西科技大学 | A kind of apery mechanical arm based under DC motor Driver |
| CN107984494A (en) * | 2017-12-29 | 2018-05-04 | 北京钢铁侠科技有限公司 | A kind of apery service robot mechanical arm |
| CN108501033B (en) * | 2018-02-24 | 2020-12-22 | 乔锋 | Joint coupling type single-drive-source salutation-imitating action mechanical arm |
| CN110524522B (en) * | 2019-09-19 | 2024-03-26 | 浙江工业大学 | Multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm |
| CN113183135B (en) * | 2021-05-10 | 2023-12-15 | 北京化工大学 | Seven-degree-of-freedom humanoid mechanical arm device based on serial-parallel series-parallel connection |
| CN115107013B (en) * | 2022-08-10 | 2024-09-10 | 北京航空航天大学 | Rope-driven humanoid mechanical arm and industrial robot |
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