Robot arm mechanism and robot

Abstract

The invention relates to the field of robots and provides an arm mechanism of a robot. The arm mechanism of the robot comprises elbow driving devices, four connecting rod mechanisms and clamping devices. Each of the elbow driving devices comprises a driving motor assembly, a gear assembly, a mounting flange, a connecting rod supporting shaft and a driving shaft; the connecting rod supporting shaft and the driving shaft are arranged on one face of the mounting flange in a spacing manner, the gear assembly is arranged on the other face of the mounting flange, and the driving motor assembly is connected to the gear assembly; each of the four connecting rod mechanisms comprises an upper parallel rod and a lower parallel rod, and the upper ends of the upper parallel rod and the lower parallel rod are separately connected to the driving shaft and the connecting rod supporting shaft coaxially; each of the clamping devices comprises a mounting seat, a first supporting shaft and a second supporting shaft, the mounting seat comprises a bottom plate and two side plates, and the first supporting shaft and the second supporting shaft are arranged on the same side plate and are separately connected to the lower ends of the upper parallel rod and the lower parallel rod coaxially. According to the arm mechanism of the robot provided by the invention, grabbed objects which are grabbed by the clamping devices can move in the vertical and horizontal directions with two degrees of freedom.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot arm mechanism and a robot using the robot arm mechanism. Background technique [0002] Most of the existing robot mechanisms use motors to drive the joints to rotate, and one motor realizes one degree of freedom. Therefore, if motion with two degrees of freedom is to be realized, two motor transmissions need to be designed, which not only increases the complexity of the structure, but also increases the design cost. Contents of the invention [0003] In view of the above situation, it is necessary to provide a robot arm mechanism and a robot using the robot arm mechanism, which can effectively solve the above problems. [0004] The invention provides a robot arm mechanism, comprising: [0005] an elbow driving device, a four-bar linkage connected to the elbow driving device, and a clamping device connected to the four-bar linkage; [0006] The elbow driving device inc...

AI Technical Summary

Problems solved by technology

Therefore, if two degrees of freedom are to be realized, two motor drives need to be designed. Such an arrangement not only increases the complexity of the structure, but also increases the design cost.

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