CN104149101A - Multi-joint arm of humanoid robot capable of playing piano - Google Patents

Abstract

Translated fromChinese

本发明为多关节仿人弹琴机器人手臂，属于服务机器人领域娱乐服务设备。该手臂由肩部关节、肘部关节、腕部关节、小臂和大臂组成。该手臂可以模仿人的手臂完成腕部回转、肘部俯仰、大臂俯仰等动作，并通过双手臂的合作与协调动作实现一定的演奏效果。该机器人手臂长度与人臂相仿，机械结构简捷紧凑、体积小、重量轻，各关节连接可靠并采用模块化设计，拆卸方便，电机线、传感器线内置，传动关系简单明了；手臂具有3自由度的特点，手臂运动范围大、灵活；安全性强、可达性强、双手协调运动灵活，应用范围广；作业手臂能耗低，采用直流24V供电，该发明克服了之前仿人机器人手臂体积大、传动复杂、能耗高等缺点。

The invention is a multi-joint humanoid piano-playing robot arm, which belongs to entertainment service equipment in the field of service robots. The arm is composed of a shoulder joint, an elbow joint, a wrist joint, a forearm and a large arm. The arm can imitate human arms to complete movements such as wrist rotation, elbow pitching, and big arm pitching, and achieve certain playing effects through the cooperation and coordinated actions of both arms. The arm length of the robot is similar to that of a human arm. The mechanical structure is simple and compact, small in size and light in weight. The joints are reliably connected and adopt a modular design, which is easy to disassemble. The motor line and sensor line are built in, and the transmission relationship is simple and clear; the arm has 3 degrees of freedom. The characteristics of the arm movement range are large and flexible; the safety is strong, the accessibility is strong, the coordinated movement of both hands is flexible, and the application range is wide; the operating arm has low energy consumption and uses DC 24V power supply. This invention overcomes the previous humanoid robot arm. , complex transmission, high energy consumption and other shortcomings.

Description

Translated fromChinese

多关节仿人弹琴机器人手臂Multi-joint humanoid piano playing robot arm

技术领域：Technical field:

本发明为多关节仿人弹奏机器人手臂，特别是针对弹奏钢琴的设备，属于服务机器人领域娱乐服务设备。The invention is a multi-joint humanoid playing robot arm, especially a device for playing the piano, and belongs to the entertainment service device in the field of service robots.

背景技术：Background technique:

在考虑国内研究现状我们可以发现，仿人演奏机器人研究还没有实现多种手法的机器人构型研究，没有针对指定位置进行识别和精确定位的功能，为了克服以上种种缺点，发明了该多关节仿人弹琴机器人手臂。Considering the domestic research status, we can find that the research of humanoid playing robot has not yet realized the robot configuration research of various methods, and has no function of identifying and accurately positioning the specified position. In order to overcome the above shortcomings, this multi-joint simulation Man playing piano with robot arm.

发明内容：Invention content:

本发明提供一种仿人弹琴机器人手臂，该手臂由肩部关节1、大臂2、肘部关节3、小臂4、腕部关节5组成；大臂2连接在肩部关节1和肘部关节3之间，小臂4连接在肘部关节3和腕部关节5之间；肩部关节1、肘部关节3具有摆动副，腕部关节5具有回转副。各关节的回转副和摆动副分别由一台步进电机驱动。该多关节仿人弹琴机器人手臂的肩关节有一个自由度：电动机通过联轴器带动大臂I轴摆动（运动范围-800——+800）；肘部关节有一个自由度：电动机通过齿轮副传动带动小臂绕手臂纵轴线摆动（运动范围-350——+350）；腕部关节有一个自由度：电机通过联轴器带动法兰盘，带动弹琴手绕手臂纵长轴线回转（运动范围-900——+900）。本发明的多关节仿人弹琴机器人手臂，可以模仿人的手臂功能进行各种各样的操作，完成腕部回转、肘部俯仰、大臂俯仰等动作，并通过双手臂的合作与协调动作实现一定的演奏效果。该手臂可以左右对称安装于机器人身体上，其双臂在计算机控制下可协调动作，相互配合。手臂采用3自由度仿人结构，长度与人臂相仿。该机器人手臂机械结构简捷紧凑、体积小、重量轻，各关节连接可靠并采用模块化设计，拆卸方便，电机线、传感器线内置，传动关系简单明了；手臂运动范围大、灵活；安全性强、可达性强、双手协调运动灵活，应用范围广；作业手臂能耗低，采用直流24V供电。The invention provides a humanoid piano playing robot arm, which is composed of a shoulder joint 1, a large arm 2, an elbow joint 3, a small arm 4 and a wrist joint 5; the large arm 2 is connected to the shoulder joint 1 and the elbow Between the joints 3, the forearm 4 is connected between the elbow joint 3 and the wrist joint 5; the shoulder joint 1 and the elbow joint 3 have a swing pair, and the wrist joint 5 has a swivel pair. The rotary pair and the swing pair of each joint are respectively driven by a stepping motor. The shoulder joint of the multi-joint humanoid piano-playing robot arm has one degree of freedom: the motor drives the I-axis swing of the arm through the coupling (movement range -800—+800); the elbow joint has one degree of freedom: the motor passes through the gear pair The transmission drives the forearm to swing around the longitudinal axis of the arm (range of motion -350—+350); the wrist joint has a degree of freedom: the motor drives the flange through the coupling, and drives the pianist to rotate around the longitudinal axis of the arm (range of motion -900——+900). The multi-joint humanoid piano-playing robot arm of the present invention can imitate the functions of human arms to perform various operations, such as wrist rotation, elbow pitching, and big arm pitching, etc., and can be realized through cooperation and coordinated actions of both arms A certain playing effect. The arm can be symmetrically installed on the body of the robot, and the arms can coordinate and cooperate with each other under the control of the computer. The arm adopts a humanoid structure with 3 degrees of freedom, and its length is similar to that of a human arm. The mechanical structure of the robot arm is simple and compact, small in size and light in weight. The joints are reliably connected and adopt a modular design, which is easy to disassemble. The motor line and sensor line are built in, and the transmission relationship is simple and clear; the arm has a large and flexible range of motion; it is safe and Strong accessibility, coordinated and flexible movement of both hands, and wide application range; the operating arm has low energy consumption and uses DC 24V power supply.

附图说明：Description of drawings:

图1多关节仿人弹琴机器人手臂的结构示意图；The structure schematic diagram of Fig. 1 multi-joint humanoid playing the piano robot arm;

图2肩部关节的结构示意图；Figure 2 Schematic diagram of the structure of the shoulder joint;

图3肘关节的结构示意图；Figure 3 Schematic diagram of the structure of the elbow joint;

图4腕部关节的结构示意图。Figure 4 Schematic diagram of the structure of the wrist joint.

具体实施方式：Detailed ways:

具体实施方式一：参阅图1，本实施方式的机器人手臂由具有一个摆动副的肩关节1、具有一个摆动副的肘部关节3、具有一个回转副的腕部关节5、连接在肩部关节1和肘部关节3之间的大臂2、连接在肘部关节3和腕部关节5之间的小臂4。Specific embodiment one: Referring to Fig. 1, the robot arm of this embodiment is connected to the shoulder joint by a shoulder joint 1 with a swing pair, an elbow joint 3 with a swing pair, a wrist joint 5 with a rotary pair 1 and the upper arm 2 between the elbow joint 3, and the forearm 4 connected between the elbow joint 3 and the wrist joint 5.

具体实施方式二：参阅图2，第一电机101与臂板102固定连接，臂板102与肩部电机座103连接，肩部电机座103与肩部支架104连接，肩部旋转轴105与肩部支架104连接，肩部连接轴106与肩部支架104连接，肩部轴承压盖107与肩部支架104固定连接，肩部旋转轴端盖108与肩部旋转轴105固定，连接形成肩部关节1的摆动。大臂支架2与肩部旋转轴105、肩部连接轴106固定连接。Specific embodiment two: referring to Fig. 2, the first motor 101 is fixedly connected with the arm board 102, the arm board 102 is connected with the shoulder motor base 103, the shoulder motor base 103 is connected with the shoulder bracket 104, the shoulder rotation shaft 105 is connected with the shoulder The shoulder bracket 104 is connected, the shoulder connecting shaft 106 is connected with the shoulder bracket 104, the shoulder bearing gland 107 is fixedly connected with the shoulder bracket 104, the shoulder rotation shaft end cover 108 is fixed with the shoulder rotation shaft 105, and the connection forms a shoulder Swing of joint 1. The boom support 2 is fixedly connected with the shoulder rotating shaft 105 and the shoulder connecting shaft 106 .

具体实施方式三：参阅图3，大臂支架2与肘部俯仰轴承座301固定连接，第二电机302通过键303与主动齿轮304连接，齿轮轴轴承305套在主动齿轮轴306上，主动齿轮304与从动齿轮307相啮合，从动齿轮套308套在肘部摆动轴309上通过螺母固定连接，轴承压盖310与小臂4固定连接，螺钉311与肘部摆动轴309固定连接，轴承压盖312与小臂4固定连接，摆动轴309与小臂4形成固定连接。Specific embodiment three: referring to Fig. 3, the boom bracket 2 is fixedly connected with the elbow pitch bearing seat 301, the second motor 302 is connected with the driving gear 304 through the key 303, the gear shaft bearing 305 is sleeved on the driving gear shaft 306, and the driving gear 304 is meshed with the driven gear 307, the driven gear sleeve 308 is sleeved on the elbow swing shaft 309 and fixedly connected by a nut, the bearing gland 310 is fixedly connected with the forearm 4, the screw 311 is fixedly connected with the elbow swing shaft 309, and the bearing The gland 312 is fixedly connected with the forearm 4 , and the swing shaft 309 is fixedly connected with the forearm 4 .

具体实施方式四：参阅图4，小臂4与第三电机座501连接，第三电机502通过联轴器503与法兰盘504连接，法兰盘504与弹琴手相连，弹琴手与法兰盘一起回转，以上各电机均为步进电机。Embodiment 4: Referring to Fig. 4, the forearm 4 is connected to the third motor base 501, the third motor 502 is connected to the flange 504 through the coupling 503, the flange 504 is connected to the player, and the player is connected to the flange. The disks rotate together, and the above motors are all stepping motors.

Claims (4)

Translated fromChinese

1.多关节仿人弹琴机器人手臂，其特征在于它由具有摆动副的肩关节(1)、具有摆动副的肘部关节(3)、具有回转副的腕部关节(5)、连接在肩部关节(1)和肘部关节(3)之间的大臂(2)、连接在肘部关节(3)和腕部关节(5)之间的小臂(4)组成；各关节的回转副和摆动副的运动分别由一台步进电机驱动。1. The multi-joint humanoid playing piano robot arm is characterized in that it is connected to the shoulder joint (1) with a swing pair, the elbow joint (3) with a swing pair, and the wrist joint (5) with a rotary pair. The upper arm (2) between the upper joint (1) and the elbow joint (3), the forearm (4) connected between the elbow joint (3) and the wrist joint (5); the rotation of each joint The motion of the pair and the swing pair are respectively driven by a stepper motor.2.根据权利要求1所述的多关节仿人弹琴机器人手臂，其特征在于肩部关节(1)由第一电机(101)、臂板(102)、肩部电机座(103)、肩部支架(104)、肩部旋转轴(105)、肩部连接轴(106)、肩部轴承压盖(107)、肩部旋转轴端盖(108)组成；肩部旋转轴(105)与肩部支架(104)连接，肩部连接轴(106)与肩部支架(104)连接，第一电机(101)固定在臂板(102)上，臂板(102)与肩部电机座(103)连接，大臂(2)与肩部旋转轴(105)和肩部连接轴(106)连接形成肩部关节的摆动副，肩部轴承压盖(107)与肩部支架(104)固定连接，肩部旋转轴端盖(108)与肩部旋转轴(105)和大臂(2)固定连接。2. The multi-joint humanoid playing piano robot arm according to claim 1 is characterized in that the shoulder joint (1) is composed of the first motor (101), arm plate (102), shoulder motor base (103), shoulder Support (104), shoulder rotating shaft (105), shoulder connecting shaft (106), shoulder bearing gland (107), shoulder rotating shaft end cover (108); shoulder rotating shaft (105) and shoulder The shoulder bracket (104) is connected, the shoulder connecting shaft (106) is connected with the shoulder bracket (104), the first motor (101) is fixed on the arm board (102), the arm board (102) and the shoulder motor base (103 ) connection, the big arm (2) is connected with the shoulder rotation shaft (105) and the shoulder connection shaft (106) to form the swing pair of the shoulder joint, and the shoulder bearing gland (107) is fixedly connected with the shoulder support (104) , the shoulder rotating shaft end cover (108) is fixedly connected with the shoulder rotating shaft (105) and the boom (2).3.根据权利要求1所述的多关节仿人弹琴机器人手臂，其特征在于肘部关节(3)由肘部俯仰轴承座(301)、第二电机(302)、键(303)、主动齿轮(304)、齿轮轴轴承(305)、主动齿轮轴(306)、从动齿轮(307)、从动齿轮套(308)、肘部摆动轴(309)、轴承压盖(310)、螺钉(311)、轴承压盖(312)组成；肘部俯仰轴承座(301)与大臂(2)连接，第二电机(302)与肘部俯仰轴承座(301)连接，第二电机(302)通过键(303)与主动齿轮轴(306)连接，主动齿轮(304)与从动齿轮(307)啮合，从动齿轮套(308)固定并套在肘部摆动轴(309)上，肘部摆动轴(309)安装在小臂(4)上，螺钉(311)固定在肘部摆动轴(309)上起到调整作用，第二电机(302)固定在肘部俯仰轴承座(301)上通过键(303)带动肘部摆动轴(309)旋转形成肘部关节(3)的摆动副，轴承压盖(310)与轴承压盖(312)和小臂(4)固定连接。3. multi-joint humanoid playing piano robot arm according to claim 1, is characterized in that elbow joint (3) is made of elbow pitch bearing seat (301), second motor (302), key (303), driving gear (304), gear shaft bearing (305), driving gear shaft (306), driven gear (307), driven gear sleeve (308), elbow swing shaft (309), bearing gland (310), screw ( 311), the bearing gland (312); the elbow pitch bearing seat (301) is connected with the boom (2), the second motor (302) is connected with the elbow pitch bearing seat (301), and the second motor (302) The key (303) is connected with the driving gear shaft (306), the driving gear (304) meshes with the driven gear (307), the driven gear sleeve (308) is fixed and set on the elbow swing shaft (309), and the elbow The swing shaft (309) is installed on the forearm (4), the screw (311) is fixed on the swing shaft (309) of the elbow for adjustment, and the second motor (302) is fixed on the pitch bearing seat (301) of the elbow The key (303) drives the elbow swing shaft (309) to rotate to form the swing pair of the elbow joint (3), and the bearing gland (310) is fixedly connected with the bearing gland (312) and the forearm (4).4.根据权利要求1所述的多关节仿人弹琴机器人手臂，其特征在于腕部关节(5)由第三电机座(501)、第三电机(502)、联轴器(503)、法兰盘(504)组成；第三电机座(501)固定在小臂(4)上，第三电机座(501)与第三电机(502)连接，第三电机(502)通过联轴器(503)带动法兰盘(504)回转，形成腕部关节(5)的回转副，从而带动连接在法兰盘(504)上得弹琴手回转。4. The multi-joint humanoid playing piano robot arm according to claim 1 is characterized in that the wrist joint (5) is composed of a third motor base (501), a third motor (502), a shaft coupling (503), a blue plate (504); the third motor base (501) is fixed on the forearm (4), the third motor base (501) is connected with the third motor (502), and the third motor (502) passes through the coupling ( 503) drives the flange (504) to rotate, forming the rotary pair of the wrist joint (5), thereby driving the piano player connected to the flange (504) to rotate.