CN108818611A - A kind of robot shoulder joint - Google Patents

Abstract

The invention discloses a shoulder joint of a robot, which comprises a first shoulder joint, a second shoulder joint and a big arm. A serial elastic mechanism is arranged at the joint joint, which includes an inner flange for connecting a fixing device and a method for fixing the inner layer. The outer flange on the flange, the middle flange is set between the inner flange and the outer flange, and is connected to the outer flange through ball bearings, and the inner flange, middle flange, outer flange The flange is provided with a cavity at the corresponding position on the peripheral surface of the disk, and a spring is arranged in the cavity, and the spring is fixed in the cavity of the outer flange. The invention is simple in control, convenient in installation, low in cost and powerful in function. It can be installed on a service robot as a module and can be well used as a teaching research and development application.

Description

A robotic shoulder joint

technical field

The present invention relates to the technical field of robots, and more specifically, to a robot shoulder joint.

Background technique

As we all know; in daily life, with the vigorous development of service robots, it is of great significance for service robots and collaborative robots to realize the compliance of robot joints and enable robots to effectively detect collisions between humans and machines. The shoulder joint is one of the difficulties in the design of humanoid robots.

Early robot shoulder joints usually adopt a series structure, which has disadvantages such as complex structure and large inertia; however, in order to overcome these shortcomings, many researchers have turned their attention to parallel mechanisms with three degrees of freedom rotation, such as 3-RRR, 3-UPU, 3-RUU, etc., the above-mentioned parallel mechanism also has some problems, such as: the working space is small, there are many singular positions, and the human-machine cooperation cannot be carried out well.

Contents of the invention

In order to overcome the defects of complex structure and high inertia described in the above-mentioned prior art, the present invention provides a robot shoulder joint with a series elastic mechanism and an angle sensor.

In order to solve the above-mentioned technical problems, the technical solution of the present invention is as follows: the robot shoulder joint includes a first shoulder joint, a second shoulder joint, a big arm, between the first shoulder joint and the second shoulder joint, and the second shoulder joint in the second shoulder joint. The connection between the shoulder shell and the second connecting device, the end of the arm shell and the fourth connecting device are connected by a series elastic mechanism. The outer flange on the flange, the middle flange is set between the inner flange and the outer flange, and is connected to the outer flange through ball bearings, and the inner flange, middle flange, outer flange The flange is provided with a cavity at the corresponding position on the peripheral surface of the disk, and a spring is arranged in the cavity, and the spring is fixed in the cavity of the outer flange.

Preferably, the first shoulder joint includes a first shoulder shell, the first steering gear is fixed in the first shoulder shell, the output flange of the first steering gear is connected with the middle flange of the series elastic mechanism, and the first connecting The device wraps the series elastic mechanism and is connected with the outer flange of the series elastic mechanism. The Hall sensor is fixedly installed on the first connection device. unanimous.

The second shoulder joint includes a second shoulder shell connected to the first connecting device, the second shoulder shell is provided with a second steering gear, and the output axis of the second steering gear is perpendicular to the output axis of the first steering gear , the output flange of the second steering gear is connected to a series elastic mechanism and connected to the middle flange, the second connecting device wraps the series elastic mechanism and is fixedly connected to the outer flange of the series elastic mechanism, the second connecting device and The third connecting device is fixedly connected, and the Hall sensor is installed outside one end of the second connecting device.

The boom includes a boom casing, the boom casing is fixedly connected with the third connecting device, a third steering gear is fixed in the boom casing, the output flange of the third steering gear is connected with the middle flange of the series elastic mechanism, and the third steering gear is fixed in the boom casing. The four connecting devices wrap the series elastic mechanism and are fixedly connected with the outer flange of the series elastic mechanism, and the Hall sensor is fixedly installed in the fourth connecting device; the axis direction of the output flange of the third steering gear is in line with the large The axis direction of the arm housing is consistent and perpendicular to the axis direction of the output flange of the second steering gear.

Preferably, the original length of the spring is greater than the circumferential length of the cavity.

Preferably, the robot shoulder joint further includes a control board, and the control board communicates with the host computer through RS-485 communication to obtain information such as angles and speeds of each joint.

Preferably, the inner flange is provided with a needle bearing at the connection with the output shaft, and the inner ring of the needle bearing is fitly connected to the peripheral surface of the middle flange.

Preferably, the fixed connection between the inner flange and the outer flange is provided with a fixing groove for installing a Hall sensor and an external load.

Preferably, the middle flange is axially provided with a positioning groove for placing a positioning magnet, and the positioning magnet can cooperate with the Hall sensor to measure the distance between the middle flange and the fixedly connected inner and outer flanges. The angle at which relative rotation occurs between them.

Preferably, the Hall angle sensor is respectively connected to the first connecting device, the second connecting device and the fourth connecting device in a daisy chain form.

Preferably, the Hall angle sensor collects the sensor data through the stm32 controller and sends it to the PC, and through communication with the host computer, the relative rotation angle between the Hall sensor and the positioning magnet can be read .

Compared with the prior art, the beneficial effect of the technical solution of the present invention is: the present invention makes the joint have the advantages of simple structure, strong bearing capacity and good flexibility through the improved series elastic mechanism, and the design of the angle sensor and the positioning magnet can be accurate. Perception of external forces.

Description of drawings

Fig. 1 is the overall structural representation of shoulder joint of the present invention;

Fig. 2 is a schematic diagram of the overall structure of the first shoulder joint of the present invention;

Fig. 3 is the overall structure schematic diagram of the second shoulder joint of the present invention;

Fig. 4 is a schematic diagram of the boom structure of the present invention;

Fig. 5 is a schematic diagram of the structure of the series elastic mechanism.

In the figure: 1. The first shoulder shell, 2. The first steering gear, 3. The large thimble bearing, 4. The first connecting device, 5. The second shoulder shell, 6. The second connecting device, 7. The arm shell, 8 Fourth connecting device, 9. Servo flange, 10. Needle bearing, 11. Ball bearing, 12. Inner flange, 13. Outer flange, 14 Middle flange, 15 Groove, 16 Positioning Magnet, 17. spring, 18. cavity, 19 hall sensor, 20 second steering gear, 21. third connecting device, 22. third steering gear.

Detailed ways

The accompanying drawings are for illustrative purposes only and cannot be construed as limiting the patent;

In order to better illustrate this embodiment, some parts in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product;

For those skilled in the art, it is understandable that some well-known structures and descriptions thereof may be omitted in the drawings.

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

Example 1

Fig. 1 is a schematic diagram of the overall structure of the shoulder joint of the present invention, which includes a first shoulder joint, a second shoulder joint, and a big arm.

Fig. 2 is a schematic diagram of the overall structure of the first shoulder joint of the present invention, the first shoulder joint includes the first shoulder shell 1, the first steering gear 2 is fixed in the first shoulder shell 1, the output flange of the first steering gear 2 and The middle flange 14 of the series elastic mechanism is connected, the first connecting device 4 wraps the series elastic mechanism and is connected with the outer flange 13 of the series elastic mechanism, and the Hall sensor 19 is fixedly installed on the first connecting device 4. The axial direction of the flange plate of the steering gear 2 is consistent with the axial direction of the first shoulder joint.

Fig. 3 is the overall structure schematic diagram of the second shoulder joint of the present invention, and its second shoulder joint comprises the second shoulder housing 5 that links to each other with the first connecting device 4, and the second steering gear 20 is arranged in the second shoulder housing 5, and the second steering gear The output axis of the steering gear 20 is perpendicular to the output axis of the first steering gear 2, the output flange of the second steering gear 20 is connected to a series elastic mechanism, and is connected to the middle flange 14, and the second connecting device 6 is wrapped in a series connection. The elastic mechanism is fixedly connected with the outer flange 13 of the series elastic mechanism, the second connecting device 6 is fixedly connected with the third connecting device 21 , and the Hall sensor 19 is installed outside one end of the second connecting device 6 .

Fig. 4 is a schematic diagram of the structure of the boom of the present invention, the boom includes a boom casing 7, the boom casing 7 is fixedly connected with the third connecting device 21, the boom casing 7 is fixed with a third steering gear 22, the third steering gear 22 The output flange is connected to the middle flange 14 of the series elastic mechanism, the fourth connecting device 8 wraps the series elastic mechanism and is fixedly connected with the outer flange 13 of the series elastic mechanism, and the Hall sensor 19 is fixedly installed on the fourth connecting device 8 : the axis direction of the output flange of the third steering gear 22 is consistent with the axis direction of the boom housing 7 and perpendicular to the axis direction of the output flange of the second steering gear 20 .

Fig. 5 is a schematic diagram of the structure of the series elastic mechanism of the present invention, the series elastic mechanism includes an inner flange 12 connected to the fixing device and an outer flange 13 fixed on the inner flange 12, and the middle flange 14 is arranged on the inner flange. Between the flange 12 and the outer flange 13, and through the ball bearing 11 and the outer flange 13 rotatably connected, and the inner flange 12, the middle flange 14, the outer flange 13 on the disc peripheral surface corresponding The position is provided with a cavity 18, and a spring 17 is arranged in the cavity 18, and the spring 17 is fixed in the cavity 18 of the outer flange 13.

In the specific implementation process, the series elastic mechanism is respectively arranged between the first shoulder joint and the second shoulder joint, at the rotational joint between the second shoulder shell 5 and the second connecting device 6 in the second shoulder joint, and between the end of the arm shell and the second shoulder joint. The four-connection device rotates the connection. When subjected to an external force, the middle flange 14 relatively rotates, the space of the cavity 18 becomes smaller, and the spring 17 deforms, thereby realizing the flexibility of the shoulder joint of the robot and effectively buffering the collision; in addition, the Hall sensor 19 is fixed The magnetic encoder installed on the first connection device 4 and fixed on the middle flange 14 constitutes a magnetic encoder, which is used to test the relative rotation angle between the middle flange 14 and the other two layers, and its Hall angle sensor 19 is passed through stm32 The controller collects the sensor data and sends it to the PC, so that the external force or moment received can be calculated through the programming of the host computer; in addition, the series elastic mechanism is connected with the first shoulder shell 1, the second shoulder shell 5, and the large shoulder shell respectively. Large needle bearings 10 are arranged between the arm housings 7 to reduce friction.

The same or similar reference numerals correspond to the same or similar components;

The terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be interpreted as limitations on this patent;

Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (9)

1. a kind of robot shoulder joint, including the first shoulder joint, the second shoulder joint, large arm, the first shoulder joint

Between the second shoulder joint, the second shoulder shell in the second shoulder joint（5）With the second attachment device（6）At rotation connection, large arm Shell（7）End and the 4th attachment device（8）All using series connection elastic mechanism at rotation connection, it is characterised in that：The series connection Elastic mechanism includes the internal layer flange for being connected and fixed device（12）And it is fixed on internal layer flange（12）On outer layer flange（13）, Middle layer flange（14）It is set to internal layer flange（12）With outer layer flange（13）Between, and pass through ball bearing（11）With outer layer flange （13）Rotation connection, and internal layer flange（12）, middle layer flange（14）, outer layer flange（13）Corresponding position on disk circumferential surface Equipped with cavity（18）, cavity（18）It is interior to be equipped with spring（17）, spring（17）It is fixed on outer layer flange（13）Cavity（18）It is interior.

2. a kind of robot shoulder joint according to claim 1, it is characterised in that：First shoulder joint includes first Shoulder shell（1）, the first steering engine（2）It is fixed on the first shoulder shell（1）It is interior, the first steering engine（2）Output flange and elastic mechanism of connecting Middle layer flange（14）It is connected, the first attachment device（4）It is wrapped in series connection elastic mechanism and the outer layer method with elastic mechanism of connecting It is blue（13）It is connected, Hall sensor（19）It is fixedly installed in the first attachment device（4）On, first steering engine（2）Stub shaft Heart direction is consistent with the axis direction of the first shoulder joint；

Second shoulder joint includes and the first attachment device（4）The second connected shoulder shell（5）, the second shoulder shell（5）Inside it is equipped with Second steering engine（20）, the second steering engine（20）Output axle center and the first steering engine（2）Output axis perpendicular, the second steering engine（20）'s Output flange connect a series connection elastic mechanism, and with its middle layer flange（14）It is connected, the second attachment device（6）It is wrapped in string Join elastic mechanism and the outer layer flange with elastic mechanism of connecting（13）It is fixedly linked, the second attachment device（6）Dress is connected with third It sets（21）It is fixedly linked, Hall sensor（19）It is installed on the second attachment device（6）On the outside of one end；

The large arm includes large arm shell（7）, large arm shell（7）With third attachment device（21）It is fixedly linked, large arm shell（7）In it is fixed There is third steering engine（22）, third steering engine（22）Output flange and the middle layer flange for elastic mechanism of connecting（14）It is connected, the 4th connects Connection device（8）It is wrapped in series connection elastic mechanism and the outer layer flange with elastic mechanism of connecting（13）It is fixedly linked, Hall sensor （19）It is fixedly installed in the 4th attachment device（8）It is interior；The third steering engine（22）Output flange axis direction and large arm Shell（7）Axis direction it is consistent and perpendicular to the second steering engine（20）Output flange axis direction.

3. a kind of robot shoulder joint according to claim 1, it is characterised in that：The spring（17）Original grow up In the circumferential lengths of cavity.

4. a kind of robot shoulder joint according to claim 1, it is characterised in that：The robot shoulder joint also includes Control panel, the control panel are communicated with the communication modes and host computer of RS-485.

5. a kind of robot shoulder joint according to claim 1, it is characterised in that：The internal layer flange（12）With it is defeated Shaft connection place is provided with needle bearing, the needle bearing out（10）Inner ring be cooperatively connected in middle layer flange（14）Circumferential surface On.

6. a kind of robot shoulder joint according to claim 1, it is characterised in that：The internal layer flange（12）And outer layer Flange（13）Fixed connection place is equipped with installation Hall sensor（19）With the fixing groove of external loading.

7. a kind of robot shoulder joint according to claim 1, it is characterised in that：The middle layer flange（14）In axial direction It is equipped with placement positioning magnet（16）Locating slot（15）.

8. a kind of according to claim 1, robot shoulder joint described in 2,6, it is characterised in that：The Hall angular transducer （19）Using daisy chain form respectively with the first attachment device（4）, the second attachment device（6）And the 4th attachment device（8）Phase Even.

9. a kind of robot shoulder joint according to claim 8, it is characterised in that：The Hall angular transducer（19） It is to be acquired and be sent to the end pc to sensing data by stm32 controller.