Shoulder joint assembly and robot arm

Abstract

The application discloses a shoulder joint assembly and a mechanical arm, and belongs to the technical field of robot arm joint structures. The shoulder joint assembly comprises a shoulder joint base body and a driving unit. The shoulder joint base body is provided with a shoulder joint rack and a shoulder joint assembly. The shoulder joint assembly is connected with the shoulder joint rack. The shoulder joint assembly is connected with a lower end assembly of the mechanical arm. The shoulder joint assembly is connected with the driving unit. The shoulder joint assembly and the mechanical arm are adopted. Through the ingenious transmission chain structure design, the transmission or output of the target action parameters of the robot mechanical arm shoulder joint mechanism to the large load and high precision is realized.

Description

Technical Field

[0001] This invention relates to the field of robotic arm joint structure technology, and in particular to a shoulder joint assembly and a robotic arm. Background Technology

[0002] The shoulder joint, as the core motion joint of the humanoid robot arm, has three degrees of freedom in space, enabling the arm to flex, extend, retract, and rotate. It directly determines the arm's motion flexibility, operational accuracy, and load capacity, making it a core component of heavy-duty industrial robotic arms, service robots, and special-purpose robots.

[0003] Currently, the transmission chain design of existing robotic arm shoulder joint mechanisms generally suffers from technical shortcomings. Most shoulder joint transmission structures have simple configurations, insufficient transmission chain stiffness, and poor power transmission stability. In actual operation, traditional shoulder joints struggle to simultaneously meet the core requirements of heavy load bearing and high-precision motion output. When the robotic arm bears a large workload, the transmission structure is prone to deformation, backlash deviations, and power loss, leading to distortion of joint motion parameter transmission, a significant decrease in end-effector pose accuracy, and an inability to accurately complete the preset target movements.

[0004] Meanwhile, the existing shoulder joint transmission system has an unreasonable structural layout and serious multi-degree-of-freedom motion coupling interference, which further reduces the motion control accuracy and operational stability of the robotic arm's shoulder joint. This greatly limits the application scenarios and operational reliability of the robotic arm under heavy-load and high-precision working conditions, making it difficult to adapt to the development needs of industrial automation, special operations and other fields for efficient, precise and heavy-load operation of robotic arms. Summary of the Invention

[0005] The purpose of this invention is to provide a shoulder joint assembly and a robotic arm. Through a clever transmission chain structure design, the shoulder joint mechanism of the humanoid robot arm can transmit or output motion parameters of high-load, high-precision targets, thus enabling the application of robotic arms and robots in engineering fields with high load and high precision.

[0006] To achieve the above objectives, the present invention provides a shoulder joint assembly, including a shoulder joint base and a drive unit. The shoulder joint base is provided with a shoulder joint frame and a shoulder joint component. The shoulder joint component is connected to the shoulder joint frame and connected to the lower end assembly of a robotic arm. The shoulder joint component is connected to the drive unit and the drive unit is connected to the shoulder joint frame.

[0007] Preferably, the shoulder joint assembly includes a shoulder joint flexion-extension dual rocker mechanism and a shoulder joint rotation bearing; the drive unit includes a first drive unit; the output end of the first drive unit is connected to the shoulder joint flexion-extension dual rocker mechanism, and the first drive unit is connected to the shoulder joint frame; the outer ring of the shoulder joint rotation bearing is connected to the shoulder joint frame, and the shoulder joint flexion-extension dual rocker mechanism is connected to the inner ring of the shoulder joint rotation bearing.

[0008] Preferably, the shoulder joint flexion-extension dual rocker mechanism includes a frame, a main rocker arm, a connecting rod, and a driven rocker arm. The frame is formed by the shoulder joint flexion-extension dual rocker mechanism and is connected to both the main rocker arm and the driven rocker arm. The main rocker arm is connected to the output end of the first drive unit. The main rocker arm is connected to the connecting rod, and the connecting rod is connected to the driven rocker arm. The driven rocker arm is connected to the inner ring of the shoulder joint slewing bearing.

[0009] Preferably, the shoulder joint assembly further includes a shoulder joint skeleton and a shoulder joint abduction and adduction dual rocker mechanism; the drive unit further includes a second drive unit; the shoulder joint skeleton is connected to the inner ring of the shoulder joint slewing bearing, the second drive unit is connected to the shoulder joint skeleton, and the output end of the second drive unit is connected to the shoulder joint abduction and adduction dual rocker mechanism.

[0010] Preferably, the shoulder joint abduction and adduction dual rocker mechanism includes a frame, a primary rocker arm, a connecting rod, and a secondary rocker arm. The frame is formed by the shoulder joint abduction and adduction dual rocker mechanism. The primary rocker arm is connected to the output end of the second drive unit. The primary rocker arm is connected to both the connecting rod and the frame. The connecting rod is connected to both the primary and secondary rocker arms. The secondary rocker arm is connected to the frame.

[0011] A robotic arm, including a shoulder joint assembly.

[0012] Therefore, the present invention adopts the above-mentioned shoulder joint assembly and robotic arm, and through the ingenious transmission chain structure design, realizes the transmission or output of high-load, high-precision target motion parameters of the shoulder joint mechanism of the humanoid robot robotic arm, empowering the application of robotic arms and robots in engineering fields with high load and high precision.

[0013] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the shoulder joint assembly in this invention; Figure 2 This is a schematic diagram of the specific structure of the shoulder joint assembly in this invention; Figure 3 This is a simplified diagram of the flexion and extension motion of the robotic arm around the shoulder joint in this invention; Figure 4 This is a simplified diagram of the abduction and adduction motion of the robotic arm around the shoulder joint in this invention.

[0015] Figure Labels 1. Shoulder joint base; 11. Shoulder joint frame; 12. Shoulder joint assembly; 121. Shoulder joint flexion and extension dual-rocker mechanism; 122. Shoulder joint rotary bearing; 123. Shoulder joint skeleton; 124. Shoulder joint abduction and adduction dual-rocker mechanism; 1211. Shoulder joint flexion and extension dual-rocker mechanism active rocker; 1212. Shoulder joint flexion and extension dual-rocker mechanism connecting rod; 1213. Shoulder joint flexion and extension dual-rocker mechanism driven rocker; 1241. Shoulder joint abduction and adduction dual-rocker mechanism active rocker; 1242. Shoulder joint abduction and adduction dual-rocker mechanism frame; 1243. Shoulder joint abduction and adduction dual-rocker mechanism connecting rod; 1244. Shoulder joint abduction and adduction dual-rocker mechanism driven rocker; 2. Drive unit; 21. First drive unit; 22. Second drive unit. Detailed Implementation

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0018] Example 1 like Figures 1-4 As shown, a shoulder joint assembly includes a shoulder joint base 1 and a drive unit 2. The shoulder joint base 1 is provided with a shoulder joint frame 11 and a shoulder joint component 12. The shoulder joint component 12 is fixedly connected to the shoulder joint frame 11 through the outer ring of the shoulder joint slewing bearing 122. The shoulder joint component 12 is connected to the lower end assembly of the robotic arm and to the drive unit 2. The drive unit 2 provides driving force for the movement of the shoulder joint component 12, realizing the transmission or output of motion parameters of high-load, high-precision targets by the shoulder joint assembly.

[0019] The shoulder joint assembly 12 includes a shoulder joint flexion and extension dual rocker mechanism 121 and a shoulder joint slewing bearing 122. The first drive unit 21 is fixed on the shoulder joint frame 11. The motion output end of the first drive unit 21 is connected to the shoulder joint flexion and extension dual rocker mechanism 121. The motion parameters of the shoulder joint flexion and extension dual rocker mechanism 121 are controlled by controlling the motion parameters of the first drive unit 21.

[0020] The shoulder joint flexion and extension dual rocker mechanism 121 includes a primary rocker arm 1211 for the shoulder joint flexion and extension dual rocker mechanism. One end of the primary rocker arm 1211 is hinged to the motion output end of the first drive unit 21. The other end of the primary rocker arm 1211 is hinged to a connecting rod 1212 for the shoulder joint flexion and extension dual rocker mechanism. The other end of the connecting rod 1212 is hinged to a secondary rocker arm 1213 for the shoulder joint flexion and extension dual rocker mechanism. The other end of the secondary rocker arm 1213 is fixedly connected to the inner ring of the shoulder joint slewing bearing 122. The outer ring of the shoulder joint slewing bearing 122 is fixedly connected to the shoulder joint frame 11.

[0021] The shoulder joint assembly 12 also includes a shoulder joint skeleton 123 and a shoulder joint abduction and adduction dual rocker mechanism 124. The shoulder joint skeleton 123 is fixedly connected to the inner ring of the shoulder joint slewing bearing 122. The shoulder joint skeleton 123 is hinged to the second drive unit 22. The motion output end of the second drive unit 22 is hinged to the shoulder joint abduction and adduction dual rocker mechanism 124. The motion parameters of the shoulder joint abduction and adduction dual rocker mechanism 124 are controlled by controlling the motion parameters of the second drive unit 22.

[0022] The shoulder joint abduction and adduction dual rocker mechanism 124 includes a primary rocker arm 1241, a frame 1242, a connecting rod 1243, and a secondary rocker arm 1244. The primary rocker arm 1241 is hinged to the motion output end of the second drive unit 22, and one end of the primary rocker arm 1241 is hinged to the second drive unit 22. The mechanism includes a frame 1242 for a shoulder joint abduction and adduction double rocker mechanism. The other end of the active rocker 1241 of the shoulder joint abduction and adduction double rocker mechanism is hinged to a connecting rod 1243 of the shoulder joint abduction and adduction double rocker mechanism. The other end of the connecting rod 1243 of the shoulder joint abduction and adduction double rocker mechanism is hinged to a driven rocker 1244 of the shoulder joint abduction and adduction double rocker mechanism. The other end of the driven rocker 1244 of the shoulder joint abduction and adduction double rocker mechanism is hinged to the other end of the frame 1242 of the shoulder joint abduction and adduction double rocker mechanism.

[0023] The motion at the output end of the first drive unit 21 pushes or pulls the shoulder joint flexion and extension double rocker mechanism 121. The motion at the output end of the first drive unit 21 is converted into the rotational motion of the shoulder joint skeleton 123 around the axis through the shoulder joint flexion and extension double rocker mechanism 121, thereby realizing the flexion and extension motion of the entire robotic arm around the shoulder joint.

[0024] The motion at the output end of the second drive unit 22 pushes or pulls the shoulder joint abduction and adduction double rocker mechanism 124, thereby converting the motion at the output end of the second drive unit 22 into the abduction and adduction motion of the robotic arm through the shoulder joint abduction and adduction double rocker mechanism 124.

[0025] Example 2 A robotic arm includes the shoulder joint assembly as described in Embodiment 1, and the shoulder joint assembly is fixedly connected to the robotic arm frame. The moving end of the shoulder joint assembly is connected to other assemblies of the robotic arm, wherein the number of shoulder joint assemblies is at least one.

[0026] This invention provides a shoulder joint assembly and a robotic arm. Through a clever transmission chain structure design, the shoulder joint mechanism of the humanoid robot arm can transmit or output motion parameters of high-load, high-precision targets, enabling the application of robotic arms and robots in engineering fields with high load and high precision.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A shoulder joint assembly, characterized in that: The device includes a shoulder joint base and a drive unit. The shoulder joint base is provided with a shoulder joint frame and a shoulder joint assembly. The shoulder joint assembly is connected to the shoulder joint frame and connected to the lower end assembly of the robotic arm. The shoulder joint assembly is connected to the drive unit and the drive unit is connected to the shoulder joint frame.

2. A shoulder joint assembly according to claim 1, characterized in that: The shoulder joint assembly includes a shoulder joint flexion-extension dual rocker mechanism and a shoulder joint rotation bearing; the drive unit includes a first drive unit; the output end of the first drive unit is connected to the shoulder joint flexion-extension dual rocker mechanism, and the first drive unit is connected to the shoulder joint frame; the outer ring of the shoulder joint rotation bearing is connected to the shoulder joint frame, and the shoulder joint flexion-extension dual rocker mechanism is connected to the inner ring of the shoulder joint rotation bearing.

3. A shoulder joint assembly according to claim 2, characterized in that: The shoulder joint flexion-extension dual rocker mechanism includes a frame, a main rocker arm, a connecting rod, and a driven rocker arm. The frame is constructed from the shoulder joint flexion-extension dual rocker mechanism frame and is connected to both the main rocker arm and the driven rocker arm. The main rocker arm is connected to the output end of the first drive unit. The main rocker arm is connected to the connecting rod, and the connecting rod is connected to the driven rocker arm. The driven rocker arm is connected to the inner ring of the shoulder joint slewing bearing.

4. A shoulder joint assembly according to claim 1, characterized in that: The shoulder joint assembly further includes a shoulder joint skeleton and a shoulder joint abduction and adduction dual rocker mechanism; the drive unit further includes a second drive unit; the shoulder joint skeleton is connected to the inner ring of the shoulder joint slewing bearing, the second drive unit is connected to the shoulder joint skeleton, and the output end of the second drive unit is connected to the shoulder joint abduction and adduction dual rocker mechanism.

5. A shoulder joint assembly according to claim 4, characterized in that: The shoulder joint abduction and adduction dual rocker mechanism includes a frame, a main rocker arm, a connecting rod, and a driven rocker arm. The frame is constructed from the shoulder joint abduction and adduction dual rocker mechanism frame. The main rocker arm is connected to the output end of the second drive unit. The main rocker arm is connected to both the connecting rod and the frame. The connecting rod is connected to both the main rocker arm and the driven rocker arm. The driven rocker arm is connected to the frame.

6. A robotic arm, characterized in that: Includes the shoulder joint assembly as described in any one of claims 1-5.

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