Robot multi-degree-of-freedom connecting device

Abstract

The invention discloses a robot multi-degree-of-freedom connecting device, which relates to the field of robot connecting structures and comprises a first robot connecting mechanism and a second robot connecting mechanism. The robot first connecting mechanism comprises a hollow connecting seat a and a hollow connecting seat b, a rotating seat is movably arranged between the connecting seat a and the connecting seat b, and the bottom end of the connecting seat a and the bottom end of the connecting seat b are connected through a connecting plate. The top end of the rotating seat is movably connected with a hollow movable arm, and the top end of the movable arm is movably provided with a movable seat; the second connecting mechanism comprises a hollow adjusting seat, the adjusting seat is used for being installed and connected to the movable seat, and an adjusting structure is installed in the adjusting seat. By means of the connecting device, multi-degree-of-freedom movable joints of the robot can be achieved, the robot is more flexible, and the requirement for market development of the robot is met.

Description

Technical Field

[0001] The present invention relates to the field of robot connection structures, and particularly to a robot multi-degree-of-freedom connection device. Background Art

[0002] A robot is an automated machine. The difference is that this machine has some intelligent capabilities similar to those of humans or living beings, such as perception capabilities, planning capabilities, motion capabilities, and cooperation capabilities. It is a highly flexible automated machine. With the deepening of people's understanding of the intelligent nature of robot technology, robot technology has begun to continuously penetrate into various fields of human activities. Combining the application characteristics of these fields, people have developed various special robots and various intelligent robots with sensing, decision-making, action, and interaction capabilities. A robot is a machine device that automatically performs work. It can either be commanded by humans, run pre-programmed procedures, or act according to the principle guidelines formulated by artificial intelligence technology. Its task is to assist or replace human work. It is the product of the advanced integration of cybernetics, mechatronics, computers, materials, and bionics, and has important uses in fields such as industry, medicine, agriculture, service industry, construction, and even military.

[0003] With the rapid development of robots, robots are becoming more and more intelligent, such as humanoid robots, bionic robots, etc. One of the most difficult problems to solve for these robots currently is: how to achieve flexible movement? To address this problem, a new robot multi-degree-of-freedom connection device is proposed to ensure that the robot can achieve flexible movement. Summary of the Invention

[0004] The object of the present invention is achieved through the following technical solutions:

[0005] A robot multi-degree-of-freedom connection device includes a first robot connection mechanism and a second robot connection mechanism;

[0006] The first robot connection mechanism includes a connection seat a and a connection seat b that are hollowly arranged. A rotating seat is movably arranged between the connection seat a and the connection seat b, and the bottom ends of the connection seat a and the connection seat b are connected by a connecting plate;

[0007] The top end of the rotating seat is movably connected to a hollowly arranged movable arm, and the top end of the movable arm is movably provided with a movable seat;

[0008] The connection seat a is provided with a first driving structure for driving the movement of the rotating seat, and the connection seat a is also provided with a second driving structure for driving the movement of the movable seat;

[0009] The connection seat b is provided with a third driving structure for driving the movement of the movable arm;

[0010] The second connecting mechanism includes an adjusting seat provided hollow, which is used to be installed and connected to the movable seat, and an adjusting structure is installed in the adjusting seat.

[0011] Preferably, the first driving structure includes a first driving bevel gear a and a first driving bevel gear b, and the first driving bevel gear a and the first driving bevel gear b are meshed and installed in the connecting seat a;

[0012] One end of the first driving bevel gear a close to the connecting plate is connected with a first driving rotating shaft a provided with a through hole. The other end of the first driving rotating shaft a passes through the inner bottom end of the connecting seat a rotatably through a bearing, and passes through the first rotating shaft protection cylinder rotatably through a bearing. One end of the first rotating shaft protection cylinder is used to be connected to the bottom end of the connecting seat a, and the other end of the first rotating shaft protection cylinder passes through one side of the connecting plate, and the outer wall of the first rotating shaft protection cylinder is fixedly connected to the connecting plate through bolts;

[0013] One end of the first driving bevel gear b close to the side wall of the connecting seat a is connected with a first driving rotating shaft b provided with a through hole. The other end of the first driving rotating shaft b passes through the side wall of the connecting seat a close to the rotating seat rotatably through a bearing and the end is used to be connected to the rotating seat.

[0014] Preferably, the second driving structure includes a second driving bevel gear a and a second driving bevel gear b;

[0015] The second driving bevel gear a and the second driving bevel gear b are rotationally meshed, and the second driving bevel gear a and the second driving bevel gear b are rotatably arranged in the hollow cavity of the connecting seat a;

[0016] One end of the second driving bevel gear a close to the first driving bevel gear a is connected with a second driving rotating shaft a. The other end of the second driving rotating shaft a passes through the first driving rotating shaft a rotatably through a bearing;

[0017] One end of the second driving bevel gear b close to the first driving bevel gear b is connected with a second driving rotating shaft b. The other end of the second driving rotating shaft b passes through the second driving rotating shaft a rotatably through a bearing and is rotatably arranged in the hollow cavity of the rotating seat.

[0018] Preferably, the second driving structure further includes a second driving connecting bevel gear a and a second driving connecting bevel gear b;

[0019] The second driving connecting bevel gear a and the second driving connecting bevel gear b are rotatably meshed and arranged in the hollow cavity of the rotating seat;

[0020] One end of the second driving connecting bevel gear a is used to be connected to one end of the second driving rotating shaft b arranged in the hollow cavity of the rotating seat;

[0021] One end of the second driving connection bevel gear b close to the top surface of the rotating seat is connected with a movable arm connecting shaft, and the other end of the movable arm connecting shaft rotatably passes through the movable arm and is rotatably arranged in the hollow cavity of the movable seat.

[0022] Preferably, one end of the movable arm connecting shaft arranged in the hollow cavity of the movable seat is connected with a movable seat bevel gear a, the movable seat bevel gear a is rotationally engaged with a movable seat bevel gear b, the movable seat bevel gear b is provided with a movable seat rotating shaft, both ends of the movable seat rotating shaft rotatably pass through the movable seat through bearings, and one end of the movable seat rotating shaft arranged on the outer wall of the movable seat is connected with a movable connection rotating plate, and the movable connection rotating plate is used for connecting and arranging with the adjusting seat.

[0023] Preferably, the third driving structure includes a third driving bevel gear a and a third driving bevel gear b, and the third driving bevel gear a and the third driving bevel gear b are meshed and installed in the connecting seat b;

[0024] One end of the third driving bevel gear a close to the connecting plate is connected with a third driving rotating shaft a with a through hole, the other end of the third driving rotating shaft a rotatably passes through the inner bottom end of the connecting seat b through a bearing and rotatably passes through the second rotating shaft protection cylinder through a bearing, one end of the second rotating shaft protection cylinder is used for connecting with the bottom end of the connecting seat b, the other end of the second rotating shaft protection cylinder passes through one side of the connecting plate, and the outer wall of the second rotating shaft protection cylinder is fixedly connected with the connecting plate through bolts;

[0025] One end of the third driving bevel gear b close to the side wall of the connecting seat b is connected with a rotating seat connecting shaft with a through hole, one end of the rotating seat connecting shaft rotatably passes through the connecting seat b through a bearing, and the other end of the rotating seat connecting shaft is arranged in the rotating seat;

[0026] One end of the third driving bevel gear b close to the rotating seat connecting shaft is connected with a third driving rotating shaft b, the other end of the third driving rotating shaft b rotatably passes through the rotating seat connecting shaft through a bearing and is rotatably arranged in the rotating seat, and one end of the third driving rotating shaft b arranged in the cavity of the rotating seat is connected with the movable arm through a movable arm driving structure.

[0027] Preferably, the movable arm driving structure includes a movable arm bevel gear a and a movable arm bevel gear b, and the movable arm bevel gear a and the movable arm bevel gear b are rotatably meshed and arranged in the hollow cavity of the rotating seat;

[0028] One end of the movable arm bevel gear a is used for connecting with one end of the third driving rotating shaft b arranged in the cavity of the rotating seat;

[0029] One end of the movable arm bevel gear b close to the top surface of the rotating seat is connected with a movable arm rotating shaft arranged through the center. The other end of the movable arm rotating shaft passes through the top end of the rotating seat rotatably through a bearing and is rotatably arranged in the hollow cavity of the movable arm through a bearing;

[0030] One end of the movable arm connecting shaft close to the top surface of the rotating seat passes through the movable arm rotating shaft rotatably through a bearing, then passes through the top end of the movable arm through a bearing, and is rotatably arranged in the hollow cavity of the movable seat and is connected with the movable seat bevel gear a in the hollow cavity of the movable seat.

[0031] Preferably, the adjusting structure includes an adjusting rotating shaft for being installed and connected to the movable adjusting fixing frame, and the movable adjusting fixing frame is used for being installed and connected in the adjusting seat;

[0032] A first turbine is rotatably connected to the outer side of the top of the adjusting rotating shaft. The top end of the first turbine is connected with a first rotating movable cylinder. The first rotating movable cylinder is rotatably arranged on the outer wall of the adjusting rotating shaft. The top end of the first rotating movable cylinder is hinged with a first adjusting movable arm through a hinge seat, and the other end of the first adjusting movable arm is hinged on the movable mounting disc seat through a hinge seat;

[0033] A channel opening is formed at the top end of the adjusting seat, and the movable mounting disc seat can pass through the channel opening movably;

[0034] The first turbine meshes with a first worm. The other end of the first worm passes through the movable adjusting fixing frame rotatably through a rotating shaft and passes through the side wall of the adjusting seat rotatably, and the end is used for being connected with the output end of the first turbine driving motor. The housing of the first turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

[0035] Preferably, a second turbine is arranged below the first turbine. The second turbine is rotatably installed and connected to the adjusting rotating shaft through a bearing and is arranged below the first turbine;

[0036] The top end of the second turbine is connected with a second rotating movable cylinder. The second rotating movable cylinder is rotatably arranged on the outer wall of the first rotating movable cylinder. The top end of the second rotating movable cylinder is hinged with a second adjusting movable arm through a hinge seat, and the other end of the second adjusting movable arm is hinged on the movable mounting disc seat through a hinge seat;

[0037] The second turbine meshes with a second worm. The other end of the second worm passes through the movable adjusting fixing frame rotatably through a rotating shaft and passes through the side wall of the adjusting seat rotatably, and the end is used for being connected with the output end of the second turbine driving motor. The housing of the second turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

[0038] Preferably, a third turbine is disposed below the second turbine. The third turbine is rotatably installed and connected to the adjusting rotating shaft through a bearing and is disposed below the second turbine;

[0039] The top end of the third turbine is connected with a third rotating movable cylinder. The third rotating movable cylinder is rotatably disposed on the outer wall of the second rotating movable cylinder. The top end of the third rotating movable cylinder is hinged with a third adjusting movable arm through a hinge seat. The other end of the third adjusting movable arm is hinged on the movable mounting disc seat through a hinge seat;

[0040] The third turbine meshes with a third worm. The other end of the third worm rotatably passes through the movable adjusting fixing frame through a rotating shaft and passes through the side wall of the adjustable seat. The end is used for connecting with the output end of the third turbine driving motor. The housing of the third turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

[0041] The beneficial effects of the present invention are as follows: The purpose of the present invention is to provide a robot multi-degree-of-freedom connecting device. As the "connecting part structure" of the robot, this connecting device can be used as the connecting part structure of a humanoid robot arm or a bionic robot; through this connecting device, a "multi-degree-of-freedom" movable joint of the robot can be realized, making it more flexible and meeting the needs of the development of the robot market. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the connection structure of a robot multi-degree-of-freedom connecting device of the present invention;

[0043] Figure 2 It is a partial exploded schematic diagram of the connection structure of a robot multi-degree-of-freedom connecting device of the present invention;

[0044] Figure 3 It is a schematic diagram of the overall connection effect of the first connection mechanism of a robot of a robot multi-degree-of-freedom connecting device of the present invention;

[0045] Figure 4 It is a schematic diagram of the connection structure of the first connection mechanism of a robot of a robot multi-degree-of-freedom connecting device of the present invention;

[0046] Figure 5 It is a schematic diagram of the overall connection effect of the second connection mechanism of a robot of a robot multi-degree-of-freedom connecting device of the present invention;

[0047] Figure 6 It is a schematic diagram of the connection structure of the second connection mechanism of a robot of a robot multi-degree-of-freedom connecting device of the present invention;

[0048] Figure 7Isometric schematic diagram of the connection structure of the second connection mechanism of the robot for a multi-degree-of-freedom connection device of the present invention;

[0049] Figure 8 Schematic diagram of the connection structure of the travel mechanism of the robot for a multi-degree-of-freedom connection device of the present invention;

[0050] In the figure, 1 - connecting seat a, 2 - connecting seat b, 3 - rotating seat, 4 - movable arm, 5 - movable seat, 6 - adjusting seat, 7 - movable mounting disc seat, 8 - piston, 11 - first driving bevel gear a, 12 - first driving bevel gear b, 13 - first rotating shaft protection cylinder, 14 - second driving bevel gear a, 15 - second driving bevel gear b, 21 - third driving bevel gear a, 22 - third driving bevel gear b, 23 - second rotating shaft protection cylinder, 31 - second driving connecting bevel gear a, 32 - second driving connecting bevel gear b, 33 - movable arm bevel gear a, 34 - movable arm bevel gear b, 51 - movable seat bevel gear a, 52 - movable seat bevel gear b, 53 - movable connecting rotating plate, 61 - first turbine, 62 - second turbine, 63 - third turbine, 81 - travel piston rod, 82 - horizontal movable rod, 83 - articulated rod, 84 - movable connecting rod, 85 - connecting block, 86 - movable curved rod, 87 - horizontal connecting rod, 88 - planetary gear, 611 - first adjusting movable arm, 612 - first worm, 621 - second adjusting movable arm, 622 - second worm, 631 - third adjusting movable arm, 632 - third worm. Detailed implementation mode

[0051] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0052] As Figures 1 to 7 shown, a multi-degree-of-freedom connection device for a robot. As the "connection part structure" of the robot, it can be used as the connection part structure of a humanoid robot arm or a bionic robot; through the designed connection device, the produced robot can be made more flexible and variable.

[0053] The designed connection device includes a first connection mechanism of the robot and a second connection mechanism of the robot;

[0054] Among them, the first connection mechanism of the robot includes a connecting seat a1 and a connecting seat b2 that are hollowly arranged. A rotating seat 3 is movably arranged between the connecting seat a1 and the connecting seat b2. The bottom ends of the connecting seat a1 and the connecting seat b2 are connected by a connecting plate. The top end of the rotating seat 3 is movably connected with a hollowly arranged movable arm 4, and the top end of the movable arm 4 is movably provided with a movable seat 5. A first driving structure for driving the movement of the rotating seat 3 is arranged in the connecting seat a1, and a second driving structure for driving the movement of the movable seat 5 is also arranged in the connecting seat a1. A third driving structure for driving the movement of the movable arm 4 is arranged in the connecting seat b2. The second connection mechanism includes an adjusting seat 6 that is hollowly arranged. The adjusting seat 6 is used for being installed and connected to the movable seat 5, and an adjusting structure is installed in the adjusting seat 5.

[0055] In the embodiment, by controlling the first driving structure to drive the movement of the rotating seat 3, one degree of freedom of movement is achieved; by controlling the second driving structure to drive the movement of the movable seat 5, one degree of freedom of movement is achieved; by controlling the movement of the third driving structure, another degree of freedom of movement is achieved; and by controlling the movement of the adjusting structure, the "degree of freedom" movement of the connection end of the adjusting structure is achieved. Furthermore, finally, multiple degrees of freedom of movement are achieved through the entire connection device, so as to achieve the flexibility and variability of the connection part of the robot.

[0056] Further, as Figure 3 and Figure 4 shown, the first driving structure thus arranged includes a first driving bevel gear a11 and a first driving bevel gear b12. The first driving bevel gear a11 and the first driving bevel gear b12 are meshed and installed in the connecting seat a1. One end of the first driving bevel gear a11 close to the connecting plate is connected with a first driving rotating shaft a that is hollowly arranged. The other end of the first driving rotating shaft a passes through the inner bottom end of the connecting seat a1 rotatably through a bearing, and passes through the first rotating shaft protection cylinder 13 rotatably through a bearing. One end of the first rotating shaft protection cylinder 13 is used for connecting to the bottom end of the connecting seat a1. The other end of the first rotating shaft protection cylinder 13 passes through one side of the connecting plate, and the outer wall of the first rotating shaft protection cylinder 13 is connected and fixed to the connecting plate by bolts. One end of the first driving bevel gear b12 close to the side wall of the connecting seat a1 is connected with a first driving rotating shaft b that is hollowly arranged. The other end of the first driving rotating shaft b passes through the side wall of the connecting seat a1 close to the rotating seat 3 rotatably through a bearing, and the end is used for connecting to the rotating seat 3. It should be noted that: on the first rotating shaft

[0057] In this embodiment, by controlling the rotation of the first driving rotating shaft a, the first driving rotating shaft a drives the first driving bevel gear a11 disposed in the connecting seat a1 to rotate, and the first driving bevel gear a11 drives the first driving bevel gear b12 meshing with the first driving bevel gear a11 to rotate. Thus, the rotating seat 3 connected to the first driving bevel gear b12 through the first driving rotating shaft b is driven to rotate, achieving one degree of freedom of movement.

[0058] Furthermore, the provided second driving structure includes a second driving bevel gear a14 and a second driving bevel gear b15; the second driving bevel gear a14 and the second driving bevel gear b15 are rotationally meshed, and the second driving bevel gear a14 and the second driving bevel gear b15 are rotatably disposed in the hollow cavity of the connecting seat a1; one end of the second driving bevel gear a14 close to the first driving bevel gear a11 is connected to a second driving rotating shaft a, and the other end of the second driving rotating shaft a rotatably passes through the first driving rotating shaft a through a bearing; one end of the second driving bevel gear b15 close to the first driving bevel gear b12 is connected to a second driving rotating shaft b, and the other end of the second driving rotating shaft b rotatably passes through the second driving rotating shaft a through a bearing and is rotatably disposed in the hollow cavity of the rotating seat 3.

[0059] Meanwhile, the second driving structure further includes a second driving connecting bevel gear a31 and a second driving connecting bevel gear b32; the second driving connecting bevel gear a31 and the second driving connecting bevel gear b32 are rotatably meshed and disposed in the hollow cavity of the rotating seat 3; one end of the second driving connecting bevel gear a31 is used for connecting to one end of the second driving rotating shaft b passing through the hollow cavity of the rotating seat 3; one end of the second driving connecting bevel gear b32 close to the top surface of the rotating seat 3 is connected to a movable arm connecting shaft, and the other end of the movable arm connecting shaft rotatably passes through the movable arm 4 and is rotatably disposed in the hollow cavity of the movable seat 5. Moreover, one end of the movable arm connecting shaft disposed in the hollow cavity of the movable seat 5 is connected to a movable seat bevel gear a51, the movable seat bevel gear a51 is rotationally meshed with a movable seat bevel gear b52, the movable seat bevel gear b52 is provided with a movable seat rotating shaft, both ends of the movable seat rotating shaft rotatably pass through the movable seat 5 through bearings, and the movable seat rotating shaft is connected to a movable connecting rotating plate 53 on the outer wall end of the movable seat, and the movable connecting rotating plate 53 is used for connecting to the adjusting seat 6.

[0060] In an embodiment, by controlling the rotation of the second driving rotating shaft a, the second driving bevel gear a14 installed and arranged in the hollow cavity of the connecting seat a1 is driven to rotate, and the second driving bevel gear a14 drives the second driving bevel gear b15 meshed with the second driving bevel gear a14 to rotate; thereby, the second driving bevel gear b15 drives the second driving connecting bevel gear a31 connected to the second driving bevel gear b15 through the second driving rotating shaft b to rotate; when the second driving connecting bevel gear a31 rotates, it drives the second driving connecting bevel gear b32 meshed with the second driving connecting bevel gear a31 to rotate; the second driving connecting bevel gear b32 is connected to the movable seat bevel gear a51 arranged in the hollow cavity of the movable seat 5 through the movable arm connecting shaft that rotates and passes through the movable arm 4 to drive the movable seat bevel gear a51 to rotate; then the movable seat bevel gear a51 drives the movable seat bevel gear b52 meshed with the movable seat bevel gear a51 to rotate, and through the rotation of the movable seat bevel gear b52, the movable seat rotating shaft connected to the movable seat bevel gear b52 and the movable connecting rotating plate 53 connected to the movable seat rotating shaft are driven to rotate, and through the rotation of the movable connecting rotating plate 53, the adjusting seat 6 connected to the movable connecting rotating plate 53 is driven to rotate, thereby realizing one degree of freedom of movement.

[0061] In order to enable the movable connecting rotating plate 53 and the adjusting seat 6 to be movably connected more stably, a movable connecting member is added between the movable connecting rotating plate 53 and the movable seat 5, which is similar to the "joint connecting member" of the human body. The movable connecting member includes a movable connecting rod. One end of the movable connecting rod close to the movable connecting rotating plate 53 is connected with a first ball head, and the first ball head is rotatably connected to the first ball head seat, and the first ball head seat is used for connecting with the movable connecting rotating plate 53; one end of the movable connecting rod close to the movable seat 5 is connected with a second ball head, and the second ball head is rotatably connected to the second ball head seat, and the second ball head seat is used for connecting with the movable seat 5. The arranged movable connecting member movably connects the movable connecting rotating plate 53 and the movable seat 5 through the "double ball head hinge structure". When the adjusting seat 6 is driven to move through the movable connecting rotating plate 53, due to the existence of the movable connecting member, it is ensured that the adjusting seat 6 can realize the "reliable flexible movable connection" between the adjusting seat 6 and the movable seat 5 while moving freely, ensuring sensitivity and reliable connection at the same time.

[0062] Further, the third driving structure provided includes a third driving bevel gear a21 and a third driving bevel gear b22. The third driving bevel gear a21 and the third driving bevel gear b22 are meshed and installed in the connecting seat b2; one end of the third driving bevel gear a21 close to the connecting plate is connected with a third driving rotating shaft a provided with a through hole. The other end of the third driving rotating shaft a passes through the inner bottom end of the connecting seat b2 rotatably through a bearing, and passes through the second rotating shaft protection cylinder 23 rotatably through a bearing. One end of the second rotating shaft protection cylinder 23 is used for connecting with the bottom end of the connecting seat b2. The other end of the second rotating shaft protection cylinder 23 passes through one side of the connecting plate, and the outer wall of the second rotating shaft protection cylinder 23 is fixedly connected with the connecting plate through bolts; one end of the third driving bevel gear b22 close to the side wall of the connecting seat b2 is connected with a rotating seat connecting shaft provided with a through hole. One end of the rotating seat connecting shaft passes through the connecting seat b2 rotatably through a bearing, and the other end of the rotating seat connecting shaft passes through the rotating seat; one end of the third driving bevel gear b22 close to the rotating seat connecting shaft is connected with a third driving rotating shaft b. The other end of the third driving rotating shaft b passes through the rotating seat connecting shaft rotatably through a bearing and rotatably passes through the rotating seat 3, and one end of the third driving rotating shaft b passing through the cavity of the rotating seat 3 is connected with the movable arm 4 through a movable arm driving structure.

[0063] Meanwhile, the movable arm driving structure provided includes a movable arm bevel gear a33 and a movable arm bevel gear b34. The movable arm bevel gear a33 and the movable arm bevel gear b34 are rotatably meshed and arranged in the hollow cavity of the rotating seat 3; one end of the movable arm bevel gear a33 is used for connecting with one end of the third driving rotating shaft b passing through the cavity of the rotating seat 3; one end of the movable arm bevel gear b34 close to the top surface of the rotating seat 3 is connected with a movable arm rotating shaft provided with a through hole. The other end of the movable arm rotating shaft passes through the top end of the rotating seat 3 rotatably through a bearing and passes through the hollow cavity of the movable arm 4 rotatably through a bearing; one end of the movable arm connecting shaft close to the top surface of the rotating seat 3 passes through the movable arm rotating shaft rotatably through a bearing, then passes through the top end of the movable arm 4 through a bearing, and rotatably passes through the hollow cavity of the movable seat 5, and is connected with the movable seat bevel gear a51 in the hollow cavity of the movable seat 5.

[0064] In an embodiment, by controlling the third driving rotating shaft a, the third driving bevel gear a21 arranged in the connecting seat b2 is driven to rotate, and the third driving bevel gear a21 drives the third driving bevel gear b22 meshing with the third driving bevel gear a21 to rotate; thus, the rotation of the third driving bevel gear b22 drives the movable arm bevel gear a33, which is connected to the third driving bevel gear b22 through the third driving rotating shaft b and rotatably arranged in the cavity of the rotating seat 3, to rotate; the movable arm bevel gear a33 drives the movable arm bevel gear b34 meshing with the movable arm bevel gear a33 to rotate, and the movable arm bevel gear b34 rotates through the movable arm rotating shaft, thereby driving the movable arm 4 to rotate, realizing one degree of freedom of movement.

[0065] Further, as Figures 5 to 7 shown, there is also a provided adjusting structure including an adjusting rotating shaft. The adjusting rotating shaft is used to be installed and connected to the movable adjusting fixing frame, and the movable adjusting fixing frame is used to be installed and connected in the adjusting seat 6; a first turbine 61 is rotatably connected to the outer side of the top of the adjusting rotating shaft. The top end of the first turbine 51 is connected to a first rotating movable cylinder. The first rotating movable cylinder is rotatably arranged on the outer wall of the adjusting rotating shaft. The top end of the first rotating movable cylinder is hinged to a first adjusting movable arm 611 through a hinge seat, and the other end of the first adjusting movable arm 611 is hinged to the movable mounting disc seat 7 through a hinge seat; a channel opening is provided at the top end of the adjusting seat 6, and the movable mounting disc seat 7 can move through the channel opening 6. It should be noted here that the other end face of the connecting plate of this connecting device is designed, installed, and connected with a driving power source for driving the first driving structure, the second driving structure, and the third driving structure, which is prior art, and the connecting plate is used for the "connecting plate" of the robot joint, while the movable mounting disc seat 7 is used for the other "connecting plate" of the robot joint; thus, through this connecting device, the joint part of the robot can be connected.

[0066] Meanwhile, in this embodiment, the first turbine 61 meshes with a first worm 612. The other end of the first worm 612 passes through the movable adjusting fixing frame rotatably through a rotating shaft and passes through the side wall of the adjusting seat 6 rotatably, and the end is used to be connected to the output end of the first turbine driving motor. The housing of the first turbine driving motor is fixedly connected to the outer wall of the adjusting seat 6 through bolts.

[0067] Meanwhile, a second turbine 62 is disposed below the first turbine 61. The second turbine 62 is rotatably mounted and connected to the adjusting rotating shaft through a bearing and is disposed below the first turbine 61; a second rotating movable cylinder is connected to the top end of the second turbine. The second rotating movable cylinder is rotatably disposed on the outer wall of the first rotating movable cylinder. The top end of the second rotating movable cylinder is hinged with a second adjusting movable arm 621 through a hinge seat. The other end of the second adjusting movable arm 621 is hinged to the movable mounting disc seat 7 through a hinge seat; the second turbine 62 meshes with a second worm 622. The other end of the second worm 622 passes through the movable adjusting fixing frame rotatably through a rotating shaft and passes through the side wall of the adjusting seat rotatably. The end is used for connection with the output end of the second turbine driving motor. The housing of the second turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

[0068] Furthermore, a third turbine 63 is disposed below the second turbine 62. The third turbine 63 is rotatably mounted and connected to the adjusting rotating shaft through a bearing and is disposed below the second turbine 62; a third rotating movable cylinder is connected to the top end of the third turbine. The third rotating movable cylinder is rotatably disposed on the outer wall of the second rotating movable cylinder. The top end of the third rotating movable cylinder is hinged with a third adjusting movable arm 631 through a hinge seat. The other end of the third adjusting movable arm 631 is hinged to the movable mounting disc seat 7 through a hinge seat;

[0069] The third turbine 63 meshes with a third worm 632. The other end of the third worm 632 passes through the movable adjusting fixing frame rotatably through a rotating shaft and passes through the side wall of the adjusting seat rotatably. The end is used for connection with the output end of the third turbine driving motor. The housing of the third turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

[0070] In the embodiment, the first turbine driving motor drives the first worm 612 to rotate. The first worm 612 drives the first turbine 61 meshing with the first worm 612 to rotate; the first turbine 61 drives the first rotating movable cylinder to rotate. The first rotating movable cylinder drives the movable mounting disc seat 7 to move through the first adjusting movable arm 611, realizing "micro-adjusting movement".

[0071] Similarly, the second turbine driving motor drives the second worm 622 to rotate. The second worm 622 drives the second turbine 62 meshing with the second worm 622 to rotate; the second turbine 62 drives the second rotating movable cylinder to rotate. The second rotating movable cylinder drives the movable mounting disc seat 7 to move through the second adjusting movable arm 621, realizing "micro-adjusting movement".

[0072] Similarly, by driving the third worm 632 to rotate with the third turbine drive motor, the third worm 632 drives the third turbine 63 meshed with the third worm 632 to rotate; the third turbine 63 further drives the third rotating cylinder to rotate, and the third rotating cylinder drives the movable mounting disk seat 7 to move through the third adjusting arm 631, realizing "micro-adjustment movement".

[0073] It should be noted that: at the ends of the first drive shaft a, the second drive shaft a, and the third drive shaft a of the connecting device away from the movable seat 5, that is, the ends close to the connecting plate, drive devices for driving the "movement" of the first drive shaft a, the second drive shaft a, and the third drive shaft a are respectively installed, including "drive servo motors, cylinders" that can be realized by the prior art. Since this technology is not the object protected by this application, it is not specifically described in the embodiments and the accompanying drawings of the specification; in the embodiments, as long as it is understood as the prior art that can drive the first drive shaft a, the second drive shaft a, and the third drive shaft a.

[0074] In summary, through the designed connecting device, the "multi-degree-of-freedom" movable joints of the robot can be realized, making it more flexible and meeting the needs of the development of the robot market.

[0075] In addition, during the implementation process, in order to enable the robot arm to have a longer reach and be more flexible and variable on the basis of this connecting device, a stroke adjustment mechanism is further provided at the end of the connecting plate of this connecting device away from the movable seat 5;

[0076] As Figure 8 shown, the stroke adjustment mechanism includes a stroke piston rod 81. One end of the stroke piston rod 81 is used to connect to the connecting plate, and the connecting plate is "actively limited and not fixed" at this time; the end of the stroke piston rod 81 away from the connecting plate is used to connect to the output end of the piston rod of the piston 8, and the piston 8 is used for limiting and fixing; by the movement of the piston 8, the output end of the piston rod is driven and the connecting plate connected through the stroke piston rod 81 "moves up and down", thereby driving the upper structure connected to the connecting plate to move up and down, realizing the adjustment of the stroke height distance.

[0077] Moreover, in the embodiment, a horizontal movable rod 82 parallel to the connecting plate is connected to one end of the stroke piston rod 81 close to the connecting plate. Hinge rods 83 are respectively hinged to both ends of the horizontal movable rod 82. One end of the hinge rod 83 far from the horizontal movable rod 82 is movably connected to a movable connecting rod 84. The middle parts of the movable connecting rods 84 are respectively hinged to a connecting block 85 by a pin shaft. The connecting block 85 is used for limiting connection and fixation (that is, the connecting block is used for being fixed at the designed position by bolts). One end of the movable connecting rod 84 far from the hinge rod 84 is respectively hinged to a movable curved rod 86. One end of the movable curved rod 86 far from the hinge rod 84 is respectively hinged to a horizontal connecting rod 87. The horizontal connecting rod 87 is arranged parallel to the lower side of the horizontal movable rod 82 and is connected to the piston rod output end of the stroke piston rod 81 close to the piston 8; at the same time, two connecting blocks 85 are respectively arranged on both sides of the stroke piston rod 81 and are limited and fixed at both sides of the stroke piston rod 81 (at a suitable position in the designed robotic arm body) by bolts; in addition, planetary gears 88 are respectively arranged at the same-side ends of the two connecting blocks 85. The planetary gears 88 are respectively arranged to rotate with the connecting block 85 through a rotating shaft, and the two planetary gears 88 are in transmission engagement.

[0078] With such a design, in this embodiment, by setting the distances of the two connecting blocks from the stroke piston rod, the adjustment of different stroke distances can be achieved, so as to meet the requirements of the stroke distance of the robotic arm of the robot in use.

[0079] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above-described embodiments in the specification. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom connection device for a robot, characterized in that, It includes a first robot connection mechanism and a second robot connection mechanism; The first robot connection mechanism includes a connecting seat a and a connecting seat b which are hollow. A rotating seat is movably arranged between the connecting seat a and the connecting seat b, and the bottoms of the connecting seat a and the connecting seat b are connected by a connecting plate; The top of the rotating seat is movably connected with a hollow movable arm, and the top of the movable arm is movably provided with a movable seat; A first driving structure for driving the rotating seat to move is arranged in the connecting seat a, and a second driving structure for driving the movable seat to move is also arranged in the connecting seat a; A third driving structure for driving the movable arm to move is arranged in the connecting seat b; The second connection mechanism includes an adjusting seat which is hollow. The adjusting seat is used for being installed and connected to the movable seat, and an adjusting structure is installed in the adjusting seat.

2. The multi-degree-of-freedom connection device for a robot according to claim 1, characterized in that, The first driving structure includes a first driving bevel gear a and a first driving bevel gear b. The first driving bevel gear a and the first driving bevel gear b are meshed and installed in the connecting seat a; One end of the first driving bevel gear a close to the connecting plate is connected with a first driving rotating shaft a which is through. The other end of the first driving rotating shaft a passes through the inner bottom end of the connecting seat a rotatably through a bearing, and passes through the first rotating shaft protection cylinder rotatably through a bearing. One end of the first rotating shaft protection cylinder is used for connecting to the bottom end of the connecting seat a. The other end of the first rotating shaft protection cylinder passes through one side of the connecting plate, and the outer wall of the first rotating shaft protection cylinder is connected and fixed to the connecting plate by bolts; One end of the first driving bevel gear b close to the side wall of the connecting seat a is connected with a first driving rotating shaft b which is through. The other end of the first driving rotating shaft b passes through the side wall of the connecting seat a close to the rotating seat rotatably through a bearing, and the end is used for connecting to the rotating seat.

3. The multi-degree-of-freedom connection device for a robot according to claim 2, wherein The second driving structure includes a second driving bevel gear a and a second driving bevel gear b; The second driving bevel gear a and the second driving bevel gear b are rotationally meshed, and the second driving bevel gear a and the second driving bevel gear b are rotatably and movably arranged in the hollow cavity of the connecting seat a; One end of the second driving bevel gear a close to the first driving bevel gear a is connected with a second driving rotating shaft a. The other end of the second driving rotating shaft a passes through the first driving rotating shaft a rotatably through a bearing; One end of the second driving bevel gear b close to the first driving bevel gear b is connected with a second driving rotating shaft b. The other end of the second driving rotating shaft b passes through the second driving rotating shaft a rotatably through a bearing and rotatably passes through the hollow cavity of the rotating seat.

4. A multi-degree-of-freedom connection device for a robot according to claim 3, characterized in that, The second driving structure also includes a second driving connecting bevel gear a and a second driving connecting bevel gear b; The second driving connecting bevel gear a and the second driving connecting bevel gear b are rotatably meshed and arranged in the hollow cavity of the rotating seat; One end of the second driving connecting bevel gear a is used for connecting to one end of the second driving rotating shaft b passing through the hollow cavity of the rotating seat; One end of the second driving connecting bevel gear b close to the top surface of the rotating seat is connected with a movable arm connecting shaft, and the other end of the movable arm connecting shaft rotatably passes through the movable arm and is rotatably arranged in the hollow cavity of the movable seat.

5. A multi-degree-of-freedom connection device for a robot according to claim 4, characterized in that, One end of the movable arm connecting shaft arranged in the hollow cavity of the movable seat is connected with a movable seat bevel gear a, the movable seat bevel gear a is rotationally engaged with a movable seat bevel gear b, the movable seat bevel gear b is provided with a movable seat rotating shaft, both ends of the movable seat rotating shaft rotatably pass through the movable seat through bearings, and one end of the movable seat rotating shaft arranged on the outer wall of the movable seat is connected with a movable connecting rotating plate, and the movable connecting rotating plate is used for connecting and arranging with the adjusting seat.

6. The multi-degree-of-freedom connection device for a robot according to claim 5, characterized in that, The third driving structure includes a third driving bevel gear a and a third driving bevel gear b, and the third driving bevel gear a and the third driving bevel gear b are meshed and installed in the connecting seat b. One end of the third driving bevel gear a close to the connecting plate is connected with a third driving rotating shaft a with a through hole, the other end of the third driving rotating shaft a rotatably passes through the inner bottom end of the connecting seat b through a bearing, and rotatably passes through the second rotating shaft protection cylinder through a bearing, one end of the second rotating shaft protection cylinder is used for connecting with the bottom end of the connecting seat b, the other end of the second rotating shaft protection cylinder passes through one side of the connecting plate, and the outer wall of the second rotating shaft protection cylinder is fixedly connected with the connecting plate through bolts. One end of the third driving bevel gear b close to the side wall of the connecting seat b is connected with a rotating seat connecting shaft with a through hole, one end of the rotating seat connecting shaft rotatably passes through the connecting seat b through a bearing, and the other end of the rotating seat connecting shaft is arranged in the rotating seat. One end of the third driving bevel gear b close to the rotating seat connecting shaft is connected with a third driving rotating shaft b, the other end of the third driving rotating shaft b rotatably passes through the rotating seat connecting shaft through a bearing and is rotatably arranged in the rotating seat, and one end of the third driving rotating shaft b arranged in the cavity of the rotating seat is connected with the movable arm through a movable arm driving structure.

7. A multi-degree-of-freedom connection device for a robot according to claim 6, characterized in that The movable arm driving structure includes a movable arm bevel gear a and a movable arm bevel gear b, and the movable arm bevel gear a and the movable arm bevel gear b are rotatably meshed and arranged in the hollow cavity of the rotating seat. One end of the movable arm bevel gear a is used for connecting with one end of the third driving rotating shaft b arranged in the cavity of the rotating seat. One end of the movable arm bevel gear b close to the top surface of the rotating seat is connected with a movable arm rotating shaft with a through hole, the other end of the movable arm rotating shaft rotatably passes through the top end of the rotating seat through a bearing and is rotatably arranged in the hollow cavity of the movable arm through a bearing. One end of the movable arm connecting shaft close to the top surface of the rotating seat rotatably passes through the movable arm rotating shaft through a bearing, then passes through the top end of the movable arm through a bearing, and is rotatably arranged in the hollow cavity of the movable seat and is connected with the movable seat bevel gear a in the hollow cavity of the movable seat.

8. A multi-degree-of-freedom connection device for a robot according to claim 1, characterized in that, The adjusting structure includes an adjusting rotating shaft, the adjusting rotating shaft is used for being installed and connected on the movable adjusting fixing frame, and the movable adjusting fixing frame is used for being installed and connected in the adjusting seat. A first turbine is rotatably connected to the outer side of the top of the adjusting rotating shaft. The top end of the first turbine is connected to a first rotating movable cylinder. The first rotating movable cylinder is rotatably arranged on the outer wall of the adjusting rotating shaft. The top end of the first rotating movable cylinder is hinged to a first adjusting movable arm through a hinge seat. The other end of the first adjusting movable arm is hinged to the movable mounting disc seat through a hinge seat. A channel opening is formed at the top end of the adjusting seat. The movable mounting disc seat can movably pass through the channel opening. The first turbine meshes with a first worm. The other end of the first worm can rotatably pass through the movable adjusting fixing frame through a rotating shaft and rotatably pass through the side wall of the adjusting seat. The end is used for connection with the output end of the first turbine driving motor. The housing of the first turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

9. A multi-degree-of-freedom connection device for a robot according to claim 8, wherein A second turbine is arranged below the first turbine. The second turbine is rotatably installed and connected to the adjusting rotating shaft through a bearing and is arranged below the first turbine. The top end of the second turbine is connected to a second rotating movable cylinder. The second rotating movable cylinder is rotatably arranged on the outer wall of the first rotating movable cylinder. The top end of the second rotating movable cylinder is hinged to a second adjusting movable arm through a hinge seat. The other end of the second adjusting movable arm is hinged to the movable mounting disc seat through a hinge seat. The second turbine meshes with a second worm. The other end of the second worm can rotatably pass through the movable adjusting fixing frame through a rotating shaft and rotatably pass through the side wall of the adjusting seat. The end is used for connection with the output end of the second turbine driving motor. The housing of the second turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

10. The multi-degree-of-freedom connection device for a robot according to claim 9, wherein, A third turbine is arranged below the second turbine. The third turbine is rotatably installed and connected to the adjusting rotating shaft through a bearing and is arranged below the second turbine. The top end of the third turbine is connected to a third rotating movable cylinder. The third rotating movable cylinder is rotatably arranged on the outer wall of the second rotating movable cylinder. The top end of the third rotating movable cylinder is hinged to a third adjusting movable arm through a hinge seat. The other end of the third adjusting movable arm is hinged to the movable mounting disc seat through a hinge seat. The third turbine meshes with a third worm. The other end of the third worm can rotatably pass through the movable adjusting fixing frame through a rotating shaft and rotatably pass through the side wall of the adjusting seat. The end is used for connection with the output end of the third turbine driving motor. The housing of the third turbine driving motor is fixedly connected to the outer wall of the adjusting seat through bolts.

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