CN106272543B - Bionical composite drive humanoid robot joint - Google Patents

Abstract

The invention discloses a bionic composite drive robot joint, which includes a joint arm and a drive assembly. The drive assembly includes an electric drive part and a pneumatic drive part for starting auxiliary motion when the electric drive part exceeds the rated load; Part of the joint arm is mainly driven to ensure high-precision driving. When the motor drive part exceeds the rated load, the pneumatic drive part starts to work, and assists the driving work of the electric drive part to meet the requirements of heavy load work; that is, this The invention can solve the technical problem of the contradictory point that the existing mechanical arm cannot realize high precision and heavy load at the same time, and can ensure heavy load while ensuring high-precision driving, and has a high application prospect.

Description

Bionic compound drive robot joint

technical field

The invention relates to the field of robots, in particular to a bionic composite drive robot joint.

Background technique

With the development of robot technology, people hope that the new robot arm will have high precision, fast response, good quality, long life, low energy consumption, small size, light weight, large torque, strong carrying capacity, high reliability, and intelligence. , modularity, reconfigurability, etc., but also hope to have good flexibility to obtain better security and self-recovery capabilities.

There are mainly two drive modes for the drive joints of existing robot arms. One is motor drive, which is a relatively traditional drive mode with large drive displacement, high drive precision, simple drive circuit, low energy consumption, and convenient control. However, there is a defect of small driving torque; in order to provide a larger torque to facilitate the use under heavy-duty conditions, someone has designed another pneumatic muscle drive mode, which belongs to a relatively new type of pneumatic actuator. It has a simple structure, With the advantages of large power/weight ratio, good flexibility, and close to the characteristics of biological muscles, it has broad application prospects in the fields of bionic robots, bionic medicine, and service robots, but it mainly has the disadvantage of insufficient precision. That is to say, in the prior art, the driving of the robot arm has the problem that heavy load and high precision cannot be guaranteed at the same time, and how to solve this technical problem has become an imminent challenge.

Therefore, it is necessary to improve the existing robot joints so as to ensure the high torque for heavy load work and ensure the driving precision of the joints.

Contents of the invention

In view of this, the present invention provides a bionic composite drive robot joint, which can guarantee the driving precision of the joint while ensuring a large torque for heavy-load work.

The bionic composite drive robot joint of the present invention includes a joint arm and a drive assembly, and the drive assembly includes an electric drive part and a pneumatic drive part for starting auxiliary motion when the electric drive part exceeds the rated load;

The electric drive part includes a drive installation box, a power output box, a first electric drive mechanism and a second electric drive mechanism. The joint arm is rotatably supported on the power output box. The output box drives the articulated arm to rotate in the vertical plane, and the second electric drive mechanism is arranged in the drive installation box and is used to drive the articulated arm to rotate around its own axis;

The pneumatic drive part includes a first pneumatic drive mechanism that assists in driving the articulated arm to rotate in a vertical plane and a second pneumatic drive mechanism that assists in driving the articulated arm to rotate around its own axis.

Further, the first electric drive mechanism includes a first power shaft that is rotatably supported on the drive installation box and a first drive gear set that is arranged in the drive installation box and is used to transmit driving power to the first power shaft. The power of the first power shaft The output end is fixedly connected with the power output box.

Further, the second electric drive mechanism includes a second power shaft that is rotatably supported on the drive installation box and a second drive gear set that is arranged in the drive installation box and is used to transmit driving power to the second power shaft. The second power shaft and the power The output box is also rotatably supported and matched, and the second electric drive mechanism also includes a bevel gear transmission pair arranged in the power output box. The driven bevel gear is circumferentially fixed on the articulated arm.

Further, the first power shaft and the power output box are integrally formed.

Further, the drive installation box is an n-shaped structure whose opening is axially consistent with the articulated arm, and the power output box is arranged in the opening.

Further, the first power shaft and the second power shaft are located on the same axis.

Further, the first pneumatic drive mechanism includes an upper pneumatic muscle and a lower pneumatic muscle respectively arranged on the upper and lower sides of the articulated arm, one end of the upper pneumatic muscle and the lower pneumatic muscle are connected to the drive installation box for air intake, and the other end It is closed, and the closed ends of the upper pneumatic muscle and the lower pneumatic muscle are connected by a first connecting cable.

Further, the end of the articulated arm is provided with a pulley cap that cooperates with the first connecting cable, and the articulated arm and the pulley cap are relatively rotated and matched. One end of the first connecting cable is connected to the closed end of the upper pneumatic muscle, and the other end is bypassed from top to bottom by the pulley cap and Connect the closed end of the lower pneumatic muscle.

Further, the second pneumatic drive mechanism includes a rotary pneumatic drive assembly arranged on the front side or/rear of the articulated arm, and the rotary pneumatic drive assembly includes rotary pneumatic muscle I, rotary pneumatic muscle II, rotary upper pulley, rotary lower pulley and rotary connecting cable The rotating pneumatic muscle I and the rotating pneumatic muscle II are located on the same side of the joint arm and arranged side by side up and down, and one end of each is connected to the drive installation box for air intake and the other end is closed, and the rotating connecting cable is closed with the rotating pneumatic muscle I Connected to the end, and connected to the rotating pneumatic muscle II by going around the rotating upper pulley, the circumferential direction of the joint arm and the rotating lower pulley in turn.

Further, the bionic composite drive robot joint also includes a pneumatic drive start detection system, and the pneumatic drive start detection system includes:

The torque sensor is arranged on the motor shaft of the first electric drive mechanism and the motor shaft of the second electric drive mechanism and is used to detect whether the moment load of the motor shaft exceeds the rated load;

The controller is used to receive the rated overload detection signal of the torque sensor and control the work of the pneumatic driving part.

Beneficial effects of the present invention: the bionic composite drive robot joint of the present invention is provided with a motor drive part and a pneumatic drive part, and the motor drive part is used to mainly drive the joint arm to ensure high-precision driving. When the motor drive part exceeds the rated load At this time, the pneumatic drive part starts to work, and assists the driving work of the electric drive part to meet the requirements of heavy load work; that is, the present invention can solve the contradiction that the existing mechanical arm cannot realize high precision and heavy load at the same time. The problem is that it can guarantee heavy load while ensuring high-precision driving, and has a high application prospect.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a top view of Fig. 1 .

Detailed ways

Fig. 1 is a schematic diagram of the structure of the present invention, and Fig. 2 is a top view of Fig. 1, as shown in the figure: the bionic composite drive robot joint of this embodiment includes an articulated arm 1 and a drive assembly, and the drive assembly includes an electric drive part and a drive assembly for When the electric driving part exceeds the rated load, start the pneumatic driving part for auxiliary movement; assist in the formation of joint work;

The electric drive part includes a drive installation box 2, a power output box 3, a first electric drive mechanism and a second electric drive mechanism, the articulated arm 1 is rotatably supported on the power output box 3, and the first electric drive mechanism is installed on the drive installation box 2 and can drive the power output box 3 to drive the articulated arm 1 to rotate in the vertical plane. The second electric drive mechanism is arranged on the drive installation box 2 and is used to drive the articulated arm 1 to rotate around its own axis; wherein the first electric drive mechanism is used to drive The articulated arm 1 rotates in the vertical plane with the power output box 3, and the rotation in the vertical plane refers to rotating in the up and down direction around the first power shaft axis of the first electric drive mechanism, and the second electric drive mechanism is used to drive the joint Arm 1 rotates around its own axis;

The pneumatic drive part includes a first pneumatic drive mechanism that assists in driving the articulated arm 1 to rotate in the vertical plane and a second pneumatic drive mechanism that assists in driving the articulated arm 1 to rotate around its own axis; that is, when the first electric drive mechanism works beyond the rated load , the first pneumatic drive mechanism of the pneumatic drive part starts, and cooperates with the first electric drive mechanism to drive the articulated arm 1 to rotate in the vertical plane. When the second electric drive mechanism works beyond the rated load, the second pneumatic drive mechanism of the pneumatic drive part The driving mechanism starts, and cooperates with the second electric driving mechanism to drive the articulated arm 1 to rotate around its own axis.

In this embodiment, the first electric drive mechanism includes a first power shaft 4 that is rotatably supported on the drive installation box 2 and a first drive gear set that is arranged in the drive installation box 2 for transmitting driving power to the first power shaft 4 , the power output end of the first power shaft 4 is fixedly connected with the power output box 3; the first power shaft 4 is arranged in the drive installation box 2 through a bearing, and one end extends out of the drive installation box 2, and the first drive gear set includes the first Driving gear 5 and the first driven gear 6, and the first driving gear 5 wheel diameter is smaller than the first driven gear 6, the first driven gear 6 circumference is fixed on the first power shaft 4, the first driving gear 5 passes through the first driven gear The first drive motor 7 of an electric drive mechanism is driven, and a harmonic reducer is also arranged between the first drive gear 5 and the motor shaft of the first drive motor 7 .

In this embodiment, the second electric drive mechanism includes a second power shaft 8 that is rotatably supported on the drive installation box 2 and a second drive gear set that is arranged in the drive installation box 2 for transmitting driving power to the second power shaft 8 , the second power shaft 8 and the power output box 3 are also rotated and supported, and the second electric drive mechanism also includes a bevel gear transmission pair arranged in the power output box 3, and the bevel gear transmission pair includes a circle fixed on the second power shaft 8 The driving bevel gear 9 meshes with the driving bevel gear 9 and is circumferentially fixed on the driven bevel gear 10 on the articulated arm 1; the second power shaft 8 is arranged on the drive installation box 2 through a bearing, and one end extends out of the drive installation box 2 , and extend into the power output box 3 and rotate through bearings, the second driving gear set includes a second driving gear 11 and a second driven gear 12, and the second driving gear 11 has a wheel diameter smaller than the second driven gear 12, forming Speed reduction, the second driven gear 12 circumference is fixed on the second power shaft 8, the second driving gear 11 is driven by the second driving motor 13 of the second electric drive mechanism, and the second driving gear 11 and the motor of the second driving motor There is also a harmonic reducer between the main shafts.

In this embodiment, the first power shaft 4 and the power output box 3 are integrally formed; that is, the protruding end of the first power shaft 4 is integrally formed with the power output box 3, when the first power shaft 4 rotates around its own axis , the power output box 3 also rotates around the axis of the first power shaft 4 to realize the rotation of the articulated arm 1 in the vertical plane; the structure has high strength and good integrity.

In this embodiment, the drive installation box 2 is an n-shaped structure whose opening is axially consistent with the articulated arm 1, and the power output box 3 is arranged in the opening; the overall structure is compact and symmetrical, which is beneficial for power output.

In this embodiment, the first power shaft 4 and the second power shaft 8 are located on the same axis; the structure is compact and convenient for installation and power output.

In this embodiment, the first pneumatic drive mechanism includes an upper pneumatic muscle 14 and a lower pneumatic muscle 15 respectively arranged on the upper and lower sides of the articulated arm 1. Both the upper pneumatic muscle 14 and the lower pneumatic muscle 15 have one end connected to the drive installation box. 2 is connected for air intake, and the other end is closed, and the closed ends of the upper pneumatic muscle 14 and the lower pneumatic muscle 15 are connected by the first connecting cable 16; , the articulated arm 1 and the pulley cap 17 rotate relative to each other, one end of the first connecting cable 16 is connected to the closed end of the upper aerodynamic muscle 14, and the other end is connected to the closed end of the lower aerodynamic muscle 15 by bypassing the pulley cap 17 from top to bottom; as shown in the figure As shown, the pulley wheel is connected with the articulated arm 1 through the connecting shaft, and a bearing is arranged at the joint between the connecting shaft and the articulated arm 1, and the air intake pipes of the upper aerodynamic muscle 14 and the lower aerodynamic muscle 15 are connected with the drive installation box 2 for air intake. When the air volume pumped by the pneumatic muscle 14 and the lower pneumatic muscle 15 is the same as the original length, the forearm is in a straight state. When the upper pneumatic muscle 14 pumps gas, the muscle becomes shorter due to expansion, and the lower pneumatic muscle 15 releases the pumped gas, and the lower pneumatic muscle 15 is stretched and becomes longer, the articulated arm 1 will rotate upward under the action of friction between the first connecting cable 16 and the pulley cap 17; when the upper pneumatic muscle 14 releases gas, the lower pneumatic muscle 15 pumps in Gas, the lower pneumatic muscle 15 is expanded and shortened, and the upper pneumatic muscle 14 is stretched and lengthened, so the forearm rotates downward.

In this embodiment, the second pneumatic drive mechanism includes a rotary pneumatic drive assembly arranged on the front side or/rear side of the articulated arm 1, and the rotary pneumatic drive assembly includes a rotary pneumatic muscle I19, a rotary pneumatic muscle II20, a rotary upper pulley 21, a rotary slide The wheel 22 and the rotating connecting cable 23, the rotating pneumatic muscle I19 and the rotating pneumatic muscle II20 are located on the same side of the articulated arm 1 and arranged side by side up and down, and one end is connected to the drive installation box 2 for air intake and the other end is closed. The rotating connection cable 23 is connected to the closed end of the rotating pneumatic muscle I19, and then bypasses the rotating upper pulley 21, the circumferential direction of the articulated arm 1, and the rotating lower pulley 22 to connect with the rotating pneumatic muscle II20, and the rotating upper pulley 21 and the rotating lower pulley 22 pass through the bracket The plate 24 is installed on the pulley cap 17; the rotary pneumatic driving assembly is arranged on the front side or the rear side of the articulated arm 1, or one set is respectively arranged on the front side and the rear side of the articulated arm 1, so that the rotary pneumatic muscle I19 and the rotary pneumatic muscle II20 are located at Take the front side of the articulated arm 1 as an example, and the rotating aerodynamic muscle I19 is located above the rotating aerodynamic muscle II20. After the rotating connecting cable 23 passes through the rotating upper pulley 21, it bypasses the back of the articulated arm 1 along the circumferential direction of the articulated arm 1, and then detours around the rotating The lower pulley 22 is connected to the closed end of the rotary pneumatic muscle II 20. When the rotary pneumatic muscle I19 pumps air, the rotary pneumatic muscle I19 expands, and the rotary pneumatic muscle II 20 deflates at this time and is elongated. Then, under the action of the rotary connecting cable 23, the joint The arm 1 rotates forward, and the front refers to the direction perpendicular to the paper facing the observer in Figure 1 (this place needs to add 19 pumps, 20 deflation, and the rotation of the forearm 1, so it should be clearer); this implementation In the example, a group of rotary pneumatic driving components are respectively arranged on the front side and the rear side of the articulated arm 1, including the rotary pneumatic muscle I 19a, the rotary pneumatic muscle II, the rotary upper pulley 21a, the rotary lower pulley and the rotary connecting cable 23a, which are arranged at the rear The principle of the rotary pneumatic drive assembly on the side is the same as that of the above-mentioned rotary pneumatic drive assembly on the front side. The force of the entire articulated arm 1 is more balanced, and the driving force of the four pneumatic muscles is doubled compared with the two pneumatic muscles, which increases the torque; in addition, the connecting cables in this embodiment are all steel cables. The arm is provided with a pulley sleeve 18 for rotating the connecting cable 23 around the circumferential direction.

In this embodiment, the bionic composite drive robot joint also includes a pneumatic drive start detection system, and the pneumatic drive start detection system includes:

The torque sensor is arranged on the motor shaft of the first electric drive mechanism and the motor shaft of the second electric drive mechanism and is used to detect whether the moment load of the motor shaft exceeds the rated load;

The controller is used to receive the rated overload detection signal of the torque sensor and control the work of the pneumatic drive part;

When the torque generated by the load of the grasped object exceeds 70% of the rated load that the motor can bear, the torque sensor on the spindle will feed back the detection signal to the controller, and the controller will control the corresponding pneumatic The muscle is activated to unload the electric drive part, and the articulated arm 1 will work under the combined drive of the motor and the pneumatic muscle, so that the load on the motor is greatly reduced, and the pneumatic muscle can assist the motor to work.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (10)

1. A bionic composite drive robot joint, characterized in that: it comprises an articulated arm and a drive assembly, and the drive assembly includes an electric drive part and a pneumatic drive part for starting auxiliary motion when the electric drive part exceeds the rated load ; The electric drive part includes a drive installation box, a power output box, a first electric drive mechanism and a second electric drive mechanism, the articulated arm is rotatably supported on the power output box, and the first electric drive mechanism is installed on the The drive installation box can drive the power output box to drive the articulated arm to rotate in the vertical plane, and the second electric drive mechanism is arranged in the drive installation box and is used to drive the articulated arm to rotate around its own axis; The pneumatic drive part includes a first pneumatic drive mechanism that assists in driving the articulated arm to rotate in a vertical plane and a second pneumatic drive mechanism that assists in driving the articulated arm to rotate around its own axis. 2. The biomimetic compound drive robot joint according to claim 1, characterized in that: the first electric drive mechanism includes a first power shaft that is rotationally fitted and supported on the drive installation box and is arranged in the drive installation box for The first power shaft transmits the first driving gear set of driving power, and the power output end of the first power shaft is fixedly connected with the power output box. 3. The biomimetic compound drive robot joint according to claim 2, characterized in that: the second electric drive mechanism includes a second power shaft that is rotationally fitted and supported on the drive installation box and is arranged in the drive installation box for The second power shaft transmits the second driving gear set of driving power, and the second power shaft and the power output box also rotate and support, and the second electric drive mechanism also includes a bevel gear transmission pair arranged in the power output box, The bevel gear transmission pair includes a driving bevel gear which is circumferentially fixed on the second power shaft and a driven bevel gear which meshes with the driving bevel gear and is circumferentially fixed on the articulated arm. 4. The bionic compound drive robot joint according to claim 2, characterized in that: the first power shaft and the power output box are integrally formed. 5 . The biomimetic compound drive robot joint according to claim 3 , characterized in that: the drive installation box is an n-shaped structure with an opening consistent with the axis of the joint arm, and the power output box is arranged in the opening. 6 . 6. The biomimetic compound drive robot joint according to claim 5, wherein the first power shaft and the second power shaft are located on the same axis. 7. The bionic compound drive robot joint according to claim 1, characterized in that: the first pneumatic drive mechanism includes an upper pneumatic muscle and a lower pneumatic muscle respectively arranged on the upper and lower sides of the joint arm, and the upper pneumatic muscle One end of the muscle and the lower pneumatic muscle is connected to the drive installation box for air intake, and the other end is closed, and the closed ends of the upper pneumatic muscle and the lower pneumatic muscle are connected by a first connecting cable. 8. The biomimetic compound drive robot joint according to claim 7, characterized in that: the end of the joint arm is provided with a pulley cap that cooperates with the first connecting cable, and the joint arm and the pulley cap are relatively rotatively matched, and the One end of the first connecting cable is connected to the closed end of the upper pneumatic muscle, and the other end is connected to the closed end of the lower pneumatic muscle by going around the pulley cap from top to bottom. 9. The biomimetic compound drive robot joint according to claim 1, characterized in that: the second pneumatic drive mechanism includes a rotary pneumatic drive assembly arranged on the front side or/rear side of the articulated arm, and the rotary pneumatic drive assembly It includes rotating pneumatic muscles I, rotating pneumatic muscles II, rotating upper pulleys, rotating lower pulleys and rotating connecting cables. The rotating pneumatic muscles I and the rotating pneumatic muscles II are located on the same side of the joint arm and arranged side by side up and down. One end is connected to the drive installation box for air intake and the other end is closed. The rotating connection cable is connected to the closed end of the rotating aerodynamic muscle I, and then bypasses the rotating upper pulley, the joint arm circumferential and rotating lower pulleys and the rotating aerodynamic muscle II in turn. connect. 10. The bionic composite drive robot joint according to claim 1, characterized in that: the bionic composite drive robot joint also includes a pneumatic drive start detection system, and the pneumatic drive start detection system includes: A torque sensor, arranged on the motor shaft of the first electric drive mechanism and the motor shaft of the second electric drive mechanism, and used to detect whether the moment load of the motor shaft exceeds the rated load; The controller is used to receive the rated overload detection signal of the torque sensor and control the work of the pneumatic driving part.