A new type of robot arm

Abstract

The present invention discloses a novel robot arm, including a shoulder structure, an upper arm, an elbow structure, a forearm, and a wrist structure. The shoulder structure is connected to the upper arm, the upper arm is connected to the elbow structure, a forearm is arranged below the elbow structure, and a wrist structure is connected below the forearm; the shoulder structure includes a shoulder joint reducer, a shoulder joint forward and backward movement driving motor, a shoulder joint forward and backward movement driving gear pair, and a shoulder joint left and right movement driving motor; the elbow structure includes an elbow joint and an elbow joint driving motor; the wrist structure includes a conductive slip ring connected to the forearm and a connecting flange below; the connecting flange is detachably mounted with the manipulator. The novel robot arm of the present invention adds a conductive slip ring to the wrist structure through structural design, which can prevent the cable from twisting and winding when the robot arm moves, reduce aging, and facilitate replacement and maintenance, while reducing the volume of the shoulder and reducing the use cost of the robot arm.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a novel robot arm. Background Art

[0002] As people's education level continues to improve, fewer and fewer people are willing to engage in low-tech, low-value-added service jobs, such as welcoming, consulting, and reception. The development of robots is no longer limited to early industrial robots, and the development of service robots is a trend at this stage. The development of service robots has brought more convenient and comfortable services to humans. Due to the increasing aging of the global population, the market for service robots is vast, and service robots have gradually become a hot spot for research and application.

[0003] With the rapid development of robotics, people have increased their requirements for the functions of robots and are no longer satisfied with the traditional clumsy concepts. Therefore, the bionic performance of robots has gradually become important to highly simulate the joint movements of humans or animals.

[0004] For service robots, a suitable humanoid robot arm is crucial, but many existing robot arms have some shortcomings. At present, there are many cable routings in the robot arm structure. When the robot arm rotates, the cables often become entangled due to multiple rotations, which is not conducive to other extended applications. At the same time, the lines are easily damaged due to friction and aging, and are difficult to repair, which greatly increases the cost of using the robot arm and is difficult to meet current market demand. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a new type of robot arm in view of the defects involved in the background technology, which can prevent the robot arm cable from twisting and deforming at the wrist, facilitate maintenance, and at the same time, the spatial structure is compactly arranged, effectively utilizes space, reduces material usage, and has the advantage of significant cost savings.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions to solve it.

[0007] A novel robot arm comprises a shoulder structure, an upper arm, an elbow structure, a forearm and a wrist structure, wherein the shoulder structure is connected to the upper arm, the upper arm is connected to the elbow structure, a forearm is arranged below the elbow structure, and a wrist structure is connected below the forearm;

[0008] The shoulder structure includes a shoulder joint reducer, a shoulder joint forward and backward motion driving motor, a shoulder joint forward and backward motion driving gear pair, and a shoulder joint left and right motion driving motor, wherein the shoulder joint left and right motion driving motor is connected to the shoulder joint left and right rotating shafts, and the shoulder joint left and right rotating shafts are provided with synchronous pulleys, and the shoulder joint reducer is connected to the shoulder joint forward and backward motion driving motor and the shoulder joint left and right motion driving motor at the same time;

[0009] The elbow structure includes an elbow joint and an elbow joint driving motor;

[0010] The wrist structure includes a conductive slip ring connected to the small arm and a connecting flange below;

[0011] The connecting flange and the manipulator are detachably mounted together.

[0012] The elbow joint drive motor is installed on the top of the big arm;

[0013] A wrist rotating motor is installed in the forearm.

[0014] The shoulder structure also includes a reducer seat, which is fixed on a back plate. A shoulder joint reducer is installed on the upper part of the reducer seat. The robot's arm is installed on the outer output shaft of the shoulder joint reducer. The inner input shaft of the shoulder joint reducer is transmission-connected to a shoulder joint forward and backward movement drive motor.

[0015] The side plate of the reducer seat parallel to the back plate is provided with an axial hole, and the output shaft of the motor driving the shoulder joint to move forward and backward passes through the axial hole.

[0016] The output shaft of the shoulder joint forward and backward movement driving motor is provided with a shoulder joint forward and backward movement driving gear pair, and the shoulder joint forward and backward movement driving gear pair includes a driving gear and a driven gear. The inner input shaft of the shoulder joint reducer is provided with a driven gear, and the driven gear is meshed with the driving gear.

[0017] The shoulder joint left and right movement driving motor is connected to the shoulder joint left and right rotating shafts, and the shoulder joint left and right rotating shafts are connected to the shoulder joint reducer.

[0018] The lower end of the upper arm is provided with a hinge hole, and the upper end of the lower arm is provided with two hinge holes. The hinge hole of the upper arm is aligned with the hinge hole of the lower arm close to the inner side of the joint and a pin is inserted therein.

[0019] The conductive slip ring is sleeved on the cable of the robot arm wrist structure.

[0020] Beneficial Effects

[0021] Compared with the prior art, the novel robot arm of the present invention, through structural design, adds a conductive slip ring to the wrist structure, which can prevent the cable from twisting and entanglement when the robot arm moves, slow down aging, facilitate replacement and maintenance, and at the same time reduce the shoulder volume and reduce the cost of using the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the structure of a new type of robot arm.

[0024] As shown in the figure: 1. Shoulder joint reducer, 2. Shoulder joint forward and backward movement driving gear pair, 3. Shoulder joint forward and backward movement driving motor, 4. Elbow joint driving motor, 5. Upper arm, 6. Elbow joint, 7. Lower arm, 8. Conductive slip ring, 9. Connecting flange, 10. Shoulder joint left and right rotating shaft, 11. Shoulder joint left and right movement driving motor. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention is further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them, and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and / or sections, these elements, components and / or sections should not be limited by these terms.

[0027] refer to Figure 1 A novel robot arm comprises a shoulder structure, an upper arm 5, an elbow structure, a lower arm 7, and a wrist structure. The shoulder structure is connected to the upper arm 5, the upper arm 5 is connected to the elbow structure, a lower arm 7 is arranged under the elbow structure, and a wrist structure is connected under the lower arm 7;

[0028] The shoulder structure includes a shoulder joint reducer 1, a shoulder joint forward and backward motion driving motor 3, a shoulder joint forward and backward motion driving gear pair 2, and a shoulder joint left and right motion driving motor 11, wherein the shoulder joint left and right motion driving motor 11 is connected to a shoulder joint left and right rotating shaft 10, and a synchronous pulley is arranged on the shoulder joint left and right rotating shaft 10, and the shoulder joint reducer 1 is connected to the shoulder joint forward and backward motion driving motor 2 and the shoulder joint left and right motion driving motor 11 at the same time;

[0029] The elbow structure includes an elbow joint 6 and an elbow joint drive motor 4;

[0030] The wrist structure includes a conductive slip ring 8 connected to the small arm 7 and a connecting flange 9 below;

[0031] The connecting flange 9 is detachably mounted on the manipulator.

[0032] In the above embodiment, the elbow joint drive motor 4 is installed on the top of the upper arm 7, and a wrist rotation motor is installed in the lower arm 7. The wrist rotation motor drives the connecting flange and the installed manipulator to rotate.

[0033] Preferably, in the above embodiments, the shoulder structure also includes a reducer seat, which is fixed on a back plate, and a shoulder joint reducer 1 is installed on the upper part of the reducer seat, and the robot's arm is installed on the outer output shaft of the shoulder joint reducer 1, and the inner input shaft of the shoulder joint reducer 1 is transmission-connected to the shoulder joint forward and backward movement drive motor 3.

[0034] Preferably, in the above embodiments, an axial hole is opened on the side plate of the reducer seat parallel to the back plate, and the output shaft of the shoulder joint forward and backward movement driving motor passes through the axial hole, so that the shoulder joint reducer is firmly installed and has a compact structure.

[0035] Preferably, in the above embodiment, the output shaft of the shoulder joint forward and backward motion driving motor 3 is provided with a shoulder joint forward and backward motion driving gear pair 2, the shoulder joint forward and backward motion driving gear pair 2 includes a driving gear and a driven gear, and the inner input shaft of the shoulder joint reducer 1 is provided with a driven gear, and the driven gear and the driving gear are meshed with each other. Such a structural connection design reduces the space occupied by the shoulder structure in the robot arm structure, is more anthropomorphic, and can reduce costs.

[0036] Preferably, in the above embodiments, the shoulder joint left-right movement drive motor 11 is connected to the shoulder joint left-right rotating shaft, and the shoulder joint left-right rotating shaft is connected to the shoulder joint reducer 1.

[0037] Preferably, in the above embodiment, a hinge hole is provided at the lower end of the upper arm 5, and two hinge holes are provided at the upper end of the lower arm 7. The hinge hole of the upper arm 5 is aligned with the hinge hole of the lower arm 7 near the inner side of the joint and a pin is inserted therein.

[0038] Preferably, in the above embodiment, the conductive slip ring 8 is sleeved on the cable of the wrist structure of the robot arm, which can prevent the cable from rotating and twisting when the robot arm is working.

[0039] Beneficial Effects

[0040] Compared with the prior art, the novel robot arm of the present invention, through structural design, adds a conductive slip ring to the wrist structure, which can prevent the cable from twisting and entanglement when the robot arm moves, slow down aging, facilitate replacement and maintenance, and at the same time reduce the shoulder volume and reduce the cost of using the robot arm.

[0041] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A new type of robot arm, mounted on the robot shoulder, characterized in that: It includes a shoulder structure, an upper arm, an elbow structure, a forearm, and a wrist structure, wherein the shoulder structure is connected to the upper arm, the upper arm is connected to the elbow structure, a forearm is arranged below the elbow structure, and a wrist structure is connected below the forearm; The shoulder structure includes a shoulder joint reducer, a shoulder joint forward and backward motion driving motor, a shoulder joint forward and backward motion driving gear pair, and a shoulder joint left and right motion driving motor, wherein the shoulder joint left and right motion driving motor is connected to the shoulder joint left and right rotating shafts, and the shoulder joint left and right rotating shafts are provided with synchronous pulleys, and the shoulder joint reducer is connected to the shoulder joint forward and backward motion driving motor and the shoulder joint left and right motion driving motor at the same time; The elbow structure includes an elbow joint and an elbow joint driving motor; The wrist structure includes a conductive slip ring connected to the small arm and a connecting flange below; The connecting flange and the manipulator are detachably mounted together; The elbow joint drive motor is installed on the top of the big arm; A wrist rotating motor is installed in the forearm; The shoulder structure also includes a reducer seat, which is fixed to a back plate, a shoulder joint reducer is installed on the upper part of the reducer seat, the robot arm is installed on the outer output shaft of the shoulder joint reducer, and the inner input shaft of the shoulder joint reducer is connected to the shoulder joint forward and backward movement drive motor; The output shaft of the shoulder joint forward and backward movement driving motor is provided with a shoulder joint forward and backward movement driving gear pair, the shoulder joint forward and backward movement driving gear pair includes a driving gear and a driven gear, the inner input shaft of the shoulder joint reducer is provided with a driven gear, and the driven gear is meshed with the driving gear; The shoulder joint left and right movement driving motor is connected to the shoulder joint left and right rotating shafts, and the shoulder joint left and right rotating shafts are connected to the shoulder joint reducer; The lower end of the upper arm is provided with a hinge hole, and the upper end of the lower arm is provided with two hinge holes. The hinge hole of the upper arm is aligned with the hinge hole of the lower arm close to the inner side of the joint and a pin is inserted therein.

2. The novel robot arm according to claim 1 is characterized in that: The side plate of the reducer seat parallel to the back plate is provided with an axial hole, and the output shaft of the motor driving the shoulder joint to move forward and backward passes through the axial hole.

3. The novel robot arm according to claim 1 is characterized in that: The conductive slip ring is sleeved on the cable of the robot arm wrist structure.

Images