An arm structure and a robot

Abstract

An embodiment of the present invention provides an arm structure and a robot. The arm structure includes: a chest actuator including a driving unit for outputting power; an arm execution main body including a transmission mechanism and a link execution mechanism. The transmission mechanism is drivingly connected to the driving unit and the link execution mechanism, and the driving unit drives the transmission mechanism to drive the link execution mechanism to act. The technical solution provided by the embodiment of the present invention, compared with the traditional arm solution, when the arm execution main body composed of the transmission mechanism and the link execution mechanism realizes and completes the same actions and degrees of freedom under the drive of the driving unit, it can be lighter and more helpful for improving stability.

Description

Technical Field

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

[0002] In the field of intelligent robots, arm actuators are usually used to provide power to the joints of the robot so that each joint can perform corresponding actions. However, the arm actuators currently used are built through actuators, resulting in large arm mass and unreasonable distribution, which has a great impact on the stability of the robot during action. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide an arm structure and a robot that solve the above problems.

[0004] In one embodiment of the present invention, an arm structure is provided, comprising:

[0005] A chest actuator, including a driving unit for outputting power;

[0006] The arm execution body comprises a transmission mechanism and a connecting rod actuator. The transmission mechanism is connected to the driving unit and the connecting rod actuator through transmission. The driving unit drives the transmission mechanism to drive the connecting rod actuator to move.

[0007] In some embodiments, the transmission mechanism includes a first transmission unit and a second transmission unit, and the first transmission unit and the second transmission unit are both connected to the driving unit;

[0008] The connecting rod actuator includes a first connecting rod of the upper arm, a connecting rod of the lower arm and a second connecting rod of the upper arm, the opposite ends of the first connecting rod of the upper arm are respectively movably connected with the connecting rod of the lower arm and the second transmission unit, and the opposite ends of the second connecting rod of the upper arm are respectively movably connected with the connecting rod of the lower arm and the first transmission unit;

[0009] The driving unit drives the second transmission unit to drive the first connecting rod of the boom to move, and the driving unit drives the first transmission unit to drive the second connecting rod of the boom to move, and transmits power through the first connecting rod of the boom and the second connecting rod of the boom to drive the small arm connecting rod to move.

[0010] In some embodiments, the driving unit includes a first output ring, a second output ring, a third output ring and a fourth output ring rotating around the same axis, wherein the first output ring and the second output ring are respectively connected to the first transmission unit, and the third output ring and the fourth output ring are respectively connected to the second transmission unit.

[0011] In some embodiments, the chest actuator includes a housing, a motor assembly located in the housing, and a first output shaft, a second output shaft, a third output shaft, and a fourth output shaft that are coaxially arranged and sleeved inside and outside in sequence. One ends of the first output shaft, the second output shaft, the third output shaft, and the fourth output shaft extend into the housing and are respectively drivingly connected to the motor assembly, and the other ends are respectively provided with the first output ring, the second output ring, the third output ring, and the fourth output ring.

[0012] In some embodiments, the first transmission unit includes a first link connecting member and a first transmission component. The first link connecting member is drivingly connected to the second link of the upper arm and the first transmission component. The first transmission component is connected to the driving unit. The driving unit drives the first transmission component to drive the first link connecting member to act, so that the second link of the upper arm and the forearm link act;

[0013] The second transmission unit includes a second link connecting member and a second transmission component. The second link connecting member is drivingly connected to the first link of the upper arm and the second transmission component. The second transmission component is connected to the driving unit. The driving unit drives the second transmission component to drive the second link connecting member to act, so that the first link of the upper arm and the forearm link act.

[0014] In some embodiments, the first transmission component includes a first link and a second link;

[0015] The first link and the second link are symmetrically arranged along the first link connecting member. Opposite ends of the first link are respectively movably connected to the first link connecting member and the second output ring, and opposite ends of the second link are respectively movably connected to the first link connecting member and the third output ring.

[0016] In some embodiments, the first link connecting member includes a first link connecting member body, a first connecting portion, a second connecting portion, a third connecting portion, and a fourth connecting portion;

[0017] Opposite ends of the first link connecting member body in the length direction are respectively provided with the third connecting portion and the fourth connecting portion. The third connecting portion extends symmetrically distributed first connecting portion and second connecting portion along the width direction and away from the fourth connecting portion, and the fourth connecting portion extends along the thickness direction and away from the third connecting portion;

[0018] The first link connecting member is movably connected to the first link through the first connecting portion and movably connected to the second link through the second connecting portion;

[0019] The fourth connecting portion is connected to the second link of the upper arm.

[0020] In some embodiments, it further includes a limit frame. The limit frame includes a first connection end and a second connection end. The first connection end is movably connected to the first output shaft, and the second connection end is movably connected to the third connection part.

[0021] In some embodiments, the second transmission assembly includes a third connecting rod and a fourth connecting rod;

[0022] The third connecting rod and the fourth connecting rod are symmetrically arranged along the second connecting rod connector. The opposite ends of the third connecting rod are respectively movably connected to the second connecting rod connector and the first output ring, and the opposite ends of the fourth connecting rod are respectively movably connected to the second connecting rod connector and the fourth output ring.

[0023] In some embodiments, the second connecting rod connector includes a second connecting rod connector body, a fifth connection part, a sixth connection part, a seventh connection part, and an eighth connection part;

[0024] The seventh connection part and the eighth connection part are respectively arranged at the opposite ends of the second connecting rod connector body along the length direction. The seventh connection part extends symmetrically distributed fifth connection part and sixth connection part along the width direction and away from the eighth connection part;

[0025] The second connecting rod connector is movably connected to the third connecting rod through the fifth connection part and movably connected to the fourth connecting rod through the sixth connection part;

[0026] The eighth connection part is connected to the first boom connecting rod.

[0027] In some embodiments, it further includes a limit ring. The limit ring is rotatably sleeved on the second output shaft or the third output shaft connection and is hinged to the seventh connection part.

[0028] In some embodiments, the drive unit includes a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor. The first drive motor, the second drive motor, the third drive motor, and the fourth drive motor are all located in the housing and are respectively used to drive the first output shaft, the second output shaft, the third output shaft, and the fourth output shaft to rotate around the axis direction of the housing.

[0029] In some embodiments, a first hinge part and a second hinge part are sequentially arranged along the axial direction at one end of the forearm connecting rod close to the housing. The opposite ends of the first boom connecting rod are respectively movably connected to the second connecting rod connector and the first hinge part, and the opposite ends of the second boom connecting rod are respectively movably connected to the first connecting rod connector and the second hinge part.

[0030] Accordingly, an embodiment of the present invention further provides a robot, and the robot includes the arm structure as described above.

[0031] In the technical solution provided by the embodiment of the present invention, compared with the traditional arm solution, when the arm execution body composed of the transmission mechanism and the link execution mechanism realizes and completes the same actions and degrees of freedom under the drive of the drive unit, there is no need to set multiple actuators and motors in the arm, making the overall arm structure lighter and contributing to improving stability. The arm structure provided by the embodiment of the present invention is applicable to special fields such as service robots, medical robots, and industrial robots. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a schematic structural diagram of the arm structure provided by the embodiment of the present invention;

[0034] Figure 2 It is a partially enlarged schematic view of part A of the arm structure provided by the embodiment of the present invention;

[0035] Figure 3 It is a schematic structural diagram of the first link connecting member of the arm structure provided by the embodiment of the present invention;

[0036] Figure 4 It is a schematic structural diagram of the second link connecting member of the arm structure provided by the embodiment of the present invention.

[0037] Description of the Reference Numerals

[0038] 1: Housing; 2: First output shaft; 21: First output ring; 3: Limit frame; 4: Second output shaft; 41: Second output ring; 5: Limit ring; 6: Third output shaft; 61: Third conveying ring; 7: First link; 8: First link connecting member; 81: First link connecting member body; 82: First connecting portion; 83: Second connecting portion; 84: Third connecting portion; 85: Fourth connecting portion; 9: Second link; 10: Fourth output shaft; 101: Fourth output ring; 11: Third link; 12: Second link connecting member; 121: Second link connecting member body; 122: Fifth connecting portion; 123: Sixth connecting portion; 124: Seventh connecting portion; 125: Eighth connecting portion; 13: Fourth link; 14: First big arm link; 15: Small arm link; 16: Second big arm link. Detailed implementation manners

[0039] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the embodiments of the present invention.

[0040] In the description of the embodiments of the present invention, it should be understood that the terms "including" and "having" and any variations thereof are intended to include, but not limited to, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0041] In addition, in this application, unless otherwise clearly defined and limited, the terms "connected", "coupled", "fixed", "installed", etc. should be understood in a broad sense. For example, it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. Unless otherwise clearly limited, for those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. It should be understood that the term "and / or" used herein is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] Figure 1 It is a schematic structural diagram of the arm structure provided by the embodiment of the present invention. Figure 2 It is a partial enlarged schematic view of part A of the arm structure provided by the embodiment of the present invention, as Figure 1 and Figure 2 shown.

[0046] In an embodiment of the present invention, an arm structure is provided, including: a chest actuator and an arm execution main body. Among them, the chest actuator includes a driving unit that outputs power. The driving unit can directly or indirectly transmit driving force outward, and the output driving forces are several independent driving forces, and these several driving forces are rotational driving forces around the same axis.

[0047] The arm execution main body is drivingly connected to the driving unit. According to different requirements, the arm execution main body can be one or two. When the arm execution main body is two, the two paired arm execution main bodies are symmetrically arranged on both sides of the chest actuator. The two arm execution main bodies are respectively the left arm execution main body (referred to as the left arm) and the right arm execution main body (referred to as the right arm). By symmetrically setting each pair of arm execution main bodies, the overall stability can be improved.

[0048] The arm execution main body includes a transmission mechanism and a link execution mechanism. Among them, the link execution mechanism includes several rods that are movably connected to each other. The transmission mechanism is drivingly connected to the driving unit and the link execution mechanism. The driving unit drives the transmission mechanism to drive the link execution mechanism to act.

[0049] One realizable way of the transmission mechanism is that the transmission mechanism includes a link and a link connecting member. The link is used to connect the driving unit and the link connecting member. For example, the link can be rotatably sleeved with the driving unit, and the link can be rotatably sleeved with the link connecting member; the link connecting member is movably connected to the link execution mechanism. For example, the link connecting member can be rotatably sleeved with the link execution mechanism.

[0050] One realizable way of the link actuator is that the link actuator includes a boom link (such as the first boom link 14 and the second boom link 16) and a forearm link 15. The boom link is used to connect the forearm link 15 to the transmission mechanism, so that by driving the boom link to move, the forearm link 15 can be driven to move. In some embodiments, multiple boom links can be provided, such as two. Each boom link is connected to a different position of the forearm link 15. By increasing the number of boom links, the flexibility of the forearm link 15 can be improved. One end of each boom link is connected to the transmission mechanism, such as connected to the link connecting member, and the other end of each boom link is movably connected to a different position of the forearm link 15, such as the boom link is hinged to the forearm link 15.

[0051] The drive unit drives the transmission mechanism to drive the link actuator to move. The link transmits to the link connecting member. In some embodiments, each link connecting member can connect multiple links, such as two links are both connected to the link connecting member and are symmetrically arranged. The link connecting member transmits to the boom link of the link actuator. In some embodiments, the number of link connecting members is the same as the number of boom links, and each link connecting member can drive one boom link. The boom link drives the forearm link 15 to move to achieve different movements and degrees of freedom. In some embodiments, the number of boom links is more than the number of forearm links 15. For example, two boom links are respectively connected to different positions of the forearm link 15, and by driving different boom links, the corresponding positions of the forearm link 15 can be driven to move.

[0052] In the technical solution provided by the embodiment of the present invention, compared with the traditional arm solution, when the arm execution body composed of the transmission mechanism and the link actuator realizes and completes the same movements and degrees of freedom under the drive of the drive unit, there is no need to set multiple actuators and motors in the arm, making the overall arm structure lighter and helping to improve stability. The arm structure provided by the embodiment of the present invention is applicable to special fields such as service robots, medical robots, and industrial robots.

[0053] In some realizable embodiments of the present invention, the assembly process of an arm structure is as follows. First, install the drive unit in the chest actuator, then connect the transmission mechanism of the arm execution body to the drive unit, and then connect the link actuator to the transmission mechanism. Each link actuator is located outside the chest actuator. Two arm execution bodies are symmetrically distributed along the chest actuator.

[0054] In some realizable embodiments of the present invention, continue to refer to Figure 1 and Figure 2, One implementation of the transmission mechanism is that the transmission mechanism includes a first transmission unit and a second transmission unit, and both the first transmission unit and the second transmission unit are connected to the drive unit. In some embodiments, the drive unit has multiple drive ends, or the drive unit includes multiple drive structures, and both the first transmission unit and the second transmission unit are independently driven by the drive ends or drive structures. The drive structure includes, but is not limited to, a drive motor.

[0055] The link actuator includes a first boom link 14, a forearm link 15, and a second boom link 16. Opposite ends of the first boom link 14 are respectively movably connected to the forearm link 15 and the second transmission unit, and opposite ends of the second boom link 16 are respectively movably connected to the forearm link 15 and the first transmission unit.

[0056] One implementable way of the link actuator is that the forearm link 15 is in the shape of a stepped shaft, and two opposite and spaced side walls are provided on one end face of the forearm link 15. The first boom link 14 is in the shape of a circular shaft or a stepped shaft. One end of the first boom link 14 is rotatably sleeved with the second transmission unit. For example, a shaft structure is provided at one end of the first boom link 14, and a shaft hole structure is provided on the second transmission unit. The other end of the first boom link 14 is hingedly connected to the forearm link 15. For example, a rotating shaft structure is provided at the other end of the first boom link 14, and a shaft hole structure is provided on the side wall of the forearm link 15. The second boom link 16 is in the shape of an S shaft. One end of the second boom link 16 is rotatably sleeved with the first transmission unit. For example, a shaft structure is provided at one end of the second boom link 16, and a shaft hole structure is provided on the first transmission unit. The other end of the second boom link 16 is hingedly connected to the forearm link 15. For example, a rotating shaft structure is provided at the other end of the second boom link 16, and a shaft hole structure is provided on the side wall of the forearm link 15. Both the first boom link 14 and the second boom link 16 are hingedly connected to the two side walls. The connection position of the first boom link 14 on the side wall is located relatively above the side wall, and the connection position of the second boom link 16 on the side wall is located relatively below the side wall.

[0057] Continue to refer to Figures 1 to 2The driving unit drives the second transmission unit to drive the first link 14 of the boom to move, and the driving unit drives the first transmission unit to drive the second link 16 of the boom to move, and transmits power through the first link 14 of the boom and the second link 16 of the boom to drive the small arm link 15 to move. Usually, with the connection between the small arm link 15 and the first link 14 of the boom as the rotating shaft, the small arm link 15 can reciprocate within a preset range relative to the first link 14 of the boom; with the connection between the small arm link 15 and the second link 16 of the boom as the rotating shaft, the small arm link 15 can reciprocate within a preset range relative to the second link 16 of the boom. By setting multiple boom links to drive the movement of the small arm link 15, each boom link is connected to the driving unit through an independent transmission mechanism, so as to ensure the flexibility of the link actuator, and then ensure the flexibility of the arm execution body.

[0058] Continue to see Figure 1 and Figure 2 In some achievable embodiments of the present invention, one achievable manner of the driving unit is that the driving unit includes a first output ring, a second output ring, a third output ring, and a fourth output ring rotating around the same axis, wherein the first output ring and the second output ring are respectively connected to the first transmission unit, and the third output ring and the fourth transmission ring are respectively connected to the second transmission unit. The first output ring, the second output ring, the third output ring, and the fourth output ring are arranged in a stacked manner along the axial direction, and the output ring outputs the driving force outward through the peripheral area. On the basis of ensuring that the driving force can be effectively output, the chest actuator can also be flattened, which can effectively reduce the axial space occupied by the chest actuator, thereby reducing the overall volume of the small arm structure.

[0059] Further, in some achievable embodiments of the present invention, the chest actuator includes a housing 1, a motor assembly located in the housing 1, and a first output shaft 2, a second output shaft 4, a third output shaft 6, and a fourth output shaft 10 that are coaxially arranged and sequentially arranged inside and outside. One end of the first output shaft 2, the second output shaft 4, the third output shaft 6, and the fourth output shaft 10 extend into the housing 1 and are respectively connected to the motor assembly for driving, and the other ends are respectively provided with a first output ring 21, a second output ring 41, a third output ring 61, and a fourth output ring 101. The housing 1 can be used to protect the motor assembly and the output shaft accordingly, and the motor assembly and the output shaft can be prevented from being damaged, and interference with other components when the motor assembly and the output shaft rotate can be avoided, thereby improving safety. By outputting the driving force outward through the output shaft, the driving force can be output more stably.

[0060] In an embodiment of the present invention, the housing 1 includes, but is not limited to, a hollow annular structure. The motor assembly is located in the hollow area of the housing 1. The motor assembly can be symmetrically arranged within the housing 1 to facilitate stabilizing the center of gravity. The motor assembly delivers driving force outward through an output shaft. One end of the output shaft extends into the housing 1 and is connected to the motor assembly, and the other end is connected to the arm execution main body.

[0061] To achieve effective transmission of the driving force and reduce the driving difficulty of the second big arm link 16 on the small arm link 15, in some feasible embodiments of the present invention, one feasible implementation of the first transmission unit is that the first transmission unit includes a first link connector 8 and a first transmission component. The first link connector 8 is in transmission connection with the second big arm link 16 and the first transmission component. The first transmission component is connected to the driving unit. The driving unit drives the first transmission component to drive the first link connector 8 to act, so that the second big arm link 16 and the small arm link 15 act. The first link connector 8 is used to realize the connection with the second big arm link 16 and the driving unit. By limiting the axial degree of freedom of the first link connector 8, it is ensured that the first link connector 8 can effectively transmit the driving force. The first link connector 8 is connected to the second big arm link 16, and then drives the movement of the second big arm link 16, such as rotation or swing or movement. The first link connector 8 can be directly or indirectly connected to the driving unit. For example, the first link connector 8 is movably connected to the driving unit by means of a link. The driving unit provides torque and rotational speed to the first link connector 8 through the link to ensure the effective transmission of the driving force to the second big arm link 16.

[0062] To achieve effective transmission of the driving force and reduce the driving difficulty of the first big arm link 14 on the small arm link 15, in some feasible embodiments of the present invention, one feasible implementation of the second transmission unit is that the second transmission unit includes a second link connector 12 and a second transmission component. The second link connector 12 is in transmission connection with the first big arm link 14 and the second transmission component. The second transmission component is connected to the driving unit. The driving unit drives the second transmission component to drive the second link connector 12 to act within a preset range, so that the first big arm link 14 and the small arm link 15 generate corresponding actions. The second link connector 12 is used to realize the connection with the first big arm link 14 and the driving unit. By limiting the axial degree of freedom of the second link connector 12, it is ensured that the second link connector 12 can effectively transmit the driving force. The second link connector 12 is connected to the first big arm link 14, and then drives the movement of the first big arm link 14, such as rotation or swing or movement. The second link connector 12 can be directly or indirectly connected to the driving unit. For example, the second link connector 12 is movably connected to the driving unit by means of a link. The driving unit provides torque and rotational speed to the second link connector 12 through the link to ensure the effective transmission of the driving force to the first big arm link 14.

[0063] To ensure the effective transmission of the driving force, the driving unit is drivingly connected to the first link connecting member 8 by adopting a double output shaft and a double link structure. In some feasible embodiments of the present invention, refer to Figures 1 to 2 , one implementation of the first transmission assembly is that the first transmission assembly includes a first link 7 and a second link 9; the first link 7 is used to connect the second output ring 41 and the first link connecting member 8, and the second link 9 is used to connect the third output ring 61 and the first link connecting member 8. The second output ring 41 and the third output ring 61 respectively transmit the driving force of the driving unit to the first link connecting member 8 through the first link 7 and the second link 9.

[0064] One feasible way of each link of the first transmission assembly is that the structures of the first link 7 and the second link 9 are the same or similar. Taking the first link 7 as an example, the first link 7 has a certain arc so that the opposite ends of the first link 7 can be rotatably sleeved with the first link connecting member 8 and the second output ring 41 respectively. For example, one end of the first link 7 has a rotating shaft structure, and the other end of the first link 7 has a shaft hole structure; the rotating shaft structure of the first link 7 is rotatably sleeved with the shaft hole structure on the first link connecting member 8, and the shaft hole structure of the first link 7 is rotatably sleeved with the rotating shaft structure of the second output ring 41. By adopting the above links, it can not only ensure the stable transmission of the driving force, but also ensure a certain flexibility of the first link connecting member 8.

[0065] To effectively utilize the space, the second output ring 41 and the third output ring 61 are arranged in a stacked manner. Continue to refer to Figures 1 to 2 , the second output ring 41 is sleeved outside the third output ring 61. Both the second output ring 41 and the third output ring 61 are connected to the motor assembly, and the second output ring 41 and the third output ring 61 can rotate relative to each other. The motor assembly drives the second output ring 41 and the third output ring 61 respectively, and both the second output ring 41 and the third output ring 61 can be independently controlled.

[0066] Furthermore, continue to refer to Figures 1 to 2 , the first link 7 and the second link 9 are symmetrically arranged along the first link connecting member 8. The opposite ends of the first link 7 are respectively movably connected to the first link connecting member 8 and the second output ring 41, and the opposite ends of the second link 9 are respectively movably connected to the first link connecting member 8 and the third output ring 61. During use, the motor assembly respectively transmits the driving force to the second output ring 41 and the third output ring 61. The second output ring 41 transmits the driving force to the first link connecting member 8 through the first link 7, and the third output ring 61 transmits the driving force to the first link connecting member 8 through the second link 9; under the joint action of the first link 7 and the second link 9, the first link connecting member 8 transmits the driving force to the second link of the boom 16, thereby driving the relative movement of the second link of the boom 16 and the link of the forearm 15, such as rotation or swing or movement.

[0067] In some realizable embodiments of the present invention, referring to Figures 1 to 3 , in one implementation of the first link connecting member 8, the first link connecting member 8 includes a first link connecting member body 81, a first connecting portion 82, a second connecting portion 83, a third connecting portion 84, and a fourth connecting portion 85. In some embodiments, the first link connecting member body 81 is approximately L-shaped, and the first connecting portion 82 and the second connecting portion 83 are used to connect the first link connecting member 8 to the drive unit; the fourth connecting portion 85 is used to connect the first link connecting member 8 to the second boom link 16.

[0068] Further, continuing to refer to Figure 3 , the third connecting portion 84 and the fourth connecting portion 85 are respectively arranged at opposite ends of the first link connecting member body 81 in the length direction. The third connecting portion 84 extends symmetrically distributed first connecting portion 82 and second connecting portion 83 in the width direction and away from the fourth connecting portion 85. The fourth connecting portion 85 extends in the thickness direction and away from the third connecting portion 84; the fourth connecting portion 85 is connected to the second boom link 16. If the extending directions of the axes of the first connecting portion 82, the second connecting portion 83, and the third connecting portion 84 are parallel or nearly parallel, the extending directions of the axes of the third connecting portion 84 and the fourth connecting portion 85 intersect with each other.

[0069] In one realizable way of each connecting portion of the first link connecting member 8, the third connecting portion 84 is a shaft hole structure penetrating in the thickness direction; the first connecting portion 82 and the second connecting portion 83 have the same or similar structures. Taking the first connecting portion 82 as an example, the first connecting portion 82 includes a shaft hole structure and a connecting shaft for connecting the shaft hole structure and the first link connecting member body 81; the fourth connecting portion 85 includes a shaft hole structure and a connecting shaft for connecting the shaft hole structure and the first link connecting member body 81. One end of the first link 7 has a rotating shaft structure, and the other end of the first link 7 has a shaft hole structure; the rotating shaft structure of the first link 7 is rotatably sleeved with the shaft hole structure of the first connecting portion 82, and the shaft hole structure of the first link 7 is rotatably sleeved with the rotating shaft structure of the second output ring 41. By using the above-mentioned links, it can not only ensure the stable transmission of the driving force, but also ensure that the first link connecting member 8 has a certain flexibility.

[0070] In order to limit the axial degree of freedom of the first link connecting member 8, in some realizable embodiments of the present invention, the arm structure further includes: a limit frame 3, the limit frame 3 includes a first connection end and a second connection end, the first connection end is movably connected to the first output shaft 2, and the second connection end is movably connected to the third connecting portion 84.

[0071] One possible implementation of the limiting frame 3 is that the limiting frame 3 includes a ring body and a first extension rod extending from the first ring body. An axial structure extends from the end of the first extension rod away from the first ring body. The first ring body serves as the first connection end, and the axial structure serves as the second connection end. The first ring body is sleeved on the first output shaft 2 through a bearing, and the first extension rod extends towards the outside of the first output shaft 2, so that the axial structure can be movably connected to the third connection part 84 of the first link connecting member 8. The first link connecting member 8 is connected to the first output shaft 2 through the limiting frame 3, thereby limiting the axial degree of freedom of the first link connecting member 8.

[0072] To ensure the effective transmission of the driving force, the driving unit is connected to the second link connecting member 12 in a transmission manner by using a double-output shaft and a double-link structure. In some implementable embodiments of the present invention, see Figures 1 to 2 , the second transmission component includes a third link 11 and a fourth link 13. The third link 11 is used to connect the first output ring 21 and the second link connecting member 12, and the fourth link 13 is used to connect the fourth output ring 101 and the second link connecting member 12. The first output ring 21 and the fourth output ring 101 respectively transmit the driving force of the driving unit to the second link connecting member 12 through the third link 11 and the fourth link 13.

[0073] One possible implementation of each link of the second transmission component is that the structures of the third link 11 and the fourth link 13 are the same or similar. Taking the third link 11 as an example, the third link 11 has a certain curvature so that the opposite ends of the third link 11 can be rotatably sleeved on the second link connecting member 12 and the first output ring 21 respectively. For example, one end of the third link 11 has a rotating shaft structure, and the other end of the third link 11 has a shaft hole structure. The rotating shaft structure of the third link 11 is rotatably sleeved on the shaft hole structure of the second link connecting member 12, and the shaft hole structure of the third link 11 is rotatably sleeved on the rotating shaft structure of the first output ring 21. By using the above-mentioned links, the stable transmission of the driving force can be ensured, and a certain flexibility of the second link connecting member 12 can also be ensured.

[0074] To effectively utilize the space, the first output ring 21 and the fourth output ring 101 are arranged in a stacked manner. Continuing to refer to Figures 1 to 2 , the first output ring 21 is sleeved outside the fourth output ring 101. The input ends of both the first output ring 21 and the fourth output ring 101 are connected to the motor assembly, and the first output ring 21 and the fourth output ring 101 can rotate relative to each other. The motor assembly drives the first output ring 21 and the fourth output ring 101 respectively, and both the first output ring 21 and the fourth output ring 101 can be independently controlled.

[0075] Further, continuing to refer to Figures 1 to 2, the third link 11 and the fourth link 13 are symmetrically arranged along the second link connecting member 12. The opposite ends of the third link 11 are respectively movably connected to the second link connecting member 12 and the first output ring 21, and the opposite ends of the fourth link 13 are respectively movably connected to the second link connecting member 12 and the fourth output ring 101. In use, the motor assembly delivers driving forces to the first output ring 21 and the fourth output ring 101 respectively. The first output ring 21 delivers the driving force to the second link connecting member 12 through the third link 11, and the fourth output ring 101 delivers the driving force to the second link connecting member 12 through the fourth link 13; under the combined action of the third link 11 and the fourth link 13, the second link connecting member 12 delivers the driving force to the first boom link 14, thereby driving the relative movement between the first boom link 14 and the forearm link 15, such as rotation or swing or movement.

[0076] In some achievable embodiments of the present invention, referring to Figure 1 , Figure 2 and Figure 4 , one implementation of the second link connecting member 12 is that the second link connecting member 12 includes a second link connecting member main body 121, a fifth connecting portion 122, a sixth connecting portion 123, a seventh connecting portion 124, and an eighth connecting portion 125. Generally, the second link connecting member main body 121 is approximately C-shaped. The fifth connecting portion 122 and the sixth connecting portion 123 are used to realize the connection between the second link connecting member 12 and the driving unit; the seventh connecting portion 124 is used to realize the connection between the first link connecting member 8 and the third output shaft 6 or the fourth output ring 101; the eighth connecting portion 125 is used to realize the connection between the second link connecting member 12 and the first boom link 14.

[0077] Further, continuing to refer to Figure 4 , the seventh connecting portion 124 and the eighth connecting portion 125 are respectively arranged at opposite ends of the second link connecting member main body 121 along the length direction. The seventh connecting portion 124 extends symmetrically distributed fifth connecting portions 122 and sixth connecting portions 123 along the width direction and away from the eighth connecting portion 125; the eighth connecting portion 125 is connected to the first boom link 14. For example, the extending directions of the axes of the fifth connecting portion 122, the sixth connecting portion 123, and the seventh connecting portion 124 are parallel to each other, and the extending directions of the axes of the third eighth connecting portion and the eighth connecting portion 125 intersect each other.

[0078] One possible implementation of each connecting portion of the second link connecting member 12 is that both the seventh connecting portion 124 and the eighth connecting portion 125 are shaft hole structures penetrating in the thickness direction; the fifth connecting portion 122 and the sixth connecting portion 123 have the same or similar structures. Taking the fifth connecting portion 122 as an example, the fifth connecting portion 122 includes a shaft hole structure and a connecting shaft for connecting the shaft hole structure and the second link connecting member body 121. One end of the third link 11 has a rotating shaft structure, and the other end of the third link 11 has a shaft hole structure; the rotating shaft structure of the third link 11 is rotatably sleeved with the shaft hole structure of the fifth connecting portion 122, and the shaft hole structure of the third link 11 is rotatably sleeved with the rotating shaft structure of the first output ring 21. By using the above-mentioned links, it is possible to ensure both stable transmission of the driving force and a certain flexibility of the second link connecting member 12.

[0079] In order to limit the axial degree of freedom of the second link connecting member 12, in some possible embodiments of the present invention, the arm structure further includes: a limiting ring 5, and the limiting ring 5 is rotatably sleeved and connected to the second output shaft 4 or the third output shaft 6 and is hinged to the seventh connecting portion 124.

[0080] One possible implementation of the limiting ring 5 is that the limiting ring 5 includes a ring body and an extension rod extending from the ring body. An axial body structure extends from the end of the extension rod far from the ring body. The ring body serves as the third connection end, and the axial body structure serves as the fourth connection end; the ring body is connected to the second output shaft 4 or the third output shaft 6 through a bearing, and the extension rod extends towards the outside of the second output shaft 4 or the third output shaft 6, so that the axial body structure can be movably connected to the third connecting portion 84 of the first link connecting member 8. The first link connecting member 8 limits the axial degree of freedom of the first link connecting member 8 through a limiting frame 3.

[0081] To achieve independent control of the output shafts, the drive unit includes: a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor. The first drive motor, the second drive motor, the third drive motor, and the fourth drive motor are all located in the housing 1 and are respectively used to drive the first output shaft 2, the second output shaft 4, the third output shaft 6, and the fourth output shaft 10 to rotate around the axis direction of the housing 1. The first drive motor, the second drive motor, the third drive motor, and the fourth drive motor can adopt the same motor mechanism and are neatly arranged in the housing 1.

[0082] To make better use of space rationally, the first output shaft 2, the second output shaft 4, the third output shaft 6, and the fourth output shaft 10 are stacked along the axial direction of the housing 1. The first output shaft 2 is sleeved outside the second output shaft 4, the second output shaft 4 is sleeved outside the third output shaft 6, and the fourth output shaft 10 is sleeved outside the third output shaft 6.

[0083] To increase the degree of freedom of the link actuator, in some possible embodiments of the present invention, seeFigures 1 to 2 One implementation of the link actuator is that, along the axial direction, a first hinge portion and a second hinge portion are sequentially arranged on the small arm link 15 near one end of the housing 1 from near to far. The opposite ends of the first large arm link 14 are respectively movably connected to the second link connecting member 12 and the first hinge portion, and the opposite ends of the second large arm link 16 are respectively movably connected to the first link connecting member 8 and the second hinge portion.

[0084] One implementable way of the link actuator is that the small arm link 15 is in the shape of a stepped shaft. On one end face of the small arm link 15, two opposite and spaced side walls are provided. One end of the first large arm link 14 is located between the two side walls and is hinged to the two side walls; one end of the second large arm link 16 is located between the two side walls and is hinged to the two side walls.

[0085] Furthermore, based on the technical solution provided in the above embodiment, correspondingly, the embodiment of the present invention further provides a robot, and the robot includes the arm structure as described in the above embodiment. It should be noted that, without conflict in the structure, the implementation of the arm structure can refer to and draw on the implementation of the arm structure described in the above embodiment, and will not be elaborated here one by one.

[0086] In summary, compared with the traditional arm solution, for the technical solution provided in the embodiment of the present invention, when the arm execution body composed of the transmission mechanism and the link actuator realizes and completes the same actions and degrees of freedom under the drive of the drive unit, there is no need to set multiple actuators and motors inside the arm, making the overall arm structure lighter and contributing to improving stability. The arm structure provided in the embodiment of the present invention is applicable to special fields such as service robots, medical robots, and industrial robots.

[0087] It should be noted that, in the embodiment of the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0088] In the description of the specification of the embodiments of the present invention, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0089] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An arm structure, characterized in that, Comprising: A chest actuator, including a drive unit for outputting power; An arm execution body, including a transmission mechanism and a link execution mechanism, the transmission mechanism is drivingly connected to the drive unit and the link execution mechanism, and the drive unit drives the transmission mechanism to drive the link execution mechanism to act; The transmission mechanism includes a first transmission unit and a second transmission unit, and both the first transmission unit and the second transmission unit are connected to the drive unit; The link execution mechanism includes a first big arm link, a small arm link and a second big arm link, and opposite ends of the first big arm link are respectively movably connected to the small arm link and the second transmission unit, and opposite ends of the second big arm link are respectively movably connected to the small arm link and the first transmission unit; The drive unit drives the second transmission unit to drive the first big arm link to act, the drive unit drives the first transmission unit to drive the second big arm link to act, and transmits power through the first big arm link and the second big arm link to pull the small arm link to act; The drive unit includes a first output ring, a second output ring, a third output ring and a fourth output ring that rotate around the same axis. Among them, the first output ring and the second output ring are respectively connected to the first transmission unit, and the third output ring and the fourth output ring are respectively connected to the second transmission unit.

2. The arm structure according to claim 1, characterized in that, The chest actuator includes a housing, a motor assembly located in the housing, and a first output shaft, a second output shaft, a third output shaft, and a fourth output shaft that are coaxially arranged and sleeved one inside the other in sequence. One ends of the first output shaft, the second output shaft, the third output shaft, and the fourth output shaft extend into the housing and are respectively drivingly connected to the motor assembly, and the other ends are respectively provided with the first output ring, the second output ring, the third output ring, and the fourth output ring.

3. The arm structure according to claim 2, characterized in that, The first transmission unit includes a first link connector and a first transmission component, the first link connector is drivingly connected to the second big arm link and the first transmission component, the first transmission component is connected to the drive unit, and the drive unit drives the first transmission component to drive the first link connector to act, so that the second big arm link and the small arm link act; The second transmission unit includes a second link connector and a second transmission component, the second link connector is drivingly connected to the first big arm link and the second transmission component, the second transmission component is connected to the drive unit, and the drive unit drives the second transmission component to drive the second link connector to act, so that the first big arm link and the small arm link act.

4. The arm structure according to claim 3, characterized in that, The first transmission component includes a first link and a second link; The first link and the second link are symmetrically arranged along the first link connector, opposite ends of the first link are respectively movably connected to the first link connector and the second output ring, and opposite ends of the second link are respectively movably connected to the first link connector and the third output ring.

5. The arm structure according to claim 4, characterized in that, The first link connecting member includes a first link connecting member body, a first connecting portion, a second connecting portion, a third connecting portion, and a fourth connecting portion; At opposite ends of the first link connecting member body in the length direction, the third connecting portion and the fourth connecting portion are respectively provided. The third connecting portion extends symmetrically distributed first connecting portion and second connecting portion in the width direction and away from the fourth connecting portion side. The fourth connecting portion extends in the thickness direction and away from the third connecting portion side; The first link connecting member is movably connected to the first link through the first connecting portion and movably connected to the second link through the second connecting portion; The fourth connecting portion is connected to the second link of the boom.

6. The arm structure according to claim 5, characterized in that, It further includes: A limit frame, the limit frame includes a first connection end and a second connection end. The first connection end is movably connected to the first output shaft, and the second connection end is movably connected to the third connecting portion.

7. The arm structure according to claim 3, characterized in that, The second transmission assembly includes a third link and a fourth link; The third link and the fourth link are symmetrically arranged along the second link connecting member. Opposite ends of the third link are respectively movably connected to the second link connecting member and the first output ring, and opposite ends of the fourth link are respectively movably connected to the second link connecting member and the fourth output ring.

8. The arm structure according to claim 7, characterized in that, The second link connecting member includes a second link connecting member body, a fifth connecting portion, a sixth connecting portion, a seventh connecting portion, and an eighth connecting portion; At opposite ends of the second link connecting member body in the length direction, the seventh connecting portion and the eighth connecting portion are respectively provided. The seventh connecting portion extends symmetrically distributed fifth connecting portion and sixth connecting portion in the width direction and away from the eighth connecting portion side; The second link connecting member is movably connected to the third link through the fifth connecting portion and movably connected to the fourth link through the sixth connecting portion; The eighth connecting portion is connected to the first link of the boom.

9. The arm structure according to claim 8, characterized in that, It further includes: A limit ring, the limit ring is rotatably sleeved on the second output shaft or connected to the third output shaft and is hinged to the seventh connecting portion.

10. The arm structure according to claim 2, characterized in that, The drive unit includes: a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor. The first drive motor, the second drive motor, the third drive motor, and the fourth drive motor are all located inside the housing and are respectively used to drive the first output shaft, the second output shaft, the third output shaft, and the fourth output shaft to rotate around the axis direction of the housing.

11. The arm structure according to claim 10, characterized in that, Near one end of the forearm link close to the housing, a first hinge portion and a second hinge portion are sequentially arranged along the axial direction. Opposite ends of the first link of the boom are respectively movably connected to the second link connecting member and the first hinge portion, and opposite ends of the second link of the boom are respectively movably connected to the first link connecting member and the second hinge portion.

12. A robot, characterized in that: The robot includes the arm structure according to any one of claims 1 to 11.

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