CN-117584110-B - Integrated seven-degree-of-freedom humanoid mechanical arm

CN117584110BCN 117584110 BCN117584110 BCN 117584110BCN-117584110-B

Abstract

The invention discloses an integrated seven-degree-of-freedom humanoid mechanical arm, wherein the humanoid mechanical arm (1) comprises an upper arm module (2) and a forearm module (3), the upper arm module (2) is connected with the forearm module (3), the upper arm module (2) comprises a shoulder joint two-degree-of-freedom integrated module (4), an upper arm rotation degree-of-freedom and electric adjustment installation module (5), an upper arm main control core module (6) and an elbow joint integrated module (7), and the forearm module (3) comprises a forearm wrist rotating module (27), a wrist cutting connecting rod system, a wrist turning module and a humanoid shell. According to the invention, by selecting the proper motor rotor and the harmonic reducer, more reasonable and compact driver arrangement is performed on the key wrist joint and the key shoulder joint, so that the system is more compact and has proper joint limit angle. The invention provides a layout configuration suitable for the humanoid mechanical arm, so that the system is more reasonable and natural in layout on the premise of ensuring the stable and reliable strength and moment performance.

Inventors

SHENG XINJUN
YANG ZHIYUAN
GUO WEICHAO
Geng Zihang

Assignees

上海交通大学

Dates

Publication Date: 20260505
Application Date: 20231212

Claims (7)

1. The integrated seven-degree-of-freedom humanoid mechanical arm is characterized in that the humanoid mechanical arm (1) comprises an upper arm module (2) and a forearm module (3), wherein the upper arm module (2) is connected with the forearm module (3), the upper arm module (2) comprises a shoulder joint two-degree-of-freedom integrated module (4), an upper arm rotation degree-of-freedom and electric adjustment installation module (5), an upper arm main control core module (6) and an elbow joint integrated module (7), and the forearm module (3) comprises a forearm wrist rotating module (27), a wrist cutting connecting rod system, a wrist turning module and a humanoid shell; The two-degree-of-freedom shoulder joint integration module (4) comprises a first-degree-of-freedom shoulder joint motor rotor (8), a second-degree-of-freedom shoulder joint motor rotor (9), a first-degree-of-freedom shoulder joint reduction gear set (10), a first-degree-of-freedom shoulder joint harmonic reducer (11), a power supply and CAN signal port (12), a second-degree-of-freedom shoulder joint reduction gear set (13), a second-degree-of-freedom shoulder joint harmonic reducer (14) and a second-degree-of-freedom shoulder joint transmission flange (15), wherein the two-degree-of-freedom shoulder joint integration module (4) is fixed at the root of the upper arm module (2), the second-degree-of-freedom shoulder joint motor rotor (8), the second-degree-of-freedom shoulder joint motor rotor (9) and the first-degree-of-freedom harmonic reducer (11) are fixed in the two-degree-of-freedom shoulder joint integration module (4) through bolts outside the second-degree-of-freedom shoulder joint harmonic reducer (14) and the upper arm rotation degree-of-freedom and-of-freedom electric tuning installation module (5), and the first-degree-of-freedom shoulder joint harmonic reducer (11) are fixed inside through a main body aluminum part of the module The shoulder joint second-degree-of-freedom harmonic reducer (14) is characterized in that the first-degree-of-freedom reduction gear set (10) and the second-degree-of-freedom reduction gear set (13) of the shoulder joint are respectively fixed in the shoulder joint second-degree-of-freedom integrated module (4) through fixing pieces, and the power supply and CAN signal port (12) are fixed at the tail end of the shoulder joint to the outer fixed end; The upper arm rotation freedom degree and electric adjustment installation module (5) comprises an upper arm rotation freedom degree motor rotor (16), an upper arm part electric adjustment integration (17), an upper arm rotation freedom degree harmonic reducer (18) and an upper arm rotation freedom degree transmission gear set (19); the upper arm rotating degree of freedom and electric adjustment installation module (5) is fixedly connected with the shoulder joint second degree of freedom transmission flange (15) of the shoulder joint second degree of freedom integration module (4) through bolts, the upper arm rotating degree of freedom and electric adjustment installation module (5) is fixedly connected with the upper arm main control core module (6) through a fixed installation piece of the upper arm rotating degree of freedom harmonic reducer (18), a plurality of upper arm part electric adjustment integration (17) are arranged in the upper arm rotating degree of freedom and electric adjustment installation module (5) and used for controlling the upper arm rotating degree of freedom motor rotor (16), the shoulder joint first degree of freedom motor rotor (8) and the shoulder joint second degree of freedom motor rotor (9), and the upper arm rotating degree of freedom motor rotor (16) is transmitted to the upper arm rotating degree of freedom harmonic reducer (18) through the upper arm rotating degree of freedom transmission gear set (19) to form a transmission chain; The wrist cutting connecting rod system comprises a wrist cutting motor rotor (33), a wrist cutting harmonic reducer (34) and a wrist cutting connecting rod (35), wherein the wrist cutting motor rotor (33) and the wrist cutting harmonic reducer (34) are arranged at the root of the side of the wrist rotating movement, and wrist cutting movement is realized through transmission of the wrist cutting connecting rod (35).
2. The integrated seven-degree-of-freedom humanoid mechanical arm according to claim 1, wherein the upper arm rotational degree-of-freedom and electric adjustment installation module (5) is provided with a hollow hole with a wiring function.
3. The integrated seven-degree-of-freedom humanoid mechanical arm according to claim 1, wherein the upper arm main control core module (6) further comprises a main control single chip microcomputer (20), and the main control single chip microcomputer (20) is fixed on a structural member plate inside the upper arm main control core module (6).
4. The integrated seven-degree-of-freedom humanoid mechanical arm according to claim 1 is characterized in that the elbow joint integrated module (7) comprises an elbow joint wire groove (21), an elbow joint harmonic reducer (22) and an elbow joint motor rotor (23), the elbow joint integrated module (7) is fixedly connected with the upper arm main control core module (6) through bolts, the elbow joint motor rotor (23) is arranged in the elbow joint integrated module (7) and is fixedly connected with a shell of the elbow joint integrated module, an output shaft of the elbow joint motor rotor (23) is directly connected with an input shaft of the elbow joint harmonic reducer (22), and an output shaft of the elbow joint harmonic reducer (22) is connected with the forearm module (3).
5. The integrated seven-degree-of-freedom humanoid mechanical arm according to claim 1, wherein the forearm wrist rotating module (27) comprises a forearm root line pcb (29), other electronic components (30), a wrist rotating motor rotor (31) and a wrist rotating harmonic reducer (32), the forearm root line pcb (29) is provided with an elbow joint transmission flange (24) for being fixedly connected with the elbow joint integrated module (7), the other electronic components (30), the wrist rotating motor rotor (31) and the wrist rotating harmonic reducer (32) are fixed on an internal structural member of the forearm wrist rotating module (27), and the wrist rotating motor rotor (31) is connected with an input shaft of the wrist rotating harmonic reducer (32).
6. The integrated seven-degree-of-freedom humanoid mechanical arm according to claim 1, wherein the wrist turning module comprises a wrist turning motor rotor (36), a wrist turning harmonic reducer (37) and a hand connecting flange (28), the wrist turning motor rotor (36) and the wrist turning harmonic reducer (37) are mounted on a wrist cutting shaft, and an output shaft of the wrist turning harmonic reducer (37) is fixedly provided with the hand connecting flange (28) and is used for being connected with a hand part.
7. The integrated seven degree-of-freedom humanoid robot arm of claim 1 wherein the humanoid enclosure includes a forearm root enclosure (25), a forearm front enclosure (26), the forearm root enclosure (25) and the forearm front enclosure (26) being used to envelope internal structures and electronic components and to ensure a form fitting humanoid.

Description

Integrated seven-degree-of-freedom humanoid mechanical arm Technical Field The invention relates to the field of mechanical arms, in particular to an integrated seven-degree-of-freedom humanoid mechanical arm. Background Along with the development of the techniques such as an actuator, a speed reducer and the like, the humanoid robot and the core module thereof have high scientific research significance and application potential. The humanoid robot performs more anthropomorphic actions, and needs to analyze the degree of freedom of the human arm and then properly map the degree of freedom to each joint of the mechanical arm to set proper number and position of degrees of freedom. Because the humanoid robot needs to have basic humanoid performance, the overall mass, volume and appearance design of the humanoid robot have larger constraint, the internal mechanism and power source layout and the position space range of each functional module are relatively smaller, and the space for stacking necessary functional pieces is smaller. While, in view of practicality and functionality, the humanoid arm needs to increase the power of the system as much as possible within this limited volume, mass requirement to achieve a higher payload. Currently, conventional mechanical arms do not have humanoid degrees of freedom and joint angles, and the arrangement of joint motors and reducers is not compact enough. The mechanical arm system needs an external controller or an external electric control cabinet and other devices to control and operate the system, so that the application range and the possibility of the mechanical arm are limited to a great extent. The mechanical arm equipment under the same volume and weight level (about arm span 700 and about weight 6 kg) has the advantages of no motion performance similar to human arms in motion beat, joint angular velocity and angular acceleration, limited response speed and lower working efficiency. Disclosure of Invention In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide an integrated seven-degree-of-freedom humanoid mechanical arm, which solves the technical problems that the conventional mechanical arm does not have humanoid degree of freedom and joint angle, the arrangement of a joint motor and a speed reducer is not compact enough, the response speed is limited, the working efficiency is low, and the control and operation of a system are performed by an external controller or an electric control cabinet and other devices, so that the use range and the possibility of the mechanical arm are greatly limited. The invention provides an integrated seven-degree-of-freedom humanoid mechanical arm, which is characterized in that the humanoid mechanical arm (1) comprises an upper arm module (2) and a forearm module (3), the upper arm module (2) is connected with the forearm module (3), the upper arm module (2) comprises a shoulder joint two-degree-of-freedom integrated module (4), an upper arm rotation degree-of-freedom and electric adjustment installation module (5), an upper arm main control core module (6) and an elbow joint integrated module (7), and the forearm module (3) comprises a forearm rotation wrist module (27), a wrist cutting connecting rod system, a wrist turning module and a humanoid shell. Further, the two-degree-of-freedom shoulder joint integration module (4) comprises a first-degree-of-freedom shoulder joint motor rotor (8), a second-degree-of-freedom shoulder joint motor rotor (9), a first-degree-of-freedom shoulder joint reduction gear set (10), a first-degree-of-freedom shoulder joint harmonic reducer (11), a power supply and CAN signal port (12), a second-degree-of-freedom shoulder joint reduction gear set (13), a second-degree-of-freedom shoulder joint harmonic reducer (14) and a second-degree-of-freedom shoulder joint transmission flange (15), wherein the two-degree-of-freedom shoulder joint integration module (4) is fixed at the root of the upper arm module (2), the second-degree-of-freedom shoulder joint harmonic reducer (14) is fixed with the upper arm rotation degree-of-freedom and the electric adjustment installation module (5) through bolts outside the second-degree-of-freedom shoulder joint harmonic reducer (15), the first-degree-of-freedom shoulder joint motor rotor (8), the second-degree-of-freedom shoulder joint motor rotor (9) and the first-degree-of-freedom shoulder joint harmonic reducer (11) are fixed inside the two-degree-of-freedom shoulder joint integration module (4) through a main body aluminum part of the module The shoulder joint second-degree-of-freedom harmonic reducer (14) is characterized in that the first-degree-of-freedom reduction gear set (10) and the second-degree-of-freedom reduction gear set (13) of the shoulder joint are respectively fixed in the shoulder joint second-degree-of-freedom integrated module (4) through a fixed part of a disassembling piece, and the power supply and