A lightweight structure mechanical arm and a mechanical dog equipped with the same

Abstract

The present invention discloses a lightweight structure robot arm and a robot dog equipped with the robot arm, the robot arm includes a bottom joint tube, a connecting tube is provided on one side of the bottom joint tube, an inverted base motor is provided in the bottom joint tube, the body of the base motor is connected to the inside of the bottom joint tube, the output shaft of the base motor is connected downwardly to the connecting piece, the bottom joint tube is connected by rotation between the base motor and the connecting piece; the connecting tube is connected to the gripper assembly through the upper arm joint, the upper arm assembly, the lower arm joint, the lower arm assembly, and the end multi-degree-of-freedom wrist joint assembly in sequence. The present invention lowers the center of gravity of the robot arm and adjusts it to the center of gravity of the connecting piece at the bottom of the robot arm by inverting the base motor and adjusting the eccentricity of the bottom joint tube, avoiding the problem of raising the overall center of gravity height of the robot arm and the center of gravity offset that the traditional design will inevitably cause. At the same time, the end multi-degree-of-freedom wrist joint adopts a three-degree-of-freedom design, which can enable the gripper assembly to achieve flexible movement in a smaller space.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent machine equipment, and in particular to a lightweight structure robotic arm and a robotic dog equipped with the robotic arm. Background Art

[0002] Robotic dogs, also known as quadruped robots, are robots that mimic the walking style of biological dogs. They are typically equipped with joints with multiple degrees of freedom, enabling complex movements such as walking, running, and jumping in various terrestrial environments. The design and manufacture of robotic dogs involves multiple fields, including mechanical engineering, electronics, computer vision, and motion control.

[0003] A robotic dog can carry various modules, with the robotic arm being a common one. Currently, the robotic dog's payload is limited, necessitating a lightweight robotic arm design to accommodate the dog's payload. Furthermore, tasks like bomb disposal, explosives disposal, lock picking, observation, and dragging require the arm to be as long as possible. Therefore, the robotic dog requires a high center of gravity for the robotic arm, which should be positioned as centrally as possible.

[0004] Since current robotic arms usually have no requirements for the center of gravity, most people will use traditional installation methods when installing robotic arms. For example, the robotic arm is arranged to one side and arranged longitudinally along the symmetry center of the robotic dog. However, the traditional longitudinal arrangement method itself occupies a relatively large space. The robotic arm can only be used as the only module on the robotic dog, resulting in the robotic dog itself being unable to continue to carry other modules. As a result, the robotic dog after the robotic arm is installed using the traditional method will have a low space utilization rate, resulting in space waste. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a lightweight structural robotic arm and a robotic dog equipped with the robotic arm. Through the lightweight design of the robotic arm and the installation optimization of the bottom of the robotic arm, the robotic arm can be stably arranged at the rear end of the robotic dog, which has the technical effect of not affecting the normal operation of the robotic dog while leaving a large amount of space on the back of the robotic dog to arrange other modules.

[0006] In order to solve the above technical problems and achieve the above technical effects, the present invention is implemented through the following technical solutions:

[0007] The technical solution of the present invention is: a lightweight structure mechanical arm, including a bottom joint assembly, a big arm assembly and a small arm assembly, the bottom joint assembly includes a bottom joint tube and a connecting piece, one side of the bottom joint tube is fixedly connected to the connecting tube, an inverted base motor is arranged in the bottom joint tube, the body of the base motor is fixedly connected to the interior of the bottom joint tube, and the output shaft of the base motor is fixedly connected to the connecting piece after extending downward from the bottom joint tube, and the bottom joint tube is rotatably connected between the base motor and the connecting piece; the tail end of the big arm assembly is provided with a big arm joint, and the big arm assembly is rotatably connected to the connecting tube through the big arm joint, the front end of the big arm assembly is fixedly connected to the small arm joint, the tail end of the small arm assembly is rotatably connected to the front end of the small arm joint, the front end of the small arm assembly is provided with an end multi-degree-of-freedom wrist joint assembly, and one end of the end multi-degree-of-freedom wrist joint assembly is provided with a gripper assembly; the length of the connecting tube can ensure that when the mechanical arm is in a retracted state, the overall center of gravity of the mechanical arm coincides with the center of gravity of the connecting piece.

[0008] Furthermore, the boom joint includes a first motor mounting cylinder fixedly connected to the tail end of the boom assembly, a first transmission cylinder is fixedly mounted on one side of the first motor mounting cylinder, and a first worm pair is arranged inside the first transmission cylinder, one end of the first worm pair is fixedly connected to the connecting cylinder, the other end of the first worm pair is rotationally connected to the first transmission cylinder, and the first transmission cylinder and the connecting cylinder are rotationally connected, a first hollow cup servo motor adapted to the first worm pair is fixedly mounted inside the first motor mounting cylinder, and the first hollow cup servo motor drives the boom assembly to rotate along the axis of the first transmission cylinder through the first worm pair.

[0009] Furthermore, the forearm joint includes a second motor mounting cylinder fixedly connected to the front end of the upper arm assembly, a second transmission cylinder is fixedly mounted on one side of the second motor mounting cylinder, and a second worm pair fixedly connected to one end of the forearm assembly is provided inside the second transmission cylinder, the other end of the second worm pair is rotatably connected to the second transmission cylinder, and the second transmission cylinder is rotatably connected to the forearm assembly, a second hollow cup servo motor adapted to the second worm pair is provided inside the second motor mounting cylinder, and the second hollow cup servo motor drives the forearm assembly to rotate about the axis of the second transmission cylinder through the second worm pair.

[0010] Furthermore, the terminal multi-degree-of-freedom wrist joint assembly includes a first rotating cylinder, a second rotating cylinder and a third rotating cylinder. The first rotating cylinder is fixedly connected to the front end of the forearm assembly, the front end of the first rotating cylinder is rotatably connected to the second rotating cylinder, one end of the second rotating cylinder is rotatably connected to the third rotating cylinder, and one end of the third rotating cylinder is rotatably connected to the gripper assembly.

[0011] Furthermore, the first rotating arm includes a first rotating cylinder and a first hollow joint motor, and a first connecting port is opened on the side wall of the first rotating cylinder; the second rotating arm includes a second rotating cylinder and a second hollow joint motor, and a second connecting port is opened on the side wall of the second rotating cylinder; the third rotating arm includes a third rotating cylinder and a third hollow joint motor, and a third connecting port is opened on the side wall of the third rotating cylinder;

[0012] The first rotating cylinder is fixedly connected to the front end of the forearm assembly through the first connecting port, the first hollow joint motor is fixedly installed in the first rotating cylinder, the second rotating cylinder is fixedly connected to the output shaft of the first hollow joint motor through the second connecting port, the first hollow joint motor can drive the second rotating cylinder to rotate around the axis of the first rotating cylinder itself, the second hollow joint motor is fixed in the second rotating cylinder, the third rotating cylinder is fixedly connected to the output shaft of the second hollow joint motor through the third connecting port, the second hollow joint motor can drive the third rotating cylinder to rotate around the axis of the second rotating cylinder itself as the center, the third hollow joint motor is fixedly installed in the third rotating cylinder, the gripper assembly is fixedly connected to the output shaft of the third hollow joint motor, and the third hollow joint motor can drive the gripper assembly to rotate around the axis of the third rotating cylinder as the center.

[0013] Furthermore, the gripper assembly includes a rotating cylinder fixedly connected to the output end of the third hollow joint motor, and a clamping claw fixing seat is fixedly installed on the other end of the rotating cylinder. A clamping claw member capable of clamping an object is fixedly installed on the front end of the clamping claw fixing seat, and a photographic assembly capable of observing the surrounding environment is detachably provided on the upper surface of the clamping claw fixing seat, and a concave mounting seat is provided on the clamping claw fixing seat, and the photographic assembly is fixed to the clamping claw fixing seat through the concave mounting seat, and a fixing screw capable of fixing the photographic assembly is provided on the clamping claw fixing seat.

[0014] Furthermore, the connecting member is a fixed flange, and the connecting member is rotatably connected to the bottom joint tube through a bearing.

[0015] Furthermore, a support seat is provided at the top end of the bottom joint tube, and a U-shaped groove is provided on the upper surface of the support seat.

[0016] A robotic dog equipped with a lightweight structural robotic arm includes a robotic dog, a control box is provided on the upper surface of the robotic dog, and a robotic arm mounting plate is fixedly installed on the upper surface of the robotic dog and on one side of the control box; the output end of the base motor is fixedly connected to the connecting piece, and a mounting seat fixedly connected to the connecting piece is fixedly installed on the robotic arm mounting plate.

[0017] Furthermore, a partition rod is fixedly mounted on the upper surface of the robot arm mounting plate and on a side away from the robot arm, and the partition rod is arranged at an angle.

[0018] The beneficial technical effects of the present invention are:

[0019] (1) The lightweight structure of the robot arm in the present invention is designed with the output end of the base motor facing downward. The output end of the base motor is first connected to the upper surface of the connecting piece by rotation, and then the lower surface of the connecting piece is fixed to the robot arm mounting plate. The installation method designed in the present invention replaces the traditional design of fixing the bottom joint tube to the flange of the base motor and then fixing the base motor to the robot dog, solving the problem that the installation method of the traditional design will increase the overall height and center of gravity height of the robot arm. The design of the inverted base motor in the present invention can lower the center of gravity of the robot arm while reducing the overall height of the robot arm. The connecting tube and the bottom joint tube are designed in a T shape. The eccentric distance between one end of the connecting tube and the bottom joint tube can adjust the center of gravity of the robot arm to the center of gravity of the bottom connecting piece of the robot arm, so that when the robot dog moves, the center of gravity of the robot arm coincides with the bottom joint connecting piece on the left and right, realizing the design of the robot arm being installed on the rear side of the robot dog. When the robot dog moves, the robot arm can still remain stable on the robot dog, thereby increasing the stability of the robot arm in actual application.

[0020] (2) The lightweight structure robot arm of the present invention realizes three degrees of freedom movement of the gripper assembly at the end of the robot arm, namely three-coordinate movement, through the hollow joint motor design inside the first rotating cylinder, the second rotating cylinder and the third rotating cylinder. Compared with the traditional lightweight robot arm with only two degrees of freedom at the end, the advantage of this solution is that the end multi-degree-of-freedom wrist joint assembly has three degrees of freedom movement, which can meet the flexible movement of the gripper assembly in a certain smaller space, so that the gripper assembly can achieve the control effect without the help of the bottom joint rotation. The installation of the photographic assembly coordinates the gripper assembly with the three-coordinate movement, and realizes that the camera in the photographic assembly has the function of horizontal rotation and up and down pitch, which is convenient for the staff to observe the vicinity of the robot dog through the photographic assembly. In addition, the end multi-degree-of-freedom wrist joint assembly in the robot arm is combined with the design of the base motor, the forearm joint and the upper arm joint, so that the robot arm has six degrees of freedom of rotation, which greatly increases the flexibility of the robot arm. In actual use, the robot arm in this solution can cope with more complex usage scenarios.

[0021] (3) The lightweight structure robot arm and the robot dog equipped with the robot arm in the present invention are installed on the rear end of the robot arm mounting plate through a connecting piece, and the output end of the base motor is fixedly connected to the connecting piece. When the base motor rotates, the base motor drives the robot arm to rotate as a whole, so that the main working space of the robot arm is on the left and right sides and the rear, so that a large amount of space can be left on the back of the robot dog to arrange other modules, so that the robot dog can use multiple modules, which increases the functionality of the robot dog and avoids the problem that the traditional robot arm can only be used as the only module on the robot dog, resulting in space waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural perspective view of a lightweight structure robotic arm in the present invention;

[0023] Figure 2 This is a schematic structural perspective view of a lightweight structure robotic arm in the present invention;

[0024] Figure 3 This is a schematic diagram of the structure expansion of a lightweight structure robot arm in the present invention;

[0025] Figure 4 It is a schematic structural perspective view of the first motor mounting drum and the third rotating drum in the present invention;

[0026] Figure 5 This invention Figure 3 Schematic diagram of the structure of the middle and large arm assembly and the small arm assembly;

[0027] Figure 6 It is a schematic structural perspective view of the rotating cylinder and the clamping jaw member in the present invention;

[0028] Figure 7 This invention Figure 3 Exploded diagram of the structure of the middle bottom joint cylinder and the connecting cylinder;

[0029] Figure 8 This invention Figure 4 Schematic diagram of the structure of the middle base motor and support base;

[0030] Figure 9 It is a schematic side view of the structure of a lightweight structure robot arm and a robot dog equipped with the robot arm in the present invention;

[0031] Figure 10 It is a schematic rear view of the structure of a lightweight structure robot arm and a robot dog equipped with the robot arm in the present invention.

[0032] The numbers and letters in the figure represent the corresponding component names:

[0033] 1. Bottom joint tube; 101. Connecting part; 102. Base motor; 103. Support seat; 104. Connecting tube; 2. Upper arm joint; 201. First motor mounting tube; 202. First transmission tube; 3. First rotating arm; 4. Lower arm joint; 401. Second transmission tube; 402. Second motor mounting tube; 5. Upper arm assembly; 6. Lower arm assembly; 7. Gripper assembly; 701. Rotating tube; 702. Photographic assembly; 703. Gripper fixing seat; 704. Gripper member; 8. Second rotating arm; 9. Control box; 10. Robot dog; 11. Robot arm mounting plate; 12. Third rotating arm. DETAILED DESCRIPTION

[0034] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0035] See attached Figure 1-3 As shown, a lightweight structure robotic arm includes a bottom joint assembly, an upper arm assembly 5 and a lower arm assembly 6. The bottom joint assembly includes a bottom joint tube 1 and a connecting piece 101. A connecting tube 104 is fixedly connected to one side of the bottom joint tube 1. An inverted base motor 102 is arranged in the bottom joint tube 1. The body of the base motor 102 is fixedly connected to the interior of the bottom joint tube 1, and the output shaft of the base motor 102 is fixedly connected to the connecting piece 101 after extending downward from the bottom joint tube 1. The bottom joint tube 1 is rotatably connected to the connecting piece 101 through the base motor 102.

[0036] When the output shaft of the base motor 102 is fixedly connected to the connecting part 101, the base motor 102 is in an inverted design, and the inverted design of the base motor 102 can lower the overall height of the robot arm while lowering the overall center of gravity of the robot arm. Because the length of the connecting tube 104 and the eccentricity between the adjusting bottom joint tube 1 can be used to determine the center of gravity position of the robot arm, the length of the connecting tube 104 is continuously adjusted before assembly so that the center of gravity of the robot arm is adjusted to the center of gravity of the connecting part 101 at the bottom of the robot arm. Therefore, after installation, the center of gravity of the robot arm will coincide with the center of gravity of the connecting part 101.

[0037] The bottom joint tube 1 is rotationally connected to the connecting part 101; the tail end of the upper arm assembly 5 is provided with an upper arm joint 2, and the upper arm assembly 5 is rotationally connected to the connecting tube 104 through the upper arm joint 2, the front end of the upper arm assembly 5 is fixedly connected to the forearm joint 4, the tail end of the forearm assembly 6 is rotationally connected to the front end of the forearm joint 4, the front end of the forearm assembly 6 is provided with an end multi-degree-of-freedom wrist joint assembly, and a gripper assembly 7 is provided at one end of the end multi-degree-of-freedom wrist joint assembly.

[0038] The terminal multi-degree-of-freedom wrist joint assembly is preferably a three-degree-of-freedom rotation, which can enable the gripper assembly 7 to achieve flexible movement in a relatively small space.

[0039] The end multi-degree-of-freedom wrist joint assembly includes a first rotating arm 3, a second rotating arm 8 and a third rotating arm 12. The first rotating arm 3 is fixedly connected to the front end of the small arm assembly 6. The front end of the first rotating arm 3 is rotatably connected to the second rotating arm 8. One end of the second rotating arm 8 is rotatably connected to the third rotating arm 12. One end of the third rotating arm 12 is rotatably connected to the gripper assembly 7.

[0040] The length of the connecting tube 104 can ensure that when the robotic arm is in the retracted state, the overall center of gravity of the robotic arm coincides with the center of gravity of the connecting piece 101, thereby ensuring that the center of gravity of the robotic arm will not shift when the robotic dog moves.

[0041] The first rotating arm 3 includes a first rotating cylinder and a first hollow joint motor, and a first connecting port is opened on the side wall of the first rotating cylinder; the second rotating arm 8 includes a second rotating cylinder and a second hollow joint motor, and a second connecting port is opened on the side wall of the second rotating cylinder; the third rotating arm 12 includes a third rotating cylinder and a third hollow joint motor, and a third connecting port is opened on the side wall of the third rotating cylinder.

[0042] The first rotating cylinder is fixedly connected to the front end of the forearm assembly 6 through the first connecting port, the first hollow joint motor is fixedly installed in the first rotating cylinder, the second rotating cylinder is fixedly connected to the output shaft of the first hollow joint motor through the second connecting port, the first hollow joint motor can drive the second rotating arm 8 to rotate around the axis of the first rotating arm 3 itself, the second hollow joint motor is fixed in the second rotating cylinder, the third rotating cylinder is fixedly connected to the output shaft of the second hollow joint motor through the third connecting port, the second hollow joint motor can drive the third rotating arm 12 to rotate around the axis of the second rotating arm 8 itself, the third hollow joint motor is fixedly installed in the third rotating cylinder, the gripper assembly 7 is fixedly connected to the output shaft of the third hollow joint motor, and the third hollow joint motor can drive the gripper assembly 7 to rotate around the axis of the third rotating arm 12.

[0043] The second rotating arm 8 is provided with a bearing rotatably connected to the third rotating arm 12 .

[0044] In order to facilitate internal wiring, the upper arm assembly 5, the lower arm assembly 6, the first rotating arm 3, the second rotating arm 8 and the third rotating arm 12 are all hollow in design.

[0045] Through the design of the first hollow joint motor, the second hollow joint motor and the third hollow joint motor inside the first rotating arm 3, the second rotating arm 8 and the third rotating arm 12, the three-degree-of-freedom movement of the gripper assembly 7 at the end of the robot arm, that is, three-coordinate movement, is realized. Compared with the traditional lightweight robot arm with only two degrees of freedom at the end, the advantage of this solution is that the three-degree-of-freedom movement can enable the gripper assembly 7 to move flexibly in a smaller space, and the gripper assembly 7 can be controlled without the help of the rotation of the bottom joint tube 1. The multi-degree-of-freedom wrist joint assembly at the end is combined with the design of the base motor 102, the forearm joint 4 and the upper arm joint 2, so that the robot arm has a six-degree-of-freedom rotation function, which greatly increases the flexibility of the robot arm. In actual use, the robot arm can cope with more complex usage scenarios.

[0046] See also Figure 4 As shown, the boom joint 2 includes a first motor mounting cylinder 201 fixedly connected to the tail end of the boom assembly 5, a first transmission cylinder 202 is fixedly mounted on one side of the first motor mounting cylinder 201, and a first worm pair is arranged inside the first transmission cylinder 202, one end of the first worm pair is fixedly connected to the connecting cylinder 104, the other end of the first worm pair is rotationally connected to the first transmission cylinder 202, and the first transmission cylinder 202 is rotationally connected to the connecting cylinder 104, a first hollow cup servo motor adapted to the first worm pair is fixedly mounted inside the first motor mounting cylinder 201, and the first hollow cup servo motor drives the boom assembly 5 to rotate along the axis of the first transmission cylinder 202 through the first worm pair, and the first worm pair adopts a secondary enveloping worm pair that is highly meshed with the first hollow cup servo motor. Under the same volume, the bearing capacity is two to four times that of a conventional worm pair.

[0047] The first worm pair includes a gear fixedly connected to the output end of the first hollow cup servo motor, and a secondary enveloping worm meshing with the gear. The first hollow cup servo motor meshes with the secondary enveloping worm through the gear, and then one end of the secondary enveloping worm is fixedly connected to the connecting tube 104, so that the first hollow cup servo motor drives the upper arm assembly 5 to rotate with the secondary enveloping worm in the first worm pair as the center.

[0048] See also Figure 5As shown, the forearm joint 4 includes a second motor mounting cylinder 402 fixedly connected to the front end of the upper arm assembly 5, a second transmission cylinder 401 is fixedly mounted on one side of the second motor mounting cylinder 402, and a second worm pair fixedly connected to one end of the forearm assembly 6 is arranged inside the second transmission cylinder 401, the other end of the second worm pair is rotatably connected to the second transmission cylinder 401, and the second transmission cylinder 401 is rotatably connected to the forearm assembly 6, a second hollow cup servo motor adapted to the second worm pair is arranged inside the second motor mounting cylinder 402, and the second hollow cup servo motor drives the forearm assembly 6 to rotate about the axis of the second transmission cylinder 401 through the second worm pair, and the second worm pair adopts a secondary enveloping worm pair that is highly meshed with the second hollow cup servo motor. Under the condition of the same volume, the bearing capacity is two to four times that of a conventional worm pair, thereby further ensuring the lightweight of the robotic arm.

[0049] The second worm pair includes a gear fixedly connected to the output end of the second hollow cup servo motor, and a secondary enveloping worm meshing with the gear. The second hollow cup servo motor meshes with the secondary enveloping worm through the gear. When the second hollow cup servo motor is started, since the secondary enveloping worm in the second worm pair is fixedly connected to one end of the small arm assembly 6, the second hollow cup servo motor drives the small arm assembly 6 to rotate around the secondary enveloping worm in the second worm pair.

[0050] See also Figure 6 As shown, the gripper assembly 7 includes a rotating cylinder 701 fixedly connected to the output end of the third hollow joint motor, and the other end of the rotating cylinder 701 is fixedly installed with a clamping claw fixing seat 703, and the front end of the clamping claw fixing seat 703 is fixedly installed with a clamping claw member 704 that can clamp an object, and the upper surface of the clamping claw fixing seat 703 is detachably provided with a photographic assembly 702 that can observe the surrounding environment, and the clamping claw fixing seat 703 is provided with a concave mounting seat, and the photographic assembly 702 is fixed to the clamping claw fixing seat 703 through the concave mounting seat, and the clamping claw fixing seat 703 is provided with a fixing screw that can fix the photographic assembly 702. The addition of the photographic assembly 702 ensures that the gripper assembly 7 has a clamping effect while also adding a photographic function, and the gripper assembly 7 cooperates with the three-coordinate motion to achieve the effect that the camera in the photographic assembly 702 can rotate horizontally and pitch up and down, which has the function of facilitating the staff to observe the overall environment around the mechanical dog.

[0051] See also Figure 7-10 As shown, a lightweight structure robot arm and a robot dog equipped with the robot arm include a robot dog 10, a control box 9 is provided on the upper surface of the robot dog 10, and a robot arm mounting plate 11 is fixedly installed on the upper surface of the robot dog 10 and on one side of the control box 9.

[0052] When the robotic arm is fixedly installed at the specified position on the robotic arm mounting plate 11 through the connector 101, the center of gravity of the robotic arm always coincides with the center of gravity of the connector 101 in the bottom joint assembly during the movement of the robotic dog 10, ensuring that the robotic arm can still maintain balance when installed on the rear side of the robotic dog 10, increasing the stability in actual use, and solving the problem that the center of gravity of the robotic arm will be biased to one side after being installed on the robotic dog 10, as the bottom joint of the traditional robotic arm is on one side of the robotic arm and the center of gravity does not fall on the center of gravity of the mounting flange.

[0053] The connecting part 101 is a fixed flange, and the connecting part 101 is rotatably connected to the bottom joint tube 1 through a bearing. The control box 9 is connected to the circuit between the first hollow joint motor, the second hollow joint motor, the third hollow joint motor, the first hollow cup servo motor, the second hollow cup servo motor and the base motor 102 through a wire.

[0054] One end of the connecting tube 104 is rotatably connected to the surface of the bottom joint tube 1 through a bearing. A support seat 103 is provided at the top of the bottom joint tube 1, and a U-shaped groove is provided on the upper surface of the support seat 103. The U-shaped groove can support the first rotating arm 3 of the support seat 103 when the robotic arm is stored.

[0055] A partition rod is fixedly installed on the upper surface of the robot arm mounting plate 11 and on the side away from the robot arm, and the partition rod is set at an angle. A connecting piece 101 is fixedly installed on the output end of the base motor 102, and a mounting base fixedly connected to the connecting piece 101 is fixedly installed on the robot arm mounting plate 11.

[0056] After the connector 101 in the robotic arm is fixedly connected to the mounting base, the design of installing the robotic arm on the rear end of the robotic dog 10 is completed. At this time, the output end of the base motor 102 is fixedly connected to the connector 101, so that when the base motor 102 rotates, the base motor 102 drives the robotic arm to rotate as a whole, and the design of the center of gravity of the robotic arm coinciding with the center of gravity of the connector 101 makes the main working space of the robotic arm on the left and right sides and the rear, leaving a lot of space on the back of the robotic dog 10 to arrange other modules, so that the robotic dog 10 can use multiple modules, solving the problem that the traditional robotic arm can only be used as the only module on the robotic dog, resulting in space waste.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A lightweight structure robotic arm, characterized in that: include: A bottom joint assembly, a large arm assembly (5) and a small arm assembly (6), wherein the bottom joint assembly comprises a bottom joint cylinder (1) and a connecting piece (101), one side of the bottom joint cylinder (1) is fixedly connected to a connecting cylinder (104), an inverted base motor (102) is provided in the bottom joint cylinder (1), the body of the base motor (102) is fixedly connected to the interior of the bottom joint cylinder (1), and the output shaft of the base motor (102) is fixedly connected to the connecting piece (101) after extending downward from the bottom joint cylinder (1), the bottom joint cylinder (1) is rotatably connected to the connecting piece (101) through the base motor (102), and the top end of the bottom joint cylinder (1) is provided with a support The support seat (103) is provided with a U-shaped groove on the upper surface of the support seat (103); the tail end of the upper arm assembly (5) is provided with an upper arm joint (2), and the upper arm assembly (5) is rotatably connected to the connecting tube (104) through the upper arm joint (2); the front end of the upper arm assembly (5) is fixedly connected to the lower arm joint (4), the tail end of the lower arm assembly (6) is rotatably connected to the front end of the lower arm joint (4), the front end of the lower arm assembly (6) is provided with a terminal multi-degree-of-freedom wrist joint assembly, and one end of the terminal multi-degree-of-freedom wrist joint assembly is provided with a gripper assembly (7); the length of the connecting tube (104) can ensure that when the robot arm is in a retracted state, the overall center of gravity of the robot arm coincides with the center of gravity of the connecting member (101).

2. A lightweight structure robotic arm according to claim 1, characterized in that: The upper arm joint (2) includes a first motor mounting cylinder (201) fixedly connected to the tail end of the upper arm assembly (5), a first transmission cylinder (202) fixedly mounted on one side of the first motor mounting cylinder (201), and a first worm pair is arranged inside the first transmission cylinder (202), one end of the first worm pair is fixedly connected to the connecting cylinder (104), the other end of the first worm pair is rotationally connected to the first transmission cylinder (202), and the first transmission cylinder (202) is rotationally connected to the connecting cylinder (104), a first hollow cup servo motor adapted to the first worm pair is fixedly mounted inside the first motor mounting cylinder (201), and the first hollow cup servo motor drives the upper arm assembly (5) to rotate along the axis of the first transmission cylinder (202) through the first worm pair.

3. The lightweight structure robot arm according to claim 1, characterized in that: The forearm joint (4) includes a second motor mounting cylinder (402) fixedly connected to the front end of the large arm assembly (5), a second transmission cylinder (401) fixedly mounted on one side of the second motor mounting cylinder (402), and a second worm pair fixedly connected to one end of the forearm assembly (6) is provided inside the second transmission cylinder (401), the other end of the second worm pair is rotationally connected to the second transmission cylinder (401), and the second transmission cylinder (401) is rotationally connected to the forearm assembly (6), a second hollow cup servo motor adapted to the second worm pair is provided inside the second motor mounting cylinder (402), and the second hollow cup servo motor drives the forearm assembly (6) to rotate around the axis of the second transmission cylinder (401) through the second worm pair.

4. The lightweight structure robot arm according to claim 1, characterized in that: The terminal multi-degree-of-freedom wrist joint assembly comprises a first rotating arm (3), a second rotating arm (8) and a third rotating arm (12), wherein the first rotating arm (3) is fixedly connected to the front end of the small arm assembly (6), the front end of the first rotating arm (3) is rotatably connected to the second rotating arm (8), one end of the second rotating arm (8) is rotatably connected to the third rotating arm (12), and one end of the third rotating arm (12) is rotatably connected to the gripper assembly (7).

5. A lightweight structure robotic arm according to claim 4, characterized in that: The first rotating arm (3) includes a first rotating cylinder and a first hollow joint motor, and a first connecting port is provided on the side wall of the first rotating cylinder; the second rotating arm (8) includes a second rotating cylinder and a second hollow joint motor, and a second connecting port is provided on the side wall of the second rotating cylinder; the third rotating arm (12) includes a third rotating cylinder and a third hollow joint motor, and a third connecting port is provided on the side wall of the third rotating cylinder; The first rotating cylinder is fixedly connected to the front end of the small arm assembly (6) through the first connecting port, the first hollow joint motor is fixedly installed in the first rotating cylinder, the second rotating cylinder is fixedly connected to the output shaft of the first hollow joint motor through the second connecting port, the first hollow joint motor can drive the second rotating arm (8) to rotate around the axis of the first rotating arm (3), the second hollow joint motor is fixed in the second rotating cylinder, the third rotating cylinder is fixedly connected to the output shaft of the second hollow joint motor through the third connecting port, the second hollow joint motor can drive the third rotating arm (12) to rotate around the axis of the second rotating arm (8), the third hollow joint motor is fixedly installed in the third rotating cylinder, the gripper assembly (7) is fixedly connected to the output shaft of the third hollow joint motor, and the third hollow joint motor can drive the gripper assembly (7) to rotate around the axis of the third rotating arm (12).

6. A lightweight structure robotic arm according to claim 5, characterized in that: The gripper assembly (7) comprises a rotating cylinder (701) fixedly connected to the output end of the third hollow joint motor, a clamping jaw fixing seat (703) is fixedly mounted on the other end of the rotating cylinder (701), a clamping jaw member (704) capable of clamping an object is fixedly mounted on the front end of the clamping jaw fixing seat (703), and a photographic assembly (702) capable of observing the surrounding environment is detachably provided on the upper surface of the clamping jaw fixing seat (703), and a concave mounting seat is provided on the clamping jaw fixing seat (703), and the photographic assembly (702) is fixed to the clamping jaw fixing seat (703) through the concave mounting seat, and a fixing screw capable of fixing the photographic assembly (702) is provided on the clamping jaw fixing seat (703).

7. The lightweight structure robot arm according to claim 1, characterized in that: The connecting piece (101) is a fixed flange, and the connecting piece (101) is rotatably connected to the bottom joint cylinder (1) via a bearing.

8. A robot dog equipped with a lightweight structure robot arm as claimed in any one of claims 1 to 7, characterized in that: It comprises a mechanical dog (10), a control box (9) is provided on the upper surface of the mechanical dog (10), and a mechanical arm mounting plate (11) is fixedly mounted on the upper surface of the mechanical dog (10) and located on one side of the control box (9); The output end of the base motor (102) is fixedly connected to the connecting member (101), and a mounting base fixedly connected to the connecting member (101) is fixedly mounted on the robotic arm mounting plate (11).

9. The mechanical dog according to claim 8, characterized in that: A partition rod is fixedly mounted on the upper surface of the mechanical arm mounting plate (11) and on a side away from the mechanical arm, and the partition rod is arranged in an inclined manner.

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