CN111152200A - Seven-degree-of-freedom mechanical arm based on serial elastic driver wrist joint - Google Patents

Abstract

Translated fromChinese

本发明公开了一种基于串联弹性驱动器腕关节的七自由度机械臂，包括弹性驱动模块，所述弹性驱动模块的驱动轴连接有谐波减速器，所述谐波减速器的末端设有连接部件，所述谐波减速器通过所述连接部件连接交流伺服电机，所述交流伺服电机的传动部分连接有串联驱动关节部件，所述串联驱动关节部件的数量为3，机械臂既要实现较好的柔顺性能，又要保持机械臂的稳定性。传统的刚性驱动器不具备良好的柔顺性，无法保证人机交互的安全性，因此需要一种新的驱动方式实现关节驱动；针对传统刚性机械臂柔顺性不足及六维力传感器价格昂贵使用不广泛的缺点，提出一种基于串联弹性驱动器腕关节的七自由度机械臂。

The invention discloses a seven-degree-of-freedom mechanical arm based on a wrist joint of a series elastic driver, comprising an elastic driving module, a drive shaft of the elastic driving module is connected with a harmonic reducer, and the end of the harmonic reducer is provided with a connection component, the harmonic reducer is connected to the AC servo motor through the connecting component, and the transmission part of the AC servo motor is connected with a series-driven joint component, and the number of the series-driven joint components is 3. Good compliance performance, but also to maintain the stability of the mechanical arm. Traditional rigid actuators do not have good compliance and cannot guarantee the safety of human-computer interaction, so a new driving method is required to realize joint driving; for the lack of compliance of traditional rigid robotic arms and the high price of six-dimensional force sensors, they are not widely used. However, this paper proposes a seven-degree-of-freedom manipulator based on a wrist joint with a series elastic actuator.

Description

Seven-degree-of-freedom mechanical arm based on serial elastic driver wrist joint

Technical Field

The invention is applied to the industrial field, in particular to a seven-degree-of-freedom mechanical arm based on a serial elastic driver wrist joint.

Background

The flexible mechanical arm is a mechanical arm with a flexible output effect at the tail end for simulating the functions of a human arm, can improve the safety of human-computer interaction, and is more and more concerned in the fields of service robots, medical robots and even industrial robots needing human-computer cooperation. In the field of flexible mechanical arms, the research of the United states is advanced and mature, and the Luke arm which is a bionic mechanical arm used in the field of medical instruments and approved by food and drug administration on the market represents the highest level in the field at present, has the size equivalent to that of a human arm, and can complete very complicated and fine actions of picking up grapes, coins and the like; in a robot platform Meka developed by Massachusetts institute of technology, a mechanical arm with 12 degrees of freedom adopts a series elastic driver, so that good flexibility and humanoid characteristics can be realized. The domestic research on the flexible mechanical arm and the series elastic driver is in a starting stage, the series elastic driver is mostly applied to a three-degree-of-freedom mechanical arm or a walking robot and used as an anti-impact elastic joint, and the interactivity and the flexibility of the traditional mechanical arm have some defects.

Disclosure of Invention

The invention aims to provide a seven-degree-of-freedom mechanical arm based on a serial elastic driver wrist joint so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the seven-degree-of-freedom mechanical arm based on the serial elastic driver wrist joint comprises an elastic driving module, wherein a driving shaft of the elastic driving module is connected with a harmonic reducer, a connecting part is arranged at the tail end of the harmonic reducer, the harmonic reducer is connected with an alternating current servo motor through the connecting part, a transmission part of the alternating current servo motor is connected with serial driving joint parts, and the number of the serial driving joint parts is 3.

Preferably, the elastic driving module comprises an outer wheel, a fixing block is arranged on the inner wall of the outer wheel, one end of a damping device is arranged on the side wall of the fixing block, a limiting column is arranged inside the damping device, a spoke is arranged in the inner cavity of the outer wheel, the other end of the damping device is connected to the spoke, and a wheel core is arranged in the inner cavity of the spoke.

Preferably, the damping device can be a part having a damping function, such as a spring or a damper.

Preferably, the series driving joint component comprises a first joint, the first joint is connected with an elbow joint, the elbow joint is connected with a series elastic driver, and the tail end of the series elastic driver is provided with a second joint.

Preferably, the connection member can be a flange, an internal and external screw connection, or the like.

Preferably, the tandem drive joint components can be disassembled and assembled on the whole mechanical arm.

Preferably, a reinforcing frame is arranged outside the alternating current servo motor.

Compared with the prior art, the invention has the beneficial effects that: the mechanical arm not only needs to achieve good flexibility, but also needs to maintain stability of the mechanical arm. The traditional rigid driver has no good flexibility and cannot ensure the safety of human-computer interaction, so that a new driving mode is needed to realize joint driving; aiming at the defects that the traditional rigid mechanical arm is insufficient in flexibility and a six-dimensional force sensor is expensive and not widely used, the seven-degree-of-freedom mechanical arm based on the serial elastic driver wrist joint is provided.

Drawings

FIG. 1 is a block diagram of the present invention;

fig. 2 is a partial structural view of the present invention.

In the figure: the device comprises an elastic driving module 1, an outer wheel 11, a spoke 12, a wheel core 13, a damping device 14, a limiting column 15, a fixed block 16, aharmonic reducer 2, a connecting component 3, an alternatingcurrent servo motor 4, a series driving joint component 5, a first joint 51, anelbow joint 52, a serieselastic driver 53 and a second joint 54.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

Referring to fig. 1 to 2, the present invention provides a technical solution: the utility model provides a seven degree of freedom arms based on series connection elastic drive wrist joint, includes elastic drive module 1, elastic drive module 1's drive shaft is connected with harmonicspeed reducer ware 2, harmonicspeed reducer ware 2's end is equipped with adapting unit 3, harmonicspeed reducer ware 2 passes through adapting unit 3 connectsAC servo motor 4,AC servo motor 4's transmission part is connected with series connection drive joint part 5, the quantity of series connection drive joint part 5 is 3.

The elastic driving module 1 is connected to theharmonic speed reducer 2 and is connected through the connecting component 3 to enable the connecting position to be more stable, and meanwhile, the three driving joint components 5 are connected in series to form seven-freedom-degree connection of series elastic driving.

Specifically, elasticity drive module 1 includes outer wheel 11, the inner wall of outer wheel 11 is equipped with fixed block 16, the lateral wall of fixed block 16 is provided with damping device 14's one end, damping device 14's inside is equipped with spacing post 15, the inner chamber of outer wheel 11 is equipped with spoke 12, be connected with on the spoke 12 damping device 14's the other end, the inner chamber of spoke 12 is equipped with core 13.

The power is transmitted to the damping device 14 from the connecting block and then transmitted to the sweeping arm through the damping device 14 in a buffering mode, so that the elastic conversion of the driving mode is completed; the active connecting arm connected with the sweeping arm transmits power to the next driving joint to complete the driving transmission between the joints; when the damping device 14 is assembled, the damping device 14 is arranged in a pre-compression mode, the pre-compression amount of each compression spring is the same, and each group of compression springs are symmetrically arranged; realize two-way elastic buffering, make corotation reverse rotation all have the compliance.

Specifically, the damper 14 may be a component having a damping function, such as a spring or a damper.

Different damping devices 14 can be selected according to different environments and production strength requirements, so that different operations can be adapted.

Specifically, the tandem drive joint component 5 includes a first joint 51, anelbow joint 52 is connected to the first joint 51, a tandemelastic actuator 53 is connected to theelbow joint 52, and a second joint 54 is provided at a distal end of the tandemelastic actuator 53.

The constituent components of the tandem drive joint component 5 are defined, and the mounting manner is determined.

Specifically, the connecting member 3 may be a flange, an internal and external screw connection, or the like.

Different types of connection modes are provided, different configurations and structures are provided, and the protection range is enlarged so as to be suitable for different working environments.

Specifically, the tandem drive joint unit 5 can be detached and assembled from and to the entire robot arm.

Disassembly can be performed when the entire machine does not require such flexibility, or when a different flexibility is required, reducing the wear of unnecessary parts and increasing the applicability.

Specifically, a reinforcing frame is provided outside theac servo motor 4.

The strength of the connecting part is increased, and the service life is prolonged.

The working principle is as follows: the connection forms of the driving links of the three wrist joints with the series elastic drivers are completely the same, and the three wrist joints comprise an alternatingcurrent servo motor 4, a connecting part, aharmonic reducer 2 and a driving conversion elastic module 1 which form the serieselastic drivers 53 at the joints, and front and rear mechanical arms which are connected with the joints; alternatingcurrent servo motor 4 is as the power supply, directly links with harmonicspeed reducer ware 2 through adapting unit 3, and harmonicspeed reducer ware 2 passes through bolted connection with foreign steamer 11, andservo motor 2 rotates and drives foreign steamer 11 and rotate, and the connecting block rotates along with the foreign steamer to compression damping device 14, damping device 14 receive to push spoke 12 after the compression and rotate, spoke 12 is connected with next joint or end effector through the bolt, carries out the gentle and agreeable output of power.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A seven-degree-of-freedom mechanical arm based on a serial elastic driver wrist joint comprises an elastic driving module (1) and is characterized in that; the drive shaft of elastic drive module (1) is connected with harmonic reducer (2), the end of harmonic reducer (2) is equipped with adapting unit (3), harmonic reducer (2) pass through adapting unit (3) are connected and are exchanged servo motor (4), the transmission part of exchanging servo motor (4) is connected with series drive joint part (5), the quantity of series drive joint part (5) is 3.

2. The seven-degree-of-freedom robotic arm based on a serial elastic drive wrist joint as claimed in claim 1, wherein; elasticity drive module (1) is including foreign steamer (11), the inner wall of foreign steamer (11) is equipped with fixed block (16), the lateral wall of fixed block (16) is provided with the one end of damping device (14), the inside of damping device (14) is equipped with spacing post (15), the inner chamber of foreign steamer (11) is equipped with spoke (12), be connected with on spoke (12) the other end of damping device (14), the inner chamber of spoke (12) is equipped with wheel core (13).

3. The seven-degree-of-freedom robotic arm based on a serial elastic drive wrist joint as claimed in claim 2, wherein; the damping device (14) can be a part with a damping function, such as a spring, a damper and the like.

4. The seven-degree-of-freedom robotic arm based on a serial elastic drive wrist joint as claimed in claim 1, wherein; series drive joint part (5) are including first joint (51), first joint (51) are connected with elbow joint (52), be connected with series connection elastic drive ware (53) on elbow joint (52), the end of series connection elastic drive ware (53) is equipped with second joint (54).

5. The seven-degree-of-freedom robotic arm based on a serial elastic drive wrist joint as claimed in claim 1, wherein; the connecting part (3) can be a flange, an internal and external thread connection and the like.

6. The seven-degree-of-freedom robotic arm based on a serial elastic drive wrist joint as claimed in claim 1, wherein; the serial driving joint component (5) can be disassembled and assembled on the whole mechanical arm.

7. The seven-degree-of-freedom robotic arm based on a serial elastic drive wrist joint as claimed in claim 1, wherein; and a reinforcing frame is arranged outside the alternating current servo motor (4).

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