SEVEN-DEGREES-OF-FREEDOM HUMANOID ROBOTIC ARMS

• US 20190314979A1
• Filed: 05/28/2019
• Published: 10/17/2019
• Est. Priority Date: 12/25/2017
• Status: Active Grant

• Current Assignee: Beijing University of Technology (Beijing Education Commission)
• Original Assignee: Beijing University of Technology (Beijing Education Commission)
• Inventors: ZUO, Guoyu, LIU, Hongxing, LIU, Yuelei, QIU, Yongkang, LU, Jiahao, PAN, Tingting, ZHENG, Tao
• Granted Patent: US 11,298,816 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 17/0258 Two-dimensional joints
• CPC Class Codes: B25J 9/045 Polar coordinate type
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/1025 Harmonic drives in general: F16H49/001
• CPC Class Codes: B25J 9/126 Rotary actuators
• CPC Class Codes: F16H 1/14 comprising conical gears only
• CPC Class Codes: F16H 1/203 with non-parallel axes F16H1/22 takes precedence
• CPC Class Codes: F16H 35/06 Gearings designed to allow relative movement between supports thereof without ill effects special means compensating for misalignment of axes F16H1/26, F16H1/48 ; mounting or supporting gearboxes F16H57/025
• CPC Class Codes: F16H 49/001 Wave gearings, e.g. harmonic drive transmissions harmonic drives specially adapted for positioning programme-controlled manipulators B25J9/1025
• CPC Class Codes: F16H 7/02 with belts; with V-belts

Abstract

The present invention relates to robots and discloses a seven-degrees-of-freedom humanoid robotic arm, including an upper arm component and a forearm component. One end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder. One end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component, and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand. The seven-degrees-of-freedom humanoid robotic arm of the present invention achieves a highly bionic design of a spherical joint of human shoulder, elbow and wrist joints.

Claims

1. A seven-degrees-of-freedom humanoid robotic arm, comprising

an upper arm component;

and

a forearm component;

wherein one end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder;

one end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component; and

the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand.

2. The robotic arm of claim 1, wherein the shoulder pitching joint comprises a first brushless DC electric motor, a first harmonic drive, a first fixer, a second fixer and a first potentiometer which are sequentially connected along a width direction of the shoulder;

the first brushless DC electric motor drives the first harmonic drive to rotate about a first axis extending along the width direction of the shoulder;

an output of the harmonic drive, the second fixer, the first potentiometer are sequentially connected along the width direction of the shoulder;

one end of the first fixer is fixed at a robot body, and the other end is connected to the first potentiometer.

3. The robotic arm of claim 2, wherein the shoulder yawing joint comprises a second brushless DC electric motor, a harmonic drive, a second fixer, an upper arm connection plate which are sequentially connected from back to front along a thickness direction of the shoulder;

the second brushless DC electric motor drives the second harmonic drive to rotate along a second axis extending along the thickness direction of the shoulder;

the second fixer is provided with a third fixer which is configured for mounting of a second potentiometer; and

the upper arm connection plate is fixedly connected to an arm of the upper arm component.

4. The robotic arm of claim 3, wherein the shoulder rolling joint comprises the upper arm connection plate, a third harmonic drive, a fifth fixer and a third brushless DC electric motor which are connected from top to bottom along a direction of the upper arm;

the third harmonic drive and the third brushless DC electric motor are sequentially provided at upper and lower sides of the fifth fixer;

an inner side upper arm plate and an outer side upper arm plate are provided below the fifth fixer, and are fixedly connected to the fifth fixer;

the third brushless DC electric motor drives the third harmonic drive to rotate about a third axis extending along a direction of the upper arm;

the fifth fixer is provided with a fourth fixer which is configured for mounting of a third potentiometer.

5. The robotic arm of claim 4, wherein the elbow pitching joint is fixedly connected to the inner side upper arm plate and the outer side upper arm plate, comprising a fourth brushless DC electric motor and a fourth harmonic drive;

the fourth brushless DC electric motor is fixed between the inner side upper arm plate and the outer side upper arm plate;

the fourth harmonic drive is provided below the fourth brushless DC electric motor, and is fixedly connected to the fourth brushless DC electric motor, and is fixed at the outer side upper arm plate;

the fourth brushless DC electric motor drives the fourth harmonic drive to rotate along a fourth axis extending along the thickness direction of the shoulder via a synchronous belt; and

the outer side upper arm plate is provided with a fourth potentiometer and a sixth fixer which is configured for mounting of the sixth fixer.

6. The robotic arm of claim 5, wherein the elbow rolling joint is mounted below the forearm connection plate, and the elbow rolling joint comprises a fifth harmonic drive, an eighth fixer, a fifth brushless DC electric motor;

one end of the forearm connection plate is connected to an output of the fourth harmonic drive;

the fifth harmonic drive and the fifth potentiometer are sequentially mounted at upper and lower sides of the eighth fixer;

an inner side forearm plate and an outer side forearm plate are provided below the eighth fixer, and are fixedly connected the eighth fixer;

the fifth brushless DC electric motor drives the fifth harmonic drive to rotate about a fifth axis extending along a direction of a forearm; and

the eighth fixer is provided with a seventh fixer which is configured for mounting of a fifth potentiometer.

7. The robotic arm of claim 6, wherein the wrist yawing joint is provided below the eighth fixer, comprising a first brushed DC electric motor, a first epicyclic gearbox, a first bevel gear, a third bevel gear and a sixth potentiometer;

the first brushed DC electric motor drives the first epicyclic gearbox to rotate about a sixth axis extending along a length direction of the forearm;

the first bevel gear is provided below the first epicyclic gearbox and meshes with the third bevel gear;

the third bevel gear rotates along a seventh axis extending along the thickness direction of the shoulder;

the seventh axis is provided with an eleventh fixer provided with a sixth potentiometer; and

the third bevel gear is connected to a ninth fixer.

8. The robotic arm of claim 7, wherein the wrist pitching joint is provided below the eighth fixer, comprising a second brushed DC electric motor, a second epicyclic gearbox, a second bevel gear, a double-head bevel gear and a fourth bevel gear;

the second brushed DC electric motor drives the second epicyclic gearbox to rotate along an eighth axis extending along the length direction of the firearm;

the second bevel gear is provided at the eighth axis, and is connected to an output of the second epicyclic gearbox;

the second bevel gear is meshed with one gear head of the double-head bevel gear, and the other gear head of the double-head bevel gear is meshed with the fourth bevel gear;

the fourth bevel gear is provided at a ninth axis extending along the thickness direction of the shoulder;

the ninth axis is provided with a tenth fixer provided with a seventh potentiometer.