Slender robot arm easy to thread, threading method of slender robot arm and robot

Abstract

The invention discloses a slim robot arm easy to thread, a threading method thereof and a robot. One end of a first joint module is connected with a mounting flange and a shoulder rotating assembly, a second joint module is arranged in the shoulder rotating assembly, and one end of a lifting arm assembly is arranged between the shoulder rotating assembly and the second joint module; a third joint module is arranged in the other end of the lifting arm assembly, the end is connected with an upper arm rotating assembly, a fourth joint module is arranged in the upper arm rotating assembly, the fourth joint module is connected with an elbow flexion and extension assembly internally provided with a fifth joint module and a forearm rotating assembly, and the forearm rotating assembly internally provided with a sixth joint module is connected with a wrist flexion and extension assembly; different transmission mechanisms are adopted, all joints of the shoulders, the elbows and the wrists of the arms are equivalent to human joints in size, an appearance part and a structural part are integrated, the diameter of the arms is equivalent to that of female arms, and the arms are attractive and thin. Different structural designs are adopted, so that the shoulder, elbow and wrist transverse joint is as convenient to thread as the upper arm and forearm rotating joint, the bending and twisting angles of the cable are reduced, and the service life of the cable is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots. Specifically, it is a slender robot arm with easy wire threading, its wire threading method, and a robot. Background Art

[0002] At present, most of the guide robot arms at home and abroad have a structure with no joints or few joints, and basically no hands. However, with the higher requirements for interaction between guide robots and people, it is required that the robot can not only communicate with people, but also interact with people in some actions, such as shaking hands, waving, dancing, etc. Especially with the rise of shopping guide robots, it is required that in addition to walking guidance, introducing products and communicating in language, the robot can also open the refrigerator and freezer doors by itself for further introduction. Or open the fresh-keeping refrigerator to take out flowers, fruits or drinks for customers, etc. All these require the robot arm to have human-like functions. In addition, shopping guide robots are mainly targeted at women, so it is required that the robot arm not only has a beautiful appearance, but also is slender. In the design of the robot arm, a slender arm not only increases the difficulty of structural component design, but also makes it more difficult to thread the power cord and communication line between the joints.

[0003] To solve this problem, the present invention adopts an innovative structure and a special mechanism to develop a slender robot arm with easy wire threading and a robot. The joint size and arm diameter of the arm are close to those of the human arm, which is beautiful and generous. Summary of the Invention

[0004] To solve the problems of the thick arm and difficult wire threading of the shopping guide and guide robot arm, the purpose of the present invention is to provide a slender robot arm with easy wire threading, its wire threading method, and a robot, which combines the appearance part and the structural part to reduce the arm diameter; at the transverse joint, according to the structural characteristics of the human arm, different transmission schemes are adopted to make the shoulder, elbow and wrist joints more human-like in volume; and at the transverse joint, a special wire threading structure is provided to facilitate wire threading and reduce the bending and twisting angles of the wire.

[0005] The present invention solves the above problems through the following technical solutions:

[0006] A slender robotic arm that is easy to thread, comprising: a mounting flange, a first joint module, a shoulder rotation assembly, a second joint module, a lifting arm assembly, a third joint module, an upper arm rotation assembly, a fourth joint module, an elbow flexion and extension assembly, a fifth joint module, a forearm rotation assembly, and a wrist flexion and extension assembly. One end of the first joint module is connected to the mounting flange and the shoulder rotation assembly. The second joint module is disposed within the shoulder rotation assembly, and one end of the lifting arm assembly is disposed between the shoulder rotation assembly and the second joint module. The other end of the lifting arm assembly is internally provided with the third joint module and is connected to the upper arm rotation assembly at this end. The fourth joint module is disposed within the upper arm rotation assembly. The fourth joint module is connected to the elbow flexion and extension assembly provided with the fifth joint module and the forearm rotation assembly inside. The forearm rotation assembly provided with the sixth joint module is connected to the wrist flexion and extension assembly; wherein, the first cable extends from the first joint module into the shoulder rotation assembly and then enters the lifting arm assembly, and the plug of the first cable is inserted into the cable connector of the second joint module; the second cable led out from the second joint module is directly connected to the third joint module; the third cable led out from the third joint module extends from the lifting arm assembly into the upper arm rotation assembly and then is inserted into the cable connector of the fourth joint module; the fourth cable led out from the fourth joint module winds around the output shaft of the fourth joint module for one week, then passes through the elbow flexion and extension assembly and is inserted into the incoming line connector of the fifth joint module; the fifth cable led out from the fifth joint module passes through the elbow flexion and extension assembly and the forearm rotation assembly and is inserted into the incoming line connector of the sixth joint module.

[0007] As a further improvement thereof, a round hole is provided at the flange center of the shoulder rotation assembly and is communicated with the central hole of the first joint module, so that the first cable can enter the shoulder rotation assembly from the first joint module and be bundled within the shoulder rotation assembly; a first long arc groove concentric with the rotation center of the second joint module is provided on the structural member of the lifting arm assembly. After the first cable is bundled within the shoulder rotation assembly, it passes through the first long arc groove and is bundled and fixed on the lifting arm assembly. The plug of the first cable is inserted into the cable connector of the second joint module;

[0008] Both the second joint module and the third joint module are installed within the lifting arm assembly, and the second cable led out from the second joint module can be directly connected to the third joint module;

[0009] Both the lower end of the lifting arm assembly and the upper flange of the upper arm rotation assembly are provided with second long arc grooves concentric with the rotation axis of the third joint module. After the third cable led out from the third joint module is bundled and fixed on the lifting arm assembly, it passes through the two second long arc grooves, is bundled and fixed within the upper arm rotation assembly, and then is inserted into the cable connector of the fourth joint module;

[0010] The fourth cable led out from the fourth joint module winds around the output shaft of the fourth joint module for one week, then passes through the inclined hole provided at the upper end of the elbow flexion and extension assembly and is inserted into the incoming line connector of the fifth joint module;

[0011] A third long arc groove concentric with the rotation axis of the fifth joint module is provided on the mounting flanges at the lower end of the elbow flexion and extension assembly and the upper end of the forearm rotation assembly; the fifth cable coming out of the fifth joint module passes through this third long arc groove and then is inserted into the incoming cable connector of the sixth joint module.

[0012] As a further improvement, bundling cable screw holes are provided in the shoulder rotation assembly, the arm lifting assembly and / or the upper arm rotation assembly for cable bundling;

[0013] and / or one end of the mounting flange is fixedly connected to the robot body, and the other end is fixedly connected to the first joint module; the first joint module is a harmonic joint module with a hollow structure; the front flange of the shoulder rotation assembly is connected to the rotation axis of the first joint module and can rotate with the rotation axis of the first joint module to complete the forward and backward rotation movement of the arm.

[0014] As a further improvement, the second joint module is a planetary joint module with a mounting seat, its rotation axis is perpendicular to the rotation axis of the first joint module, and its rotation axis is fixedly connected to the rear flange of the shoulder rotation assembly; when the second joint module is energized and rotates, the rotation axis of the second joint module does not move, and the body of the second joint module rotates around the flange axis of the shoulder rotation assembly.

[0015] As a further improvement, one end of the arm lifting assembly is fixedly connected to the mounting seat of the second joint module, and the other end is fixedly connected to the third joint module; when the second joint module rotates, it drives the arm lifting assembly to rotate to complete the arm lifting action.

[0016] As a further improvement, the third joint module is a planetary joint module, and its torque meets the requirements of the maximum torque when the forearm and the bent arm of the hand are lifted; the front flange of the upper arm rotation assembly is connected to the rotation axis of the third joint module, and the upper arm rotation assembly rotates with the rotation axis of the third joint module, so as to realize the rotation of the upper and lower arms of the arm.

[0017] As a further improvement, the fourth joint module is fixedly installed in the upper arm rotation assembly and includes a harmonic joint module and a 1:2 right-angle steering transmission gear set; the rotation axis of the harmonic joint module is parallel to the arm axis, and the rotation axis of the output shaft of the fourth joint module is perpendicular to the arm axis through the right-angle steering mechanism of the 1:2 right-angle steering transmission gear set;

[0018] One end of the elbow flexion and extension assembly is sleeved on the output shaft of the fourth joint module, and through the cooperation of the key and the keyway, the rotational movement of the output shaft of the fourth joint module is transmitted to the elbow flexion and extension assembly to realize the elbow flexion and extension action.

[0019] As a further improvement, the fifth joint module is a planetary joint module, whose torque meets the maximum torque requirements when the forearm and the hand swing. The flange of the fifth joint module is connected to the elbow flexion and extension component.

[0020] One end of the forearm rotation component is connected to the rotation axis of the fifth joint module, and the other end is fixedly connected to the sixth joint module. The forearm rotation component rotates with the rotation axis of the fifth joint module to realize the rotation of the lower arm and the hand of the arm.

[0021] As a further improvement, the sixth joint module includes a planetary joint module and a 1:1 right-angle steering transmission gear set. The rotation axis of the planetary joint module is parallel to the arm axis, and the rotation axis of the output shaft of the sixth joint module is perpendicular to the arm axis through the right-angle steering mechanism of the 1:1 right-angle steering transmission gear set.

[0022] One end of the wrist flexion and extension component is sleeved on the D-shaped output shaft of the sixth joint module through a D-shaped hole. Through the limitation of the D-shaped plane, the rotation motion of the output shaft of the sixth joint module is transmitted to the wrist flexion and extension component to realize the wrist flexion and extension action.

[0023] Meanwhile, the present invention also solves the above problems through the following technical solutions:

[0024] A wire threading method for a slender robot arm, applicable to a slender robot arm with easy wire threading as described above. The specific steps include:

[0025] Step A: Insert the first cable into the circular hole provided at the flange center of the shoulder rotation component through the central hole of the first joint module, so that the first cable enters the shoulder rotation component from the first joint module and is bundled inside the shoulder rotation component.

[0026] Step B: Then, pass the first cable bundled inside the shoulder rotation component through the first long arc groove provided on the structural member of the arm lifting component and concentric with the rotation center of the second joint module, and bundle and fix it on the arm lifting component. Then, insert the plug of the first cable into the cable connector of the second joint module.

[0027] Step C: Directly connect the second cable led out from the second joint module to the third joint module jointly installed with the second joint module inside the arm lifting component.

[0028] Step D: After bundling and fixing the third cable led out from the third joint module on the arm lifting component, pass it through two second long arc grooves provided at the lower end of the arm lifting component and the upper flange of the upper arm rotation component and concentric with the rotation axis of the third joint module. After bundling and fixing it inside the upper arm rotation component, insert it into the cable connector of the fourth joint module.

[0029] Step E: After the fourth cable exiting from the fourth joint module is wound around the output shaft of the fourth joint module for one week, it passes through the inclined hole provided at the upper end of the elbow flexion and extension assembly and is inserted into the incoming cable connector of the fifth joint module;

[0030] Step F: The fifth cable exiting from the fifth joint module passes through the third long arc groove concentric with the rotation axis of the fifth joint module provided at the lower end of the elbow flexion and extension assembly and the upper end mounting flange of the forearm rotation assembly, and then is inserted into the incoming cable connector of the sixth joint module to complete the cable threading of the slender robot arm.

[0031] Meanwhile, the present invention also solves the above problems through the following technical solutions:

[0032] A robot, comprising a slender robot arm with easy cable threading as described above and a robot body, and the robot body is connected to the slender robot arm through a mounting flange.

[0033] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0034] (1) The first specific solution measure of the present invention is to reduce the arm diameter by combining the structural part and the appearance part into one. The second is to adopt a reasonable transmission mechanism at the shoulder, elbow and wrist transverse joints, so that the joint dimensions of the arm from the shoulder to the wrist are all equal to or less than the joint dimensions of the human body. The third is to design different structures according to the different characteristics of the connections of the shoulder, elbow and wrist transverse joints and the upper arm and forearm vertical rotation joints, so that the cables of each joint of the arm can be conveniently threaded and the bending and torsion angles of the cables are reduced, prolonging the service life of the arm cables.

[0035] (2) According to the different characteristics of the arm joints, the present invention adopts different transmission mechanisms, so that the shoulder, elbow and wrist joints of the arm are comparable in volume to the human joints. By combining the appearance part and the structural part into one, the arm diameter is comparable to that of a female arm. By adopting different structural designs, the shoulder, elbow and wrist transverse joints are as convenient for cable threading as the upper arm and forearm rotation joints, and the bending and twisting angles of the cables are reduced, prolonging the service life of the cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is an exploded view of a slender robot arm with easy cable threading according to the present invention;

[0037] Figure 2 is a front view of a slender robot arm with easy cable threading according to the present invention;

[0038] Figure 3 is for the present invention Figure 2 sectional view taken along line A-A;

[0039] Figure 4 is a schematic diagram of a front view of a slender robot arm with easy cable threading according to the present invention with some parts hidden;

[0040] Figure 5 Cross-sectional view of the elbow of a slender robotic arm with easy threading according to the present invention;

[0041] Figure 6 Cross-sectional view of the wrist of a slender robotic arm with easy threading according to the present invention;

[0042] Figure 7 According to the present invention Figure 2 Partial enlarged view of part I;

[0043] Figure 8 According to the present invention Figure 2 Sectional view taken along line B-B of the present invention;

[0044] Figure 9 According to the present invention Figure 2 Sectional view taken along line C-C of the present invention;

[0045] Figure 10 According to the present invention Figure 2 Sectional view taken along line D-D of the present invention;

[0046] Figure 11 Schematic structural diagram of the mounting flange and the first joint module of the present invention;

[0047] Figure 12 Schematic structural diagram of the shoulder rotation assembly and the second joint module of the present invention;

[0048] Figure 13 Schematic structural diagram of the arm lifting assembly and the third joint module of the present invention;

[0049] Figure 14 Schematic structural diagram of the upper arm rotation assembly and the fourth joint module of the present invention;

[0050] Figure 15 Schematic structural diagram of the elbow flexion and extension assembly of the present invention;

[0051] Figure 16 Schematic structural diagram of the elbow flexion and extension assembly and the fifth joint module of the present invention;

[0052] Figure 17 Schematic structural diagram of the forearm rotation assembly and the wrist flexion and extension assembly of the present invention.

[0053] Reference numerals:

[0054] 01 - Installation flange; 02 - First joint module; 03 - Shoulder rotation assembly; 04 - Second joint module; 05 - Arm lifting assembly; 06 - Third joint module; 07 - Upper arm rotation assembly; 08 - Fourth joint module; 09 - Elbow flexion and extension assembly; 10 - Fifth joint module; 11 - Forearm rotation assembly; 12 - Sixth joint module; 13 - Wrist flexion and extension assembly; 021 - Central hole; 031 - First shoulder rotation part; 032 - Second shoulder rotation part; 051 - First arm lifting part; 052 - Second arm lifting part; 053 - Decorative cover; 054 - Second long arc groove; 055 - First long arc groove; 071 - First upper arm rotation part; 072 - Second upper arm rotation part; 073 - Elbow motor connecting piece; 074 - First rolling bearing; 075 - Second rolling bearing; 076 - Elbow rotation shaft; 077 - First pressure plate; 078 - Second pressure plate; 079 - Left decorative cover; 07A - Right decorative cover; 081 - Planetary joint module; 082 - Gear connecting piece; 083 - 1:2 right angle steering gear set; 0831 - Pinion gear; 0832 - Large gear; 084 - Gear cover; 091 - First elbow flexion and extension part; 092 - Second elbow flexion and extension part; 093 - Third elbow flexion and extension part; 094 - Forearm motor connecting piece; 095 - Third long arc groove; 096 - Oblique hole; 111 - First forearm part; 112 - Second forearm part; 113 - Rolling bearing; 114 - Rolling bearing; 115 - Wrist rotation shaft; 121 - Planetary joint module; 122 - Wrist gear connecting piece; 123 - 1:1 right angle steering gear set; 1231 - Driving bevel gear; 1232 - Driven bevel gear; 124 - Wrist gear cover; 141 - First cable; 142 - Second cable; 143 - Third cable; 144 - Fourth cable; 145 - Fifth cable; 146 - Sixth cable. Detailed implementation mode

[0055] To make the purpose, technical solutions and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of this application. In the drawings, the same or similar reference numerals denote the same or similar components or components with the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of this application. The embodiments described below by referring to the drawings are exemplary and are intended to explain this application and should not be construed as limiting this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0056] The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0057] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, or indirectly connected through an intermediate medium, and can be the communication inside 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 application can be understood according to specific circumstances.

[0058] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component 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 application.

[0059] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or display that includes 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 displays.

[0060] The following will be combined with Figures 1-17 to elaborate in detail on a slender robotic arm with easy threading, its threading method, and the robot involved in the embodiments of the present application. It should be noted that the following embodiments are only used to explain the present application and do not constitute a limitation to the present application.

[0061] Embodiment 1:

[0062] Referring to the attached Figures 1-17, A slender robotic arm that is easy to thread, comprising: a mounting flange 01, a first joint module 02, a shoulder rotation assembly 03, a second joint module 04, a lifting arm assembly 05, a third joint module 06, an upper arm rotation assembly 07, a fourth joint module 08, an elbow flexion and extension assembly 09, a fifth joint module 10, a forearm rotation assembly 11, a sixth joint module 12, and a wrist flexion and extension assembly 13; one end of the first joint module is connected to the mounting flange and the shoulder rotation assembly, the second joint module is arranged inside the shoulder rotation assembly, and one end of the lifting arm assembly is arranged between the shoulder rotation assembly and the second joint module. The other end of the lifting arm assembly is internally provided with the third joint module and is connected to the upper arm rotation assembly at this end. The fourth joint module is arranged inside the upper arm rotation assembly. The fourth joint module is connected to the elbow flexion and extension assembly that internally houses the fifth joint module and the forearm rotation assembly. The forearm rotation assembly that internally houses the sixth joint module is connected to the wrist flexion and extension assembly; the slender robotic arm is sequentially arranged through the shoulder rotation assembly, the upper arm rotation assembly, the elbow flexion and extension assembly, the forearm rotation assembly, and the wrist flexion and extension assembly to form the appearance part of the arm of the slender robot. And several joint modules and other structural parts are respectively arranged inside the appearance part and cooperate with the appearance part, reducing the arm diameter while also setting corresponding dedicated wire threading structures to facilitate wire threading of the cable.

[0063] Among them, the first cable extends from the first joint module into the shoulder rotation assembly and then enters the lifting arm assembly, and the plug of the first cable is inserted into the cable connector of the second joint module; the second cable led out by the second joint module is directly connected to the third joint module; the third cable led out from the third joint module extends from the lifting arm assembly into the upper arm rotation assembly and then is inserted into the cable connector of the fourth joint module; the fourth cable led out from the fourth joint module winds around the output shaft of the fourth joint module for one week and then passes through the elbow flexion and extension assembly and is inserted into the incoming line connector of the fifth joint module; the fifth cable led out from the fifth joint module passes through the elbow flexion and extension assembly and the forearm rotation assembly and is inserted into the incoming line connector of the sixth joint module.

[0064] Furthermore, a circular hole is provided at the flange center of the shoulder rotation assembly and is communicated with the central hole of the first joint module, so that the first cable can enter the shoulder rotation assembly from the first joint module and be bundled inside the shoulder rotation assembly; a first long arc groove concentric with the rotation center of the second joint module is provided on the structural part of the lifting arm assembly. The first cable bundled inside the shoulder rotation assembly passes through the first long arc groove and is bundled and fixed on the lifting arm assembly, and the plug of the first cable is inserted into the cable connector of the second joint module;

[0065] Both the second joint module and the third joint module are installed inside the lifting arm assembly, and the second cable led out by the second joint module can be directly connected to the third joint module;

[0066] Both the lower end of the arm-lifting component and the upper flange of the upper-arm rotating component are provided with second long arc grooves concentric with the rotation axis of the third joint module. After the third cable routed from the third joint module is bundled and fixed in the arm-lifting component, it passes through two such second long arc grooves, and after being bundled and fixed in the upper-arm rotating component, it is inserted into the cable connector of the fourth joint module;

[0067] The fourth cable routed from the fourth joint module winds around the output shaft of the fourth joint module for one week and then passes through the inclined hole provided at the upper end of the elbow flexion and extension component and is inserted into the incoming cable connector of the fifth joint module;

[0068] Both the lower end of the elbow flexion and extension component and the upper mounting flange of the forearm rotating component are provided with third long arc grooves concentric with the rotation axis of the fifth joint module; the fifth cable routed from the fifth joint module passes through this third long arc groove and is inserted into the incoming cable connector of the sixth joint module.

[0069] Preferably, bundling cable screw holes are provided in the shoulder rotating component, the arm-lifting component, and / or the upper-arm rotating component for cable bundling; and / or one end of the mounting flange is fixedly connected to the robot body, and the other end is fixedly connected to the first joint module; the first joint module is a harmonic joint module with a hollow structure; the front flange of the shoulder rotating component is connected to the rotation axis of the first joint module and can rotate with the rotation axis of the first joint module to complete the forward and backward rotation movement of the arm.

[0070] The second joint module is a planetary joint module with a mounting seat, and its rotation axis is perpendicular to the rotation axis of the first joint module. Its rotation shaft is fixedly connected to the rear flange of the shoulder rotating component; when the second joint module is energized and rotates, the rotation shaft of the second joint module does not move, and the body of the second joint module rotates around the flange axis of the shoulder rotating component; and / or one end of the arm-lifting component is fixedly connected to the mounting seat of the second joint module, and the other end is fixedly connected to the third joint module; when the second joint module rotates, it drives the arm-lifting component to rotate to complete the arm-lifting movement of the arm.

[0071] The third joint module is a planetary joint module, and its torque meets the requirements of the maximum torque when the forearm and the hand's bent arm are lifted; the front flange of the upper-arm rotating component is connected to the rotation axis of the third joint module, and the upper-arm rotating component rotates with the rotation axis of the third joint module, thereby realizing the rotation of the upper and lower arms of the arm.

[0072] The fourth joint module is fixedly installed inside the upper arm rotating assembly and includes a harmonic joint module and a 1:2 right-angle steering transmission gear set; the rotation axis of the harmonic joint module is parallel to the arm axis, and the rotation axis of the output shaft of the fourth joint module is made perpendicular to the arm axis through the right-angle steering mechanism of the 1:2 right-angle steering transmission gear set; one end of the elbow flexion and extension assembly is sleeved on the output shaft of the fourth joint module, and through the cooperation of the key and the keyway, the rotational movement of the output shaft of the fourth joint module is transmitted to the elbow flexion and extension assembly to realize the elbow flexion and extension movement.

[0073] The fifth joint module is a planetary joint module, and its torque meets the maximum torque requirements when the forearm and the hand swing. The flange of the fifth joint module is connected to the elbow flexion and extension assembly;

[0074] One end of the forearm rotating assembly is connected to the rotating shaft of the fifth joint module, and the other end is fixedly connected to the sixth joint module; the forearm rotating assembly rotates with the rotating shaft of the fifth joint module to realize the rotation of the lower arm and the hand of the arm.

[0075] The sixth joint module includes a planetary joint module and a 1:1 right-angle steering transmission gear set. The rotation axis of the planetary joint module is parallel to the arm axis, and the rotation axis of the output shaft of the sixth joint module is made perpendicular to the arm axis through the right-angle steering mechanism of the 1:1 right-angle steering transmission gear set; one end of the wrist flexion and extension assembly is sleeved on the D-shaped output shaft of the sixth joint module, and through the limitation of the D-shaped plane, the rotational movement of the output shaft of the sixth joint module is transmitted to the wrist flexion and extension assembly to realize the wrist flexion and extension movement. The other end of the wrist flexion and extension assembly is connected to a dexterous hand or a tool hand.

[0076] In a specific embodiment, as Figures 2-3 shown, a slender robot arm that is easy to thread, wherein:

[0077] The mounting flange 01 is fixed to the robot body by screws. The first joint module 02 is a hollow harmonic joint module. The end face flange of the first joint module 02 is fixedly connected to the mounting flange 01, and its rotating shaft is connected to the shoulder rotating assembly 03 so that the shoulder rotating assembly 03 can rotate together with the first joint module 02.

[0078] The shoulder rotation assembly 03 includes: a first shoulder rotation member 031 and a second shoulder rotation member 032. The front flange and the rear flange of the first shoulder rotation member 031 are axially perpendicular. The front flange of the first shoulder rotation member 031 is connected to the rotation shaft of the first joint module 02 and can rotate with the first joint module 02 to complete the forward and backward rotation movement of the arm. The rear flange of the first shoulder rotation member 031 is fixedly connected to the output driving shaft of the second joint module 04. The second shoulder rotation member 032 is fixedly connected to the first shoulder rotation member 031 by screws to dispose the second joint module 04 within the shoulder rotation assembly 03. The rear flange of the second shoulder rotation member 032 is connected to the output driven shaft of the second joint module 04, so as to connect the output driving shaft and the output driven shaft of the second joint module 04 respectively through the rear flange of the first shoulder rotation member 031 and the rear flange of the second shoulder rotation member 032, playing an auxiliary supporting role. The first purpose is the beneficial effect of bilateral support, increasing the rigidity of the overall mechanism. The second purpose is that the second shoulder rotation member 032 can be temporarily removed for convenient maintenance.

[0079] The second joint module 04 is a planetary joint module with a mounting base. The mounting base of the second joint module 04 is connected to the arm lifting assembly 05 by screws. When the second joint module 04 rotates, its output shafts, namely the output driving shaft and the output driven shaft, are fixed on the shoulder rotation assembly 03 and do not rotate, and the body rotates around the axis of the rear flange of the first shoulder rotation member 031, driving the arm lifting assembly 05 to rotate.

[0080] As Figure 4 shown, the arm lifting assembly 05 includes: a first arm lifting member 051, a second arm lifting member 052 and a decorative cover 053. One end of the screws of the first arm lifting member 051 and the second arm lifting member 052 is fixedly connected to the mounting base of the second joint module 04. In this embodiment, the first arm lifting member 051 and the second arm lifting member 052 are respectively disposed on both sides of the second joint module 04 and form openings for avoiding the output shafts of the second joint module 04, so that the output shafts of the second joint module 04 can be connected and installed with the shoulder rotation assembly 03 disposed outside the arm lifting assembly 05. The other end flange of the first arm lifting member 051 is fixedly connected to the third joint module 06, so as to dispose the third joint module 06 at one end of the arm lifting assembly 05 away from the second joint module 04. The second arm lifting member 052 is connected to the first arm lifting member 051 by screws. The decorative cover 053 is connected to the first arm lifting member 051 and the second arm lifting member 052 by screws to cover the gap after the installation of the first arm lifting member 051 and the second arm lifting member 052.

[0081] The upper arm rotation assembly 07 includes: a first upper arm rotating member 071, a second upper arm rotating member 072, an elbow motor connecting member 073, a first rolling bearing 074, a second rolling bearing 075, an elbow rotating shaft 076, a first pressing plate 077, a second pressing plate 078, a left decorative cover 079 and a right decorative cover 07A. The front flange of the first upper arm rotating member 071 is screw-connected to the third joint module 06, and the second upper arm rotating member 072 and the elbow motor connecting member 073 are screw-connected to the first upper arm rotating member 071. The elbow motor connecting member 073 is flange-connected to the fourth joint module 08. The first rolling bearing 074 and the second rolling bearing 075 are loaded in the bearing holes of the first upper arm rotating member 071 with a tolerance fit. Both ends of the elbow rotating shaft 076 are installed in the inner holes of the first rolling bearing 074 and the second rolling bearing 075. The first pressing plate 077 and the second pressing plate 078 are screw-connected to the elbow rotating shaft 076, and the end faces press on the end faces of the first rolling bearing 074 and the second rolling bearing 075. The left decorative cover 079 and the right decorative cover 07A are screw-fixed on the first upper arm rotating member 071 and form a side closed structure with the first upper arm rotating member 071 and the second upper arm rotating member 072.

[0082] The fourth joint module 08 includes: a planetary joint module 081, a gear connecting member 082, a 1:2 right-angle steering gear set 083 and a gear cover 084. The planetary joint module 081 is flange-fixed on the elbow motor connecting member 073, and the output shaft of the planetary joint module 081 is flange-connected to the gear connecting member 082. The 1:2 right-angle steering gear set 083 includes a pinion 0831 and a large gear 0832. In this example, bevel gear transmission is adopted, and other right-angle steering mechanisms can also be used. The pinion 0831 is key-connected to the gear connecting member 082, and the large gear 0832 is key-connected to the elbow rotating shaft 076. The gear cover 084 is fixedly connected to the elbow motor connecting member 073, and there is a notch at the gear meshing part to prevent the cable from being rubbed by the gear teeth.

[0083] The elbow flexion and extension assembly 09 includes: a first elbow flexion and extension member 091, a second elbow flexion and extension member 092, a third elbow flexion and extension member 093 and a forearm motor connecting member 094. The front end of the first elbow flexion and extension member 091 is key-connected to the elbow rotating shaft 076 and rotates with the elbow rotating shaft 076. The second elbow flexion and extension member 092 is flange-fixed on the first elbow flexion and extension member 091. The third elbow flexion and extension member 093 is screw-fixed on the second elbow flexion and extension member 092. The forearm motor connecting member 094 is screw-fixed on the second elbow flexion and extension member 092, and the forearm motor connecting member 094 is flange-fixed to the fifth joint module 10.

[0084] The fifth joint module 10 is a planetary joint module, and its output shaft is flange-connected to the forearm rotation assembly 11.

[0085] The forearm rotating assembly 11 includes: a first forearm member 111, a second forearm member 112, a first rolling bearing 113, a second rolling bearing 114 and a wrist rotating shaft 115. The front end flange of the first forearm member 111 is connected to the output shaft of the fifth joint module 10, and the rear end flange thereof is connected to the sixth joint module 12. The second forearm member 112 is screwed to the first forearm member 111. The first rolling bearing 113 is installed in the bearing hole of the first forearm member 111. The second rolling bearing 114 is installed in the bearing hole of the second forearm member 112. The main body of the wrist rotating shaft 115 is a D-shaped round shaft, and the stepped round shaft parts at both ends are respectively loaded in the inner holes of the first rolling bearing 113 and the second rolling bearing 114.

[0086] The sixth joint module 12 includes: a planetary joint module 121, a wrist gear connector 122, a 1:1 right-angle steering gear set 123, and a wrist gear cover 124. The planetary joint module 121 is flange-fixed on the first small arm member 111, and its output shaft flange is connected to the wrist gear connector 122. The 1:1 right-angle steering gear set 123 includes an active bevel gear 1231 and a passive bevel gear 1232. The inner hole tolerance of the active bevel gear 1231 is matched on the wrist gear connector 122, and is positioned and stopped on the wrist gear connector 122 by two 90-degree set screws. The inner hole tolerance of the passive bevel gear 1232 is matched on the wrist rotation shaft 115, and is pressed against the D-shaped surface of the wrist rotation shaft 115 by the set screws for positioning and stopping on the shaft.

[0087] The circular hole at the front of the wrist flexion and extension assembly 13 is a D-shaped hole, which cooperates with the D-shaped surface of the wrist rotation axis 115 to prevent self-rotation, and is positioned on the axis and assisted in rotation by a set screw.

[0088] like Figure 3 As shown, the present invention provides a structure that facilitates threading between joints. A circular hole is provided at the center of the front flange of the first shoulder rotating member 031, which is connected with the center hole 021 of the hollow harmonic joint of the first joint module 02. The first cable 141 can be conveniently passed from the first joint module to the shoulder rotating assembly 03; the shoulder rotating assembly 03 is provided with a cable bundling screw hole to facilitate cable bundling.

[0089] like Figure 7 As shown, a first long arc groove 055 concentric with the rotation center of the second joint module 04 is provided on the structural part of the first lifting arm 051, and the first cable 141 bundled in the shoulder rotation assembly 03 passes through the first long arc groove and is bundled and fixed on the lifting arm assembly 05, and the plug of the first cable 141 is inserted into the cable connector of the second joint module 04.

[0090] The second joint module 04 and the third joint module 06 are both installed in the arm lifting assembly 05 , and the second cable 142 output from the second joint module 04 can be directly connected to the third joint module 06 .

[0091] As shown Figure 8 in the figure, at the lower end of the second lifting arm member 052 and the upper flange of the first upper arm rotating member 071, there are both second long arc grooves 054 concentric with the rotation axis of the third joint module. After the third cable 143 coming out of the third joint module 06 is bundled and fixed in the lifting arm assembly 05, it passes through the above two second long arc grooves, is bundled and fixed inside the first upper arm rotating member 071, and then is inserted into the cable connector of the fourth joint module 08. Through the angle combination of the two second long arc grooves, the sum of the angles of the two second long circular grooves exceeds 180 degrees. In this embodiment, the angle of the second long arc groove 054 at the lower end of the second lifting arm member 052 is about 160°, and the angle of the second long arc groove 054 at the upper end of the first upper arm rotating member 071 is about 30°; the upper arm rotation angle is within ±90°, so the cable is basically not bent.

[0092] As shown Figures 4-5 in the figure, below the keyway hole at the upper end of the first elbow flexion and extension member 091, there is an inclined hole 096. The slope of the inclined hole 096 is related to the helix angle of the fourth cable 144 winding around the axis for one circle. The inclined hole and the center line of the first elbow flexion and extension member 091 form an angle, and this angle is basically equal to the helix angle of the cable winding around the axis, so that the cable can pass through the inclined hole without being blocked. The fourth cable 144 coming out of the fourth joint module 08 is on the output shaft of the fourth joint module. After winding one week, it passes through the inclined hole of the elbow flexion and extension assembly and is inserted into the incoming cable connector of the fifth joint module.

[0093] As shown Figure 9 in the figure, at the lower end of the second elbow flexion and extension member 092, there is a third long arc groove 095 concentric with the rotation axis of the sixth joint module 12. After the fifth cable 145 coming out of the fifth joint module passes through this third long arc groove, it is inserted into the incoming cable connector of the sixth joint module 12. Below the first small arm member 111 is an opening member, which will not hinder the movement of the fifth cable 145. Therefore, the fifth cable 145 has less bending deformation when the small arm rotating assembly rotates.

[0094] As shown Figure 10 in the figure, because the diameter of the small arm is very small, the sixth cable 146 is a multi-strand cable arranged side by side. At the lower right front of the first small arm member 111, there is a flat arc opening, which can be used for small-diameter cables to pass through side by side. After the sixth cable coming out of the sixth joint module 12 passes through this flat arc opening, it is connected to the connector of the dexterous hand.

[0095] Embodiment 2:

[0096] A wire threading method for a slender robot arm, applicable to a slender robot arm with easy wire threading as described in Embodiment 1, and the specific steps include:

[0097] Step A: Insert the first cable through the central hole of the first joint module into the round hole provided at the center of the flange of the shoulder rotation assembly, so that the first cable enters the shoulder rotation assembly from the first joint module and is bundled within the shoulder rotation assembly;

[0098] Step B: Then, pass the first cable bundled within the shoulder rotation assembly through the first long arc groove provided on the structural member of the arm lifting assembly and concentric with the rotation center of the second joint module, and bundle and fix it on the arm lifting assembly. Then, insert the plug of the first cable into the cable connector of the second joint module;

[0099] Step C: Directly connect the second cable led out from the second joint module to the third joint module jointly installed with the second joint module within the arm lifting assembly;

[0100] Step D: After bundling and fixing the third cable led out from the third joint module within the arm lifting assembly, pass it through two second long arc grooves provided at the lower end of the arm lifting assembly and the upper flange of the upper arm rotation assembly and concentric with the rotation axis of the third joint module. After bundling and fixing it within the upper arm rotation assembly, insert it into the cable connector of the fourth joint module;

[0101] Step E: After winding the third cable led out from the fourth joint module around the output shaft of the fourth joint module for one week, pass it through the inclined hole provided at the upper end of the elbow flexion and extension assembly and insert it into the incoming cable connector of the fifth joint module;

[0102] Step F: Pass the fourth cable led out from the fifth joint module through the third long arc groove provided at the lower end of the elbow flexion and extension assembly and the upper mounting flange of the forearm rotation assembly and concentric with the rotation axis of the fifth joint module, and then insert it into the incoming cable connector of the sixth joint module to complete the threading of the slender robot arm.

[0103] Embodiment 3:

[0104] A robot includes a slender robot arm with easy threading as described in Embodiment 1 and a robot body. The robot body is connected to the slender robot arm through a mounting flange, and the slender robot arm can also be installed by a threading method of a slender robot arm as described in Embodiment 2.

[0105] Although the present invention has been described herein with reference to its illustrative embodiments, the above embodiments are only the preferred embodiments of the present invention. The embodiments of the present invention are not limited by the above embodiments. It should be understood that those skilled in the art can design many other modifications and embodiments, and these modifications and embodiments will fall within the scope of the principles and spirit disclosed in this application.

Claims

1. A slender robot arm that is easy to thread, characterized in that: include: A mounting flange, a first joint module, a shoulder rotation component, a second joint module, an arm lifting component, a third joint module, an upper arm rotation component, a fourth joint module, an elbow flexion and extension component, a fifth joint module, a forearm rotation component and a wrist flexion and extension component, wherein one end of the first joint module is connected with the mounting flange and the shoulder rotation component, the second joint module is arranged in the shoulder rotation component, and one end of the arm lifting component is arranged between the shoulder rotation component and the second joint module, the third joint module is arranged in the other end of the arm lifting component and the end is connected with the upper arm rotation component, the fourth joint module is arranged in the upper arm rotation component, the fourth joint module is connected with the elbow flexion and extension component in which the fifth joint module and the forearm rotation component are arranged, and the forearm rotation component in which the sixth joint module is arranged is connected with the wrist flexion and extension component; Among them, the first cable extends from the first joint module into the shoulder rotation assembly and then into the arm lifting assembly, and the plug of the first cable is inserted into the cable connector of the second joint module; the second cable output from the second joint module is directly connected to the third joint module; the third cable output from the third joint module extends from the arm lifting assembly into the upper arm rotation assembly and then is inserted into the cable connector of the fourth joint module; the fourth cable output from the fourth joint module is wrapped around the output shaft of the fourth joint module for one circle, and then passes through the elbow flexion and extension assembly and is inserted into the incoming line connector of the fifth joint module; the fifth cable output from the fifth joint module passes through the elbow flexion and extension assembly and the forearm rotation assembly and is inserted into the incoming line connector of the sixth joint module.

2. According to claim 1, a slender robot arm that is easy to thread, characterized in that: The center of the flange of the shoulder rotation assembly is provided with a circular hole which is connected with the center hole of the first joint module, so that the first cable can pass from the first joint module to the shoulder rotation assembly and be bundled in the shoulder rotation assembly; the structural member of the arm lifting assembly is provided with a first long arc groove which is concentric with the rotation center of the second joint module, the first cable bundled in the shoulder rotation assembly passes through the first long arc groove and is bundled and fixed on the arm lifting assembly, and the plug of the first cable is inserted into the cable connector of the second joint module; The second joint module and the third joint module are both installed in the arm lift assembly, and the second cable output from the second joint module can be directly connected to the third joint module; The lower end of the arm lifting assembly and the upper end flange of the upper arm rotating assembly are both provided with a second long arc groove concentric with the rotation axis of the third joint module. After the third cable extending from the third joint module is bundled and fixed in the arm lifting assembly, it passes through the two second long arc grooves, is bundled and fixed in the upper arm rotating assembly, and then is inserted into the cable connector of the fourth joint module; The fourth cable of the fourth joint module is wound around the output shaft of the fourth joint module for one circle, and then passes through the oblique hole provided at the upper end of the elbow flexion and extension assembly and is inserted into the incoming line connector of the fifth joint module; The mounting flanges at the lower end of the elbow flexion and extension assembly and the upper end of the forearm rotation assembly are provided with a third long arc groove concentric with the rotation axis of the fifth joint module; the fifth cable output from the fifth joint module passes through the third long arc groove and is inserted into the incoming connector of the sixth joint module.

3. The slender robot arm that is easy to thread according to claim 1, characterized in that: The shoulder rotation assembly, the arm lifting assembly and / or the upper arm rotation assembly are provided with cable bundling screw holes for cable bundling; And / or one end of the mounting flange is fixedly connected to the robot body, and the other end is fixedly connected to the first joint module; The first joint module is a harmonic joint module with a hollow structure; the front end flange of the shoulder rotation component is connected to the rotation axis of the first joint module, and can rotate with the rotation axis of the first joint module to complete the forward and backward rotation movement of the arm.

4. The slender robot arm that is easy to thread according to claim 1, characterized in that: The second joint module is a planetary joint module with a mounting seat, whose rotation axis is perpendicular to the rotation axis of the first joint module, and whose rotation axis is fixedly connected to the rear end flange of the shoulder rotation assembly; when the second joint module is powered on and rotated, the rotation axis of the second joint module remains stationary, and the second joint module body rotates around the flange axis of the shoulder rotation assembly; And / or one end of the arm lifting assembly is fixedly connected to the mounting seat of the second joint module, and the other end is fixedly connected to the third joint module; When the second joint module rotates, it drives the arm lifting assembly to rotate, completing the arm lifting action.

5. The slender robot arm that is easy to thread according to claim 1, characterized in that: The third joint module is a planetary joint module, and its torque meets the maximum torque requirement when the forearm and the bent arm are lifted; the front end flange of the upper arm rotating assembly is connected to the rotating axis of the third joint module, and the upper arm rotating assembly rotates with the rotating axis of the third joint module, thereby realizing the rotation of the upper and lower arms.

6. The slender robot arm that is easy to thread according to claim 1, characterized in that: The fourth joint module is fixedly installed in the upper arm rotation assembly, including a harmonic joint module and a 1:2 right-angle steering transmission gear set; the rotation axis of the harmonic joint module is parallel to the arm axis, and the right-angle steering mechanism of the 1:2 right-angle steering transmission gear set makes the rotation axis of the output shaft of the fourth joint module perpendicular to the arm axis; The circular hole at one end of the elbow flexion and extension component is sleeved on the output shaft of the fourth joint module. Through the cooperation of the key and the key slot, the rotational motion of the output shaft of the fourth joint module is transmitted to the elbow flexion and extension component to realize the elbow flexion and extension action.

7. The slender robot arm that is easy to thread according to claim 1, characterized in that: The fifth joint module is a planetary joint module, the torque of which meets the maximum torque requirement when the forearm and hand are swinging, and the fifth joint module is flange-connected to the elbow flexion and extension assembly; One end of the forearm rotating assembly is connected to the rotating shaft of the fifth joint module, and the other end is fixedly connected to the sixth joint module; The forearm rotation assembly rotates with the fifth joint module rotation axis to realize the rotation of the arm and hand.

8. The slender robot arm that is easy to thread according to claim 1, characterized in that: The sixth joint module includes a planetary joint module and a 1:1 right-angle steering transmission gear set, the rotation axis of the planetary joint module is parallel to the arm axis, and the right-angle steering mechanism of the 1:1 right-angle steering transmission gear set makes the rotation axis of the output shaft of the sixth joint module perpendicular to the arm axis; The D-shaped hole at one end of the wrist flexion and extension component is sleeved on the D-shaped output shaft of the sixth joint module. Through the restriction of the D-shaped plane, the rotational motion of the output shaft of the sixth joint module is transmitted to the wrist flexion and extension component to realize the wrist flexion and extension movement.

9. A threading method for a slender robot arm, applicable to a slender robot arm that is easy to thread as claimed in any one of claims 1 to 8, characterized in that: include: Step A, inserting the first cable from the center hole of the first joint module into the circular hole set in the center of the flange of the shoulder rotation assembly, so that the first cable is inserted from the first joint module into the shoulder rotation assembly and bundled in the shoulder rotation assembly; Step B, passing the first cable bundled in the shoulder rotation assembly through a first long arc groove provided on the structural member of the arm lifting assembly and concentric with the rotation center of the second joint module, and bundling and fixing it on the arm lifting assembly, and then inserting the plug of the first cable into the cable connector of the second joint module; Step C, directly connecting the second cable extending from the second joint module to the third joint module installed together with the second joint module in the arm lift assembly; Step D, after the third cable exiting from the third joint module is bundled and fixed in the arm lifting assembly, it passes through two second long arc grooves which are concentric with the rotation axis of the third joint module, which are provided on the flanges at the lower end of the arm lifting assembly and the upper end of the upper arm rotating assembly, and after being bundled and fixed in the upper arm rotating assembly, it is inserted into the cable connector of the fourth joint module; Step E, winding the fourth cable output from the fourth joint module around the output shaft of the fourth joint module for one circle, and then inserting the fourth cable through the oblique hole provided at the upper end of the elbow flexion and extension assembly into the incoming line connector of the fifth joint module; Step F, pass the fifth cable coming out of the fifth joint module through the third long arc groove concentric with the rotation axis of the fifth joint module set on the mounting flange at the lower end of the elbow flexion and extension assembly and the upper end of the forearm rotation assembly, and then insert it into the incoming connector of the sixth joint module to complete the threading of the slender robot arm.

10. A robot, characterized in that: It comprises a slender robot arm that is easy to thread wires and a robot body as described in any one of claims 1 to 8, wherein the robot body is connected to the slender robot arm via a mounting flange.

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