Multi-degree-of-freedom flexible joint robot arm structure

Abstract

The invention relates to the technical field of flexible joint robot arms, in particular to a multi-degree-of-freedom flexible joint robot arm structure which comprises a supporting seat, a first connecting rod is fixedly connected to the top of the supporting seat, a ball socket is fixedly connected to the end of the first connecting rod, and a rotating shaft is fixedly connected to the side of the ball socket. A ball socket is arranged at one end of the supporting seat, a ball head is rotationally connected into the ball socket, a second connecting rod is fixedly connected to the outer wall of the ball head, the supporting seat and the first connecting rod are integrally arranged, a mounting hole used for being connected with an external fixing device is formed in the bottom of the supporting seat, and a connecting flange is arranged at the other end of the second connecting rod. A plurality of threaded holes are formed in the connecting flange, and the connecting flange is connected with the first connecting rod or the end effector; and a rotation limiting device on the rotating shaft can precisely limit the rotating angle of the second connecting rod, structural damage caused by excessive rotation is prevented, and the stability of the robot arm in the moving process is further guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible joint robot arms, specifically to the structure of a multi-degree-of-freedom flexible joint robot arm. Background Art

[0002] With the development of industrial automation, robots have been widely used in industrial production, medical treatment, rescue, service and other fields. Traditional robots mostly have a rigid structure. Although they have high precision and stability, they have limitations in terms of flexibility, adaptability and safety. Flexible joint robot arms have the characteristics of light weight, small volume, low energy consumption, high safety, etc., and can better adapt to complex environments and tasks of collaborating with humans. For example, in the medical field, flexible joint robots can be used for minimally invasive surgery to reduce trauma to patients; in rescue scenarios, flexible joint robots can operate flexibly in narrow spaces.

[0003] In Chinese Patent CN201510487745.X, the present invention is a multi-degree-of-freedom joint robot arm. It includes a rotating motor and a robot base. The rotating motor includes a motor base, a rotating body, a coil group, a motor output shaft, a permanent magnet, a permanent magnet support sleeve, and a motor cover. Both the motor base and the motor cover are provided with hollow cavities. The motor output shaft is fixed on the rotating body. Several coil groups are installed on the rotating body. The permanent magnet is installed on the permanent magnet support sleeve. The rotating body can rotate in the hollow cavity provided in the permanent magnet support sleeve. The permanent magnet support sleeve is placed in the hollow cavity provided in the motor base. The outer surface of the permanent magnet support sleeve contacts the inner surface of the motor base. The motor base is connected to the motor cover. One end of the wire is externally connected to the positive and negative electrodes of the power supply, and the other end is connected to the coil group provided on the rotating body. The motor output shaft extends out of the motor cover and is connected to the robot base. The structure of the present invention is compact, has a small inertia, a large flexibility, and the manufacturing cost of the robot arm is low. The robot arm has a fast response and reliable control.

[0004] The degrees of freedom of traditional rigid robot arms are usually limited, generally only six or seven degrees of freedom. When operating in a complex environment, their flexibility is insufficient. In narrow spaces or tasks that require multi-directional movement, traditional robot arms may not be able to complete fine operations. When a rigid robot arm comes into contact with a human or other objects, it may cause injury or damage. However, due to its inherent flexibility, a flexible joint robot arm can buffer the impact force during contact and improve safety.

[0005] Therefore, in view of the above problems, a structure of a multi-degree-of-freedom flexible joint robot arm is proposed. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art, the present invention provides a multi-degree-of-freedom flexible joint robot arm structure to make the multi-degree-of-freedom flexible joint robot arm structure have better adaptability and usability. It solves the problems that the degrees of freedom of traditional rigid robot arms are usually limited, generally only six or seven degrees of freedom, lacking flexibility when operating in complex environments, and in narrow spaces or tasks requiring multi-directional movement, traditional robot arms may not be able to complete fine operations. When a rigid robot arm comes into contact with a human or other objects, it may cause harm or damage. While a flexible joint robot arm, due to its inherent flexibility, can buffer the impact force during contact and improve safety.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: It includes a support base. The top of the support base is fixedly connected with a first connecting rod, and the end of the first connecting rod is fixedly connected with a ball socket. The side of the ball socket is fixedly connected with a rotating shaft, and a ball head is rotatably connected inside the ball socket. And the outer wall of the ball head is fixedly connected with a second connecting rod;

[0008] Preferably, the support base and the first connecting rod are integrally arranged, and the bottom of the support base is provided with mounting holes for connecting with external fixing devices.

[0009] Preferably, the other end of the second connecting rod is provided with a connecting flange, and the connecting flange is provided with a plurality of threaded holes and is connected to the first connecting rod or the end effector.

[0010] Preferably, the inner surface of the ball socket is coated with a wear-resistant coating, and the outer surface of the ball head is provided with a smooth coating that matches the wear-resistant coating to reduce the friction between the ball head and the ball socket.

[0011] Preferably, a rotation limiting device is provided on the rotating shaft to limit the rotation angle of the second connecting rod and prevent structural damage caused by excessive rotation.

[0012] Preferably, both the first connecting rod and the second connecting rod are provided with a hollow structure, and channels for wiring are provided inside the first connecting rod and the second connecting rod. Flexible cables are provided in the channels to provide power supply and signal transmission for the driving devices and sensors of the robot arm.

[0013] Preferably, a plurality of heat dissipation holes are provided on the support base to improve the heat dissipation performance of the robot arm during operation and prevent structural deformation or damage caused by overheating.

[0014] Preferably, the ball head and the second connecting rod are connected by threads, and a loosening prevention device is provided at the threaded connection to ensure the firm and reliable connection between the ball head and the second connecting rod.

[0015] Preferably, the robotic arm further includes a driving device, and the driving device is installed on the support base and is used to drive the second connecting rod to rotate around the ball socket. The driving device includes a motor and a reducer, and the output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the rotating shaft.

[0016] Preferably, the robotic arm further includes a sensor assembly, and the sensor assembly is installed inside the ball socket or on the second connecting rod and is used to detect the rotation angle, position, and speed of the second connecting rod. The sensor assembly includes an angle sensor, a position sensor, and a speed sensor.

[0017] The advantages of the present invention are as follows:

[0018] 1. Through the integrated design of the support base and the first connecting rod, this structure not only enhances the overall structural stability, reduces the risk of loosening or damage that may be caused by excessive connection points, but also improves the reliability of the robotic arm in complex environments. At the same time, the installation hole design at the bottom of the support base enables it to be flexibly connected to various external fixing devices, greatly expanding its application range and adaptability. In addition, the connection flange at the end of the second connecting rod and the threaded holes on it further enhance the modular characteristics of the robotic arm, enabling adjacent adjustable support frame components or end effectors to be conveniently and quickly connected, providing great convenience for rapid assembly and expansion according to actual needs. In terms of improving flexibility, the rotational connection between the ball socket and the ball head and the setting of the rotating shaft endow the robotic arm with multi-degree-of-freedom movement capabilities, enabling it to move flexibly in multiple directions and easily handle various operation requirements in complex spatial environments. This design can not only simulate the multi-dimensional movement of the human arm, but also provide fine control capabilities in narrow spaces or tasks that require multi-directional movement, greatly enhancing the adaptability and operation accuracy of the robotic arm. To ensure durability and long-term stability, the wear-resistant coating on the inner surface of the ball socket and the smooth coating on the outer surface of the ball head cooperate with each other, effectively reducing the friction between the two, thus significantly reducing the wear rate and extending the service life of the joint. At the same time, the rotation limit device on the rotating shaft can accurately limit the rotation angle of the second connecting rod, preventing structural damage caused by excessive rotation and further ensuring the stability of the robotic arm during movement. In addition, the threaded connection and anti-loosening device between the ball head and the second connecting rod ensure the firmness and reliability of their connection, and can maintain stable performance even under long-term use or high-load conditions. In terms of heat dissipation performance, the heat dissipation hole design on the support base can effectively improve the heat dissipation efficiency of the robotic arm during operation, prevent structural deformation or damage caused by overheating, and thus ensure the stability and reliability of the robotic arm under long-term continuous operation or high-load conditions. At the same time, the hollow structure design of the first connecting rod and the second connecting rod not only provides a neat and orderly wiring channel for the flexible cable, avoiding the mess and damage risk brought by external wiring, but also facilitates the maintenance and replacement of the cable, further enhancing the practicality and maintenance convenience of the robotic arm. To achieve precise control, the robotic arm is equipped with advanced drive devices and sensor components. The drive device is installed on the support base, and through the coordinated work of the motor and the reducer, it can accurately drive the second connecting rod to rotate around the ball socket, thereby achieving precise motion control of the robotic arm. The sensor components are installed inside the ball socket or on the second connecting rod, and can real-time detect the rotation angle, position and speed of the second connecting rod, providing reliable data support for precise control, enabling the robotic arm to meet the strict requirements for motion accuracy in different application scenarios.This multi-degree-of-freedom flexible joint robot arm structure demonstrates excellent performance in terms of flexibility, stability, durability, heat dissipation performance, wiring convenience, adaptability, precise control, maintenance convenience, load capacity, and cost-effectiveness. It can not only meet the requirements of high precision, high efficiency, and high reliability in industrial automation production but also play an important role in fields such as medical surgery, rescue robots, and service robots. For example, in medical surgery, its high flexibility and precise control capabilities can assist doctors in performing minimally invasive surgeries, reducing trauma to patients; in rescue scenarios, it can operate flexibly in narrow spaces, improving rescue efficiency; in the field of service robots, it can better adapt to tasks that involve collaborating with humans, providing a more natural and safe interaction experience. In summary, with its unique advantages and broad application prospects, this structure has opened up a new path for the development and application of robot technology, possessing important practical significance and long-term development value. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the overall front view of the present invention;

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the overall top view of the present invention;

[0022] Figure 3 It is an open structural schematic diagram of the overall front view of the present invention;

[0023] Figure 4 It is a sectional structural schematic diagram of the overall front view of the present invention.

[0024] In the figure: 1, support base; 2, first connecting rod; 3, ball socket; 4, ball head; 5, second connecting rod; 6, rotating shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0026] Embodiment 1

[0027] As Figure 1 shown, a floating water quality monitoring device includes a support base 1, a first connecting rod 2, a ball socket 3, a ball head 4, a second connecting rod 5, and a rotating shaft 6.

[0028] Please refer to Figures 1 to 4 the multi-degree-of-freedom flexible joint robot arm structure shown, which includes a support base 1. A first connecting rod 2 is fixedly connected to the top of the support base 1, and a ball socket 3 is fixedly connected to the end of the first connecting rod 2. A rotating shaft 6 is fixedly connected to the side of the ball socket 3. A ball head 4 is rotatably connected inside the ball socket 3, and a second connecting rod 5 is fixedly connected to the outer wall of the ball head 4; the support base 1 and the first connecting rod 2 are integrally provided, and an installation hole for connecting to an external fixing device is provided at the bottom of the support base 1; the other end of the second connecting rod 5 is provided with a connecting flange, and a plurality of threaded holes are provided on the connecting flange for connecting to the first connecting rod 2 or the end effector; the inner surface of the ball socket 3 is coated with a wear-resistant coating, and a smooth coating matching the wear-resistant coating is provided on the outer surface of the ball head 4 to reduce the friction between the ball head 4 and the ball socket 3; a rotation limiting device is provided on the rotating shaft 6 to limit the rotation angle of the second connecting rod 5 and prevent structural damage caused by excessive rotation; the first connecting rod 2 and the second connecting rod 5 are both provided as hollow structures, and channels for wiring are provided inside the first connecting rod 2 and the second connecting rod 5. Flexible cables are provided in the channels to provide power and signal transmission for the driving device and sensors of the robot arm; a plurality of heat dissipation holes are provided on the support base 1 to improve the heat dissipation performance of the robot arm during operation and prevent structural deformation or damage caused by overheating; the ball head 4 and the second connecting rod 5 are connected by threads, and a loosening prevention device is provided at the threaded connection to ensure the firm and reliable connection between the ball head 4 and the second connecting rod 5; the robot arm further includes a driving device, and the driving device is installed on the support base 1 to drive the second connecting rod 5 to rotate around the ball socket 3. The driving device includes a motor and a reducer, and the output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the rotating shaft 6; the robot arm further includes a sensor assembly, and the sensor assembly is installed inside the ball socket 3 or on the second connecting rod 5 to detect the rotation angle, position, and speed of the second connecting rod 5. The sensor assembly includes an angle sensor, a position sensor, and a speed sensor.

[0029] Working principle: The working principle of the multi-degree-of-freedom flexible joint robot arm structure is to achieve complex and flexible motion control through the close cooperation and coordinated action of its various components, so as to meet the requirements of various application scenarios. The core components of this structure include the support base 1, the first connecting rod 2, the ball socket 3, the ball head 4, and the second connecting rod 5. These components, through specific connection methods and designs, jointly form an efficient and reliable motion system. The support base 1 and the first connecting rod 2 adopt an integrated design. This design not only enhances the overall structural stability, reduces the risk of loosening or damage that may be caused by too many connection points, but also ensures that the robot arm can be firmly installed at the required position through the mounting holes at its bottom. The other end of the second connecting rod 5 is provided with a connecting flange, and multiple threaded holes on the flange are used to connect with the first connecting rod 2 of the adjacent adjustable support frame assembly or the end effector. This modular design enables the robot arm to be flexibly assembled and expanded according to different task requirements. During the movement, the inner surface of the ball socket 3 is coated with a wear-resistant coating, while the outer surface of the ball head 4 is provided with a smooth coating that matches it. This design effectively reduces the friction between the ball head 4 and the ball socket 3, reduces the wear rate, and thus extends the service life of the joint. At the same time, a rotation limit device is provided on the rotating shaft 6. The function of this device is to limit the rotation angle of the second connecting rod 5 and prevent structural damage caused by excessive rotation. This design is crucial for protecting the structural integrity of the robot arm and ensuring that the movement of the joint is always within a safe range under various operating conditions. To meet the heat dissipation requirements of the robot arm during high-load or long-term continuous operation, both the first connecting rod 2 and the second connecting rod 5 adopt a hollow structure, and channels for wiring are provided inside. This design not only enables the flexible cable to be neatly arranged in the channel, avoiding the mess and damage risks that may be brought by external wiring, but also facilitates the maintenance and replacement of the cable. At the same time, multiple heat dissipation holes are provided on the support base 1, and these heat dissipation holes can effectively improve the heat dissipation performance of the robot arm during operation and prevent structural deformation or damage caused by overheating. The motion control of the robot arm is jointly completed by the drive device and the sensor assembly. The drive device is installed on the support base 1 and is used to drive the second connecting rod 5 to rotate around the ball socket 3. The drive device consists of a motor and a reducer. The output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the rotating shaft 6. When the motor receives a control signal, through the transmission of the reducer, the power is transmitted to the rotating shaft 6, and then the second connecting rod 5 is driven to achieve precise rotational motion. This electric drive method has the advantages of high-precision control, fast response speed, and simple maintenance, and can meet the requirements of the robot arm for motion accuracy and dynamic performance in different application scenarios. The sensor assembly is installed inside the ball socket 3 or on the second connecting rod 5 and is used to detect the rotation angle, position, and speed of the second connecting rod 5.The sensor assembly includes an angle sensor, a position sensor, and a speed sensor. These sensors can collect the motion state data of the robotic arm in real time and feed the data back to the control system. Based on this feedback information, the control system combines the preset motion trajectory and task requirements and performs real-time calculations and adjustments through complex algorithms to achieve precise control of the robotic arm. This closed-loop control method can ensure the motion accuracy and stability of the robotic arm in a complex environment, enabling it to adapt to various high-precision and high-difficulty operation tasks. During the actual working process, the various components of the multi-degree-of-freedom flexible joint robotic arm work together to achieve complex and flexible motion control. When the robotic arm receives a task instruction, the control system first performs motion planning according to the task requirements to determine the motion trajectory and parameters of each joint. Then, the control system sends a control signal to the drive device, and the drive device drives the second connecting rod 5 to rotate around the ball socket 3 according to the signal to achieve the motion of the joint. At the same time, the sensor assembly monitors the motion state of the joint in real time and feeds the data back to the control system. The control system makes real-time adjustments to the motion according to the feedback information to ensure that the robotic arm moves according to the preset trajectory and requirements. Through this collaborative working method, the robotic arm can flexibly complete various tasks in a complex environment, such as grasping objects, performing assembly, and carrying out medical surgeries.

[0030] The above has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. Multi-degree-of-freedom flexible joint robot arm structure, characterized by: The invention comprises a support seat (1), the top of the support seat (1) is fixedly connected to a first connecting rod (2), the end of the first connecting rod (2) is fixedly connected to a ball socket (3), the side of the ball socket (3) is fixedly connected to a rotating shaft (6), the interior of the ball socket (3) is rotatably connected to a ball head (4), and the outer wall of the ball head (4) is fixedly connected to a second connecting rod (5).

2. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The support seat (1) and the first connecting rod (2) are integrally arranged, and a mounting hole for connecting to an external fixing device is provided at the bottom of the support seat (1).

3. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The other end of the second connecting rod (5) is provided with a connecting flange, and the connecting flange is provided with a plurality of threaded holes, and is connected to the first connecting rod (2) or the end effector.

4. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The inner surface of the ball socket (3) is coated with a wear-resistant coating, and the outer surface of the ball head (4) is provided with a smooth coating matching the wear-resistant coating, so as to reduce the friction between the ball head (4) and the ball socket (3).

5. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The rotating shaft (6) is provided with a rotation limiting device for limiting the rotation angle of the second connecting rod (5) to prevent structural damage caused by excessive rotation.

6. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The first connecting rod (2) and the second connecting rod (5) are both configured as hollow structures, and channels for wiring are provided inside the first connecting rod (2) and the second connecting rod (5), and flexible cables are provided inside the channels for providing power and signal transmission for the driving device and sensors of the robot arm.

7. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The support base (1) is provided with a plurality of heat dissipation holes, which are used to improve the heat dissipation performance of the robot arm during operation and prevent structural deformation or damage due to overheating.

8. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The ball head (4) and the second connecting rod (5) are connected via threads, and an anti-loosening device is provided at the threaded connection to ensure that the connection between the ball head (4) and the second connecting rod (5) is firm and reliable.

9. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The robot arm also includes a driving device, and the driving device is installed on the support seat (1), and is used to drive the second connecting rod (5) to rotate around the ball socket (3). The driving device includes a motor and a reducer, and the output shaft of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the rotating shaft (6).

10. The multi-degree-of-freedom flexible joint robot arm structure according to claim 1, characterized in that: The robot arm also includes a sensor assembly, and the sensor assembly is installed inside the ball socket (3) or on the second connecting rod (5) and is used to detect the rotation angle, position and speed of the second connecting rod (5). The sensor assembly includes an angle sensor, a position sensor and a speed sensor.

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