Elbow joint assembly and robotic arm

Abstract

This invention discloses an elbow joint assembly and a robotic arm, belonging to the field of robotic arm joint structure technology. It includes an elbow joint base and an elbow joint drive unit. An elbow joint frame and an elbow joint assembly are mounted on the elbow joint base. The elbow joint assembly is connected to the elbow joint frame, the elbow joint frame is connected to the upper end assembly of the robotic arm, the elbow joint assembly is connected to the lower end assembly of the robotic arm, and the elbow joint assembly is connected to the elbow joint drive unit. This invention, using the aforementioned elbow joint assembly and robotic arm, achieves the transmission or output of motion parameters for high-load, high-precision targets through a clever transmission chain structure design.

Description

Technical Field

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

[0002] As the core motion joint of a humanoid robot arm, the elbow joint has a spatial one-degree-of-freedom motion characteristic, enabling the flexion and extension movements of the robot arm. It directly determines the robot arm's motion flexibility, operational accuracy, and load capacity, and is a core key component of heavy-duty industrial robots, service robots, and special-operation robots.

[0003] Currently, the transmission chain design of existing robotic arm elbow joint assemblies generally suffers from technical shortcomings. Most elbow joint transmission structures have simple configurations, insufficient transmission chain stiffness, and poor power transmission stability. In actual operation, traditional elbow 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. Summary of the Invention

[0004] The purpose of this invention is to provide an elbow joint assembly and a robotic arm. Through a clever transmission chain structure design, the elbow joint assembly 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.

[0005] To achieve the above objectives, the present invention provides an elbow joint assembly, including an elbow joint base and an elbow joint drive unit. An elbow joint frame and an elbow joint component are disposed on the elbow joint base. The elbow joint component is connected to the elbow joint frame. The elbow joint frame is connected to the upper end assembly of the robotic arm. The elbow joint component is connected to the lower end assembly of the robotic arm. The elbow joint component is connected to the elbow joint drive unit. The elbow joint drive unit is connected to the elbow joint frame.

[0006] Preferably, the elbow joint assembly includes an elbow joint flexion and extension dual rocker mechanism, the fixed end of the elbow joint drive unit is connected to the elbow joint frame, and the output end of the elbow joint drive unit is connected to the elbow joint flexion and extension dual rocker mechanism.

[0007] Preferably, the elbow flexion-extension dual rocker mechanism includes an elbow flexion-extension dual rocker mechanism frame, an active rocker arm, a connecting rod, and a driven rocker arm. The elbow flexion-extension dual rocker mechanism frame is composed of an elbow joint frame. The frame is connected to both the active and driven rockers of the elbow flexion-extension dual rocker mechanism. The connecting rod is connected to both the active and driven rockers of the elbow flexion-extension dual rocker mechanism. The driven rocker arm is connected to the lower end assembly of the robotic arm.

[0008] Preferably, the elbow joint frame includes multiple skeleton supports, which are fixedly connected to each other to form a spatial triangular truss structure.

[0009] Preferably, the frame support adopts a hollow structure.

[0010] A robotic arm, including an elbow joint assembly.

[0011] Therefore, the present invention adopts the above-mentioned elbow joint assembly and robotic arm, and through the ingenious transmission chain structure design, realizes the transmission or output of motion parameters of large load and high precision target by the elbow joint assembly of the humanoid robot robotic arm, thus empowering the application of robotic arms and robots in engineering fields with large load and high precision.

[0012] 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

[0013] Figure 1 This is a schematic diagram of the overall structure of the elbow joint assembly in this invention; Figure 2 This is a schematic diagram of the specific structure of the elbow joint assembly in this invention; Figure 3 This is a simplified diagram of the movement of the robotic arm retracting and swinging outward around the elbow joint assembly in this invention.

[0014] Figure Labels 1. Elbow joint base; 11. Elbow joint frame; 12. Elbow joint assembly; 121. Elbow joint flexion and extension dual rocker mechanism; 1211. Elbow joint flexion and extension dual rocker mechanism frame; 1212. Elbow joint flexion and extension dual rocker mechanism active rocker; 1213. Elbow joint flexion and extension dual rocker mechanism connecting rod; 1214. Elbow joint flexion and extension dual rocker mechanism driven rocker; 2. Elbow joint drive unit. Detailed Implementation

[0015] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] 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.

[0017] Example 1 like Figures 1-3 As shown, an elbow joint assembly and a robotic arm include an elbow joint base 1 and an elbow joint drive unit 2. An elbow joint frame 11 and an elbow joint assembly 12 are provided on the elbow joint base 1. The elbow joint frame 11 is connected to the upper end assembly of the robotic arm through a slewing bearing. The elbow joint assembly 12 is connected to the lower end assembly of the robotic arm. The elbow joint assembly 12 is connected to the elbow joint drive unit 2. The elbow joint drive unit 2 is connected to the elbow joint frame 11.

[0018] The elbow joint assembly 12 includes an elbow joint flexion and extension dual rocker mechanism 121. The fixed end of the elbow joint drive unit 2 is connected to the elbow joint frame 11, and the output end of the elbow joint drive unit 2 is connected to the elbow joint flexion and extension dual rocker mechanism 121.

[0019] The elbow flexion-extension dual rocker mechanism 121 includes an elbow flexion-extension dual rocker mechanism frame 1211, an active rocker arm 1212, a connecting rod 1213, and a driven rocker arm 1214. The elbow flexion-extension dual rocker mechanism frame 1211 is formed by the elbow joint frame 11. One end of the active rocker arm 1212 is hinged to one end of the frame 1211, and the other end is hinged to one end of the connecting rod 1213. The other end of the connecting rod 1213 is hinged to the driven rocker arm 1214, and the other end of the driven rocker arm 1214 is hinged to the frame 1211. The output end of the elbow joint drive unit 2 is hinged to the active rocker arm 1212 of the elbow joint flexion and extension dual rocker mechanism, and the fixed end of the elbow joint drive unit 2 is hinged to the elbow joint frame 11.

[0020] The motion of the output end of the drive unit 2 is converted into the outward and inward motion of the forearm by the elbow joint flexion and extension double rocker mechanism 121.

[0021] The elbow joint frame consists of multiple skeleton supports, which are fixedly connected to each other to form a spatial triangular truss skeleton structure, and the skeleton supports adopt a hollow structure.

[0022] Example 2 A robotic arm includes an elbow joint assembly as described in one embodiment, wherein the elbow joint frame 11 of the elbow joint assembly is connected and fixed to the upper end assembly of the robotic arm, and the elbow joint flexion and extension dual rocker mechanism is movably connected to the lower end assembly of the robotic arm.

[0023] This invention provides an elbow joint assembly and a robotic arm. Through a clever transmission chain structure design, the elbow joint assembly of the humanoid robot robotic 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.

[0024] 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. An elbow joint assembly, characterized in that: The device includes an elbow joint base and an elbow joint drive unit. An elbow joint frame and an elbow joint assembly are mounted on the elbow joint base. The elbow joint assembly is connected to the elbow joint frame. The elbow joint frame is connected to the upper end assembly of the robotic arm. The elbow joint assembly is connected to the lower end assembly of the robotic arm. The elbow joint assembly is connected to the elbow joint drive unit. The elbow joint drive unit is connected to the elbow joint frame.

2. The elbow joint assembly according to claim 1, characterized in that: The elbow joint assembly includes a dual rocker arm mechanism for elbow flexion and extension. The fixed end of the elbow joint drive unit is connected to the elbow joint frame, and the output end of the elbow joint drive unit is connected to the dual rocker arm mechanism for elbow flexion and extension.

3. An elbow joint assembly according to claim 2, characterized in that: The elbow flexion-extension dual rocker mechanism includes an elbow flexion-extension dual rocker mechanism frame, an active rocker arm, a connecting rod, and a driven rocker arm. The elbow flexion-extension dual rocker mechanism frame is formed by the elbow joint frame. The frame is connected to both the active and driven rockers of the elbow flexion-extension dual rocker mechanism. The connecting rod is connected to both the active and driven rockers of the elbow flexion-extension dual rocker mechanism. The driven rocker arm is connected to the lower end assembly of the robotic arm.

4. The elbow joint assembly according to claim 1, characterized in that: The elbow joint frame includes multiple skeleton supports, which are fixedly connected to each other to form a spatial triangular truss skeleton structure.

5. The elbow joint assembly and robotic arm according to claim 4, characterized in that: The skeletal support structure is hollow.

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

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