Double-arm structure of mechanical arm and robot

Abstract

The utility model provides a double-arm structure of a mechanical arm and a robot. The mechanical arm double-arm structure comprises a first mechanical arm, and the first mechanical arm comprises a shoulder joint structure, an elbow joint structure and a wrist joint structure which are connected in sequence; the second mechanical arm comprises a plurality of joint structures connected in sequence, each joint structure comprises a main body part, a connecting part and a plurality of sets of connecting rod assemblies located between the main body part and the connecting part, each connecting rod assembly comprises a plurality of sub-connecting rods rotationally connected in sequence, and the connecting rod assemblies are rotationally connected with the main body parts and the connecting parts; and the rotating axis between the connecting rod assembly and the main body part, the rotating axis between the connecting rod assembly and the connecting part and the rotating axis between the sub-connecting rods intersect at one point, so that the flexibility of the second mechanical arm is higher than that of the first mechanical arm. The problem that a robot in the prior art cannot be matched with different working conditions of two arm actions is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechanical arm double-arm structure and a robot. Background Art

[0002] Existing robots generally use two identical mechanical arms. Although this structural form is relatively simple, in actual application, the left and right arms perform different actions in some cases, similar to the dominant hand of the human body. For example, in the application scenario of screwing, one hand is generally used for fixing, and the other hand is used for the specific operation of screwing. This requires that the fixing hand needs a stronger load capacity, while the screwing hand has higher accuracy and flexibility. Therefore, the dual-arm structure of traditional robots is not anthropomorphic enough, resulting in shortcomings in operations, either weak load capacity or poor flexibility. The two arms cannot fully match different action requirements, resulting in the actual working conditions of the robot not reaching the optimal state. Utility Model Content

[0003] The main purpose of the utility model is to provide a mechanical arm double-arm structure and a robot, so as to solve the problem that the robot in the prior art cannot match the working conditions with different movements of the two arms.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a dual-arm structure of a robotic arm is provided, comprising: a first robotic arm, the first robotic arm comprising a shoulder joint structure, an elbow joint structure and a wrist joint structure connected in sequence; a second robotic arm, the second robotic arm comprising a plurality of joint structures connected in sequence, and the joint structure comprises a main body, a connecting part and a plurality of groups of connecting rod assemblies located between the main body and the connecting part, the connecting rod assembly comprising a plurality of sub-connecting rods rotatably connected in sequence, the connecting rod assembly can be rotatably connected to the main body and the connecting part, the rotation axis between the connecting rod assembly and the main body, the rotation axis between the connecting rod assembly and the connecting part, and the rotation axis between the sub-connecting rods intersect at one point, so that the flexibility of the second robotic arm is higher than that of the first robotic arm.

[0005] Furthermore, the rotation axis between each connecting rod assembly and the main body is arranged to coincide with each other, and the joint structure also includes a driving member, which is located in the main body and is drivingly connected to all the connecting rod assemblies. The driving member drives each connecting rod assembly to move to drive the connecting part to rotate.

[0006] Furthermore, the connection points between each connecting rod assembly and the connecting part are arranged at intervals along the circumference of the connecting part, and the rotation axis between each connecting rod assembly and the connecting part extends radially along the connecting part; and / or the rotation axis between each sub-connecting rod is arranged obliquely relative to the geometric axis of the main body.

[0007] Further, the shoulder joint structure includes: a mounting frame; an output frame, which is movably arranged relative to the mounting frame and is connected to the elbow joint structure; a self-rotation driving member, which is drivingly connected to the output frame and drives the output frame to rotate along the length extension direction of the first mechanical arm; a first swing driving member; a second swing driving member, the output ends of the first swing driving member and the second swing driving member both have a first transmission structure, the output frame has a second transmission structure, and the two first transmission structures are simultaneously coordinated with the second transmission structure, the first swing driving member and the second swing driving member move in the same direction or in opposite directions and drive the output frame to swing.

[0008] Furthermore, the self-rotation driving member, the first swing driving member and the second swing driving member are all arranged on the mounting frame, the first transmission structure and the second transmission structure are bevel gears, and the output frame swings around the rotation axis of the second transmission structure when swinging, and the output end of the self-rotation driving member is rotatably connected to the output frame, and the rotation axis therebetween is parallel to the rotation axis of the swinging of the output frame and forms an angle with the rotation axis of the self-rotation of the output frame.

[0009] Furthermore, the elbow joint structure includes: a first connecting arm, which is connected to the shoulder joint structure and moves driven by the shoulder joint structure; a second connecting arm, which is movably arranged relative to the first connecting arm; a connecting rod, whose two ends are rotatably connected to the first connecting arm and the second connecting arm respectively; an eccentric connecting rod, whose two ends are rotatably connected to the first connecting arm and the second connecting arm respectively, and the connection point of the eccentric connecting rod and the first connecting arm is eccentrically arranged relative to the connection point of the connecting rod and the first connecting arm; a linear drive mechanism, which is rotatably connected to the first connecting arm and the second connecting arm, and drives the relative movement of the first connecting arm and the second connecting arm.

[0010] Furthermore, the first connecting arm and the second connecting arm have an arc-shaped end, the connecting rod and the eccentric connecting rod are both located at the arc-shaped end, and are located at two opposite side surfaces of the arc-shaped end, the two connection points of the connecting rod and the first connecting arm and the second connecting arm are located at the arc center of the arc-shaped end, the connection point of the eccentric connecting rod and the first connecting arm is located at the arc edge of the arc-shaped end, and the connection point of the eccentric connecting rod and the second connecting arm is located at the arc center of the arc-shaped end.

[0011] Furthermore, the wrist joint structure includes: a main frame, which is connected to the elbow joint structure and moves driven by the elbow joint structure; a docking piece, which is movably arranged relative to the main frame; an adapter assembly, which is rotatably connected to the main frame and the docking piece, and the adapter assembly includes a plurality of adapters that are rotatably connected in sequence and whose rotation axes form an angle; at least two linear drive members, which are rotatably connected to the adapter assembly, and the linear drive members move synchronously or asynchronously and drive the docking piece to flip in different directions.

[0012] Furthermore, all adapters include: a first adapter, which is rotatably arranged on the main frame; a second adapter, which is rotatably arranged on the first adapter, and the rotation axis between the first adapter and the main frame is perpendicular to the rotation axis between the second adapter and the first adapter, and the second adapter is connected to the docking member; a third adapter, which is rotatably connected to the second adapter and the linear drive, and the rotation axis between the third adapter and the second adapter is perpendicular to the rotation axis between the linear drive and the second adapter.

[0013] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned mechanical arm double-arm structure.

[0014] The technical solution of the utility model is applied, by providing two mechanical arms, a first mechanical arm and a second mechanical arm, and the body structures of the two mechanical arms are different. Specifically, the first mechanical arm adopts a structural form in which a shoulder joint structure, an elbow joint structure and a wrist joint structure are combined, so that the first mechanical arm can perform various actions with the cooperation of the shoulder joint structure, the elbow joint structure and the wrist joint structure. Based on the structural characteristics of the shoulder joint structure, the elbow joint structure and the wrist joint structure, the first mechanical arm has a high load-bearing capacity itself, so that it can better perform related actions such as bearing, receiving force and applying force. The second mechanical arm is formed by superimposing joint structures. Since the joint structure adopts a structural form in which a main body, a connecting rod assembly and a connecting part are coordinated, the joint structure has a high degree of freedom, and then the second mechanical arm formed by it forms a super-redundant structure. The second mechanical arm has a high degree of freedom, so that it can perform various actions more smoothly and meet the execution requirements of various complex actions. In this way, the first robotic arm and the second robotic arm cooperate with each other, the first robotic arm tends to carry capacity, and the second robotic arm tends to be flexible, so that the two robotic arms can adapt to different usage conditions respectively, and then the robotic arm double-arm structure can better perform various tasks with different double-arm movements, thereby improving adaptability to different working conditions. At the same time, when programming the robotic arm, the programming difficulty is reduced to a certain extent due to the high adaptability of the robotic arm to its movements, thereby reducing the difficulty of design and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of the structure of the dual-arm structure of the mechanical arm of the utility model is shown;

[0017] Figure 2 Shows Figure 1A schematic diagram of the structure from another perspective;

[0018] Figure 3 Shows Figure 1 A schematic diagram of the structure from another perspective.

[0019] The above drawings include the following reference numerals:

[0020] 10. First robotic arm; 11. Shoulder joint structure; 111. Mounting frame; 112. Output frame; 113. Self-rotation drive member; 114. First swing drive member; 115. Second swing drive member; 12. Elbow joint structure; 121. First connecting arm; 122. Second connecting arm; 123. Connecting rod; 124. Eccentric connecting rod; 125. Linear drive mechanism; 13. Wrist joint structure; 131. Main frame; 132. Docking member; 133. Adapter assembly; 134. Linear drive member; 20. Second robotic arm; 21. Joint structure; 211. Main body; 212. Connecting part; 213. Connecting rod assembly. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0023] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0024] In order to solve the problem that the robot in the prior art cannot match the working conditions of two arms with different movements, the utility model provides a mechanical arm double-arm structure and a robot. Among them, the robot has the following mechanical arm double-arm structure.

[0025] like Figures 1 to 3A dual-arm structure of a robotic arm is shown, comprising a first robotic arm 10 and a second robotic arm 20, wherein the first robotic arm 10 comprises a shoulder joint structure 11, an elbow joint structure 12 and a wrist joint structure 13 connected in sequence; the second robotic arm 20 comprises a plurality of joint structures 21 connected in sequence, and the joint structure 21 comprises a main body 211, a connecting part 212 and a plurality of connecting rod assemblies 213 located between the main body 211 and the connecting part 212, the connecting rod assembly 213 comprises a plurality of sub-connecting rods rotatably connected in sequence, the connecting rod assembly 213 and the main body 211 and the connecting part 212 are rotatably connected, the rotation axis between the connecting rod assembly 213 and the main body 211, the rotation axis between the connecting rod assembly 213 and the connecting part 212, and the rotation axis between the sub-connecting rods intersect at one point, so that the flexibility of the second robotic arm 20 is higher than that of the first robotic arm 10.

[0026] In this embodiment, two robotic arms, a first robotic arm 10 and a second robotic arm 20, are provided, and the body structures of the two robotic arms are different. Specifically, the first robotic arm 10 adopts a structural form in which a shoulder joint structure 11, an elbow joint structure 12 and a wrist joint structure 13 are combined, so that the first robotic arm 10 can perform various actions with the cooperation of the shoulder joint structure 11, the elbow joint structure 12 and the wrist joint structure 13. Based on the structural characteristics of the shoulder joint structure 11, the elbow joint structure 12 and the wrist joint structure 13, the first robotic arm 10 has a high load-bearing capacity, so that it can better perform related actions such as bearing, receiving and applying force. The second robotic arm 20 is formed by superimposing a joint structure 21. Since the joint structure 21 adopts a structural form in which a main body 211, a connecting rod assembly 213 and a connecting part 212 are matched, the joint structure 21 has a high degree of freedom, and thus the second robotic arm 20 formed by it forms a super-redundant structure. The second robotic arm 20 has a high degree of freedom, so that it can perform various actions more smoothly and meet the execution requirements of various complex actions. In this way, the first robotic arm 10 and the second robotic arm 20 cooperate with each other, the first robotic arm 10 tends to carry capacity, and the second robotic arm 20 tends to be flexible, so that the two robotic arms can adapt to different usage conditions respectively, and then the robotic arm double-arm structure can better perform various tasks with different double-arm movements, improve adaptability to different working conditions, and at the same time, when programming the robotic arm, due to the high adaptability of the robotic arm to its movements, the programming difficulty is also reduced to a certain extent, reducing the difficulty of design and use.

[0027] In this embodiment, the super redundant structure of the second robot arm 20 essentially means that the second robot arm 20 has a large number of redundant degrees of freedom, so that the second robot arm 20 is extremely flexible. The reason for this effect is that the design of the joint structure 21 makes it have a high degree of freedom, and multiple joint structures 21 are superimposed to form a large number of redundant degrees of freedom, forming a super redundant structure. The second robot arm 20 formed by the above-mentioned joint structure 21 forms a parallel mechanism. Compared with the traditional series mechanism, it has the advantages of no cumulative error, high precision, compact structure, high rigidity, large load-bearing capacity, and can reduce the moment of inertia of the end. In addition, the driving components of the parallel mechanism can be placed on a fixed platform or close to the fixed platform, so as to have a better dynamic response, and the completely symmetrical parallel mechanism also has good isotropy.

[0028] It should be noted that, in this embodiment, the rotation axis between the connecting rod assembly 213 and the main body 211, the rotation axis between the connecting rod assembly 213 and the connecting part 212, and the rotation axis between each sub-connecting rod intersect at the same point. In this way, the intersection point is substantially equivalent to the center position of the joint ball in the ball joint structure, so that the connecting part 212 can rotate freely 360 degrees in any direction around the intersection point, thereby enabling the joint structure 21 of this embodiment to achieve 360-degree rotation like the ball joint structure 21.

[0029] In this embodiment, the rotation axis between each connecting rod assembly 213 and the main body 211 is arranged to overlap, so that the connecting rod assembly 213 is connected to the same place of the main body 211, and the rotation axis between the connecting rod assembly 213 and the main body 211 is set at the geometric axis of the main body 211. Since the main body 211 of this embodiment is cylindrical, a through hole is opened at the center position of the main body 211, and one end of the connecting rod assembly 213 is located at the through hole, and they are stacked in sequence along the axial direction of the main body 211. In this way, during installation, the installation of the connecting rod assembly 213 can be achieved by simultaneously passing a rotating shaft through three groups of connecting rod assemblies 213, and only one driving motor can be set for driving.

[0030] Specifically, from the installation aspect, the present embodiment provides a through hole at the geometric center of the main body 211, the axis of the through hole coincides with the geometric axis of the main body 211, the rotating shaft is passed through the through hole, and one end of each connecting rod assembly 213 is located at the through hole and stacked in sequence along the axis of the through hole. In this way, the rotating shaft can be passed through all the connecting rod assemblies 213 at the same time, realizing a unified connection between the connecting rod assembly 213 and the main body 211, which is convenient for installation and can ensure the consistency of rotation of the connecting rod assembly 213, so that it can move in the expected manner, thereby ensuring the reliability of the joint movement. From the driving aspect, the joint structure 21 of this embodiment also includes a driving member, which can be a driving motor and other components. Since the main body 211 of this embodiment is a cavity structure, the driving member can be accommodated in the main body 211, and the output shaft of the driving member can be used as the above-mentioned rotating shaft to pass through the through hole and be driven and connected to the connecting rod assembly 213. In this way, on the one hand, the driving member drives each connecting rod assembly 213 to move, thereby achieving the effect of driving the connecting part 212 to rotate. On the other hand, only one driving member can be provided, and one driving member can drive different connecting rod assemblies 213 to perform different movements through different transmission components or different structural dimensions, so as to cooperate with the rotation of the connecting part 212, so that one driving member can drive the joint structure 21 to move in the required form, thereby saving the number of driving members, reducing the cost and overall volume, reducing the radial size of the joint, and realizing anthropomorphic design to a large extent. Taking into account that the transmission assembly is more complicated when only one driving member is provided, the present embodiment adopts a method of providing three driving members, and the three driving assemblies are all arranged in the main body 211. At this time, the rotating shaft adopts three hollow shafts which are sleeved together, and the three hollow shafts are respectively driven and connected with the three connecting rod assemblies 213. At the same time, the three hollow shafts are respectively driven and connected with the three driving members, so that the three driving members respectively drive the corresponding connecting rod assemblies 213 to move through the corresponding hollow shafts. In this way, the complexity of the transmission structure caused by a single driving member and the possible restriction on the rotation of the connecting part 212 can be avoided, thereby ensuring the degree of freedom of the connecting part 212.

[0031] In this embodiment, the connecting portion 212 is in the shape of a disk, and the rotation axis between each connecting rod assembly 213 and the connecting portion 212 extends along the radial direction of the connecting portion 212, that is, the rotation axis between the connecting rod assembly 213 and the connecting portion 212 is perpendicular to the rotation axis between the connecting rod assembly 213 and the main body 211, thereby realizing the rotation of the connecting portion 212 in all directions. Different from the matching form between the connecting rod assembly 213 and the main body 211 described above, the connection position between the connecting rod assembly 213 and the connecting portion 212 in this embodiment is not at the same place, but at different positions, and the connection points between each connecting rod assembly 213 and the connecting portion 212 are arranged at intervals along the circumference of the connecting portion 212, so that, in combination with the radial extension of the rotation axis, the connecting portion 212 can rotate around the axis when rotating, thereby realizing 360-degree rotation in any direction.

[0032] In this embodiment, in order to cooperate with the two mutually perpendicular rotation axes formed by the aforementioned connecting rod assembly 213, the connecting portion 212 and the main body 211, the rotation axes between the sub-connecting rods are tilted relative to the geometric axis of the main body 211. In this way, the three rotation axes can cover the axial, radial and tilt directions of the main body 211, so that the rotation of the connecting portion 212 can fully cover all directions, thereby ensuring 360-degree rotation. Of course, the specific direction of the above-mentioned rotation axis can be adjusted accordingly as needed, and is not limited to the above-mentioned arrangement of this embodiment, as long as the 360-degree rotation of the connecting portion 212 can be achieved.

[0033] In this embodiment, three groups of connecting rod assemblies 213 are provided, and the three groups of connecting rod assemblies 213 are arranged at intervals along the circumference of the connecting portion 212. Of course, the specific number of connecting rod assemblies 213 can be adjusted accordingly as needed. The connecting rod assembly 213 of this embodiment includes two sub-connecting rods, and the two sub-connecting rods can be arranged in an arc shape, a broken line shape, or a combination of multiple shapes. In this embodiment, the sub-connecting rod connected to the main body 211 is arranged in a roughly L-shaped structure, and the top of the L-shaped structure is bent a short distance away from the intersection of the rotation axis, while the other sub-connecting rod connected to the connecting portion 212 is in an arc shape. In this way, the two sub-connecting rods are connected to each other and are respectively connected to the main body 211 and the connecting portion 212, thereby forming a joint structure 21, so that the connecting portion 212 can rotate 360 ​​degrees around the intersection. Of course, the specific structural form of the connecting rod assembly 213 is not limited to the above-mentioned setting method of this embodiment, and it can be adjusted accordingly as needed.

[0034] like Figure 2As shown, in this embodiment, the shoulder joint structure 11 includes a mounting frame 111, an output frame 112, a self-rotation driving member 113, a first swing driving member 114 and a second swing driving member 115. Among them, the mounting frame 111 is a main body, which can be installed on a component of the robot body as needed, and the output frame 112 is movably arranged relative to the mounting frame 111. The output frame 112 is connected to the elbow joint structure 12, thereby driving the elbow joint structure 12 and subsequent structures to move accordingly, so that the shoulder joint structure 11 can simulate a human shoulder joint. For the three driving members, namely, the self-rotation driving member 113, the first swing driving member 114 and the second swing driving member 115, motors are used in this embodiment, wherein the self-rotation driving member 113 is drivingly connected to the output frame 112, and drives the output frame 112 to rotate along the length extension direction of the first mechanical arm 10, that is, along the direction in which the output frame 112 is connected to the elbow joint structure 12, and the first swing driving member 114 and the second swing driving member 115 cooperate with each other, and the output ends of both have a first transmission structure. Correspondingly, the output frame 112 has a second transmission structure, and the two first transmission structures are simultaneously transmission-coordinated with the second transmission structure. When in use, by controlling the actions of the first swing driving member 114 and the second swing driving member 115, the first swing driving member 114 and the second swing driving member 115 are made to move in the same direction or in the opposite direction, that is, the first swing driving member 114 and the second swing driving member 115 move in the same direction or in the opposite direction to each other, thereby forming a differential structure, and then the second transmission structure drives the output frame 112 to swing in two different orthogonal directions.

[0035] In this embodiment, the rotation driving member 113, the first swing driving member 114, and the second swing driving member 115 are all arranged on the mounting frame 111. In this way, there is no series connection relationship among the three driving members, and the three are installed independently, so as to avoid the situation of large inertia caused by their series connection, and the inertia is greatly reduced. In this embodiment, the axis of the rotation driving member 113 coincides with the rotation axis of the output frame 112, and the two swing driving members are located on opposite sides. More specifically, the mounting frame 111 forms a C-shaped structure, the output frame 112 is located on the opening side of the C-shaped structure, the rotation driving member 113 is installed on the side opposite to the opening side, and the two swing driving members are installed on the other two adjacent sides. The first transmission structure and the second transmission structure in this embodiment are bevel gears, and the two first transmission structures are respectively located on both sides of the second transmission structure. In this way, when the rotation directions of the two first transmission structures are different, the second transmission structure in the middle can be driven to rotate in different directions, and then the output frame 112 swings around the rotation axis of the second transmission structure. For the rotation of the output frame 112, the output end of the rotation driving member 113 and the output frame 112 are connected through a rotating shaft in a penetrating manner, so as to form a rotatable connection setting method, and the rotation axis between the two is parallel to the rotation axis of the output frame 112 swing and forms an angle with the rotation axis of the output frame 112 rotation. In this embodiment, the rotatable rotation axis between the rotation driving member 113 and the output frame 112 is perpendicular to the rotation axis of the output frame 112 rotation and parallel to the rotation axis of the second transmission structure. In this way, when the second transmission structure drives the output frame 112 to swing, the output frame 112 can swing smoothly around the rotating shaft, and when the rotation driving member 113 acts, it can drive the output frame 112 to rotate through the rotating shaft, realizing multi-angle actions.

[0036] The output bracket 112 of this embodiment includes a first output member and a second output member. Among them, the first output member has a C-shaped structure, and two first transmission structures are respectively disposed on the side segments on opposite sides of the C-shaped structure, while the second transmission structure is disposed on the middle segment of the C-shaped structure, and the rotation axes of the first transmission structure and the second transmission structure are perpendicular to each other. The second transmission structure is connected to the second output member. When the first swing drive member 114 and the second swing drive member 115 act in the same direction, the two first transmission structures drive the second transmission structure, the first output member, and the second output member to rotate integrally around the axis of the first transmission structure, realizing the swing of the second output member in one direction. When the first swing drive member 114 and the second swing drive member 115 act in opposite directions, the two first transmission structures drive the second transmission structure to rotate around the axis of the second transmission structure, and the second transmission structure drives the second output member to rotate, realizing the swing of the second output member in the other direction perpendicular thereto. The second output member of this embodiment adopts an L-shaped structure. One end thereof is located at the side opening of the C-shaped structure of the first output member, and the second transmission structure is connected to this end of the second output member, while the other end is located at the opening relative to the middle segment of the C-shaped structure of the first output member. The other end has a connecting shaft for connecting to subsequent structures such as the elbow joint structure 12. The connecting shaft can rotate relative to the second output member, and the swing of the second output member drives the connecting shaft to swing together. The self-rotation drive member 113 is drivingly connected to the connecting shaft, so that the self-rotation of the output bracket 112 driven by the self-rotation drive member 113实质上 drives the self-rotation of the connecting shaft. In this way, the above aspects cooperate to enable the shoulder joint structure 11 to have three-direction rotation.

[0037] Such as Figure 2 and Figure 3As shown, in this embodiment, the elbow joint structure 12 includes a first connecting arm 121, a second connecting arm 122, a connecting rod 123, an eccentric connecting rod 124 and a linear drive mechanism 125. The first connecting arm 121 is directly or indirectly connected to the shoulder joint structure 11 through other components, and moves under the drive of the shoulder joint structure 11. The second connecting arm 122 is movably arranged relative to the first connecting arm 121, so as to simulate the elbow joint of a person. In this embodiment, there are two rods, namely the connecting rod 123 and the eccentric connecting rod 124, wherein the two ends of the connecting rod 123 are rotatably connected to the first connecting arm 121 and the second connecting arm 122 respectively, and the two ends of the eccentric connecting rod 124 are rotatably connected to the first connecting arm 121 and the second connecting arm 122 respectively, and the connection point of the eccentric connecting rod 124 and the first connecting arm 121 is eccentrically arranged relative to the connection point of the connecting rod 123 and the first connecting arm 121, that is, for the second connecting arm 122, the connection between the connecting rod 123 and the eccentric connecting rod 124 is eccentric to the connection point of the first connecting arm 121. The connection points are the same, while for the first connecting arm 121, the connection points of the connecting rod 123 and the eccentric connecting rod 124 are different. In this way, when the second connecting arm 122 rotates, due to the arrangement of the connecting rod 123 and the eccentric connecting rod 124, the rotation center of the second connecting arm 122 is not a fixed point, but is constantly changing along the eccentric distance between the eccentric connecting rod 124 and the first connecting arm 121. In other words, the second connecting arm 122 is a variable-center rotation, which makes it more consistent with the movement process of the human elbow joint and can achieve anthropomorphism more realistically. The linear drive mechanism 125 is rotatably connected to the first connecting arm 121 and the second connecting arm 122. The linear drive mechanism 125 plays a role in driving the relative movement between the first connecting arm 121 and the second connecting arm 122, so that the second connecting arm 122 can move relative to the first connecting arm 121.

[0038] The first connecting arm 121 and the second connecting arm 122 of this embodiment have an arc-shaped end, which is one end of the first connecting arm 121 and the second connecting arm 122 that are close to each other, and the connecting rod 123 and the eccentric connecting rod 124 are both located at the arc-shaped end and at the two opposite side surfaces of the arc-shaped end, so that the installation of the connecting rod 123 and the eccentric connecting rod 124 does not interfere with each other. The two connection points of the connecting rod 123 and the first connecting arm 121 and the second connecting arm 122 are located at the arc center of the arc end, the connection point of the eccentric connecting rod 124 and the first connecting arm 121 is located at the arc edge of the arc end, and the connection point of the eccentric connecting rod 124 and the second connecting arm 122 is located at the arc center of the arc end. In this way, through the above-mentioned setting method, the installation of the connecting rod 123 and the eccentric connecting rod 124 can be adapted to the shape of the arc end, so that the rotation center of the second connecting arm 122 changes along the arc of the arc end of the first connecting arm 121, so that the distance between the second connecting arm 122 and the first connecting arm 121 changes accordingly with the rotation of the second connecting arm 122, thereby realistically simulating the human elbow joint. Of course, the specific shape of the arc end can also be adjusted accordingly as needed.

[0039] like Figure 2 As shown, in this embodiment, the wrist joint structure 13 includes a main frame 131, a docking member 132, an adapter assembly 133 and at least two linear drive members 134. The main frame 131 is connected to the elbow joint structure 12 and moves under the drive of the elbow joint structure 12; the docking member 132 is movably arranged relative to the main frame 131, and the docking member 132 can be used to connect external manipulators and other components; the adapter assembly 133 is rotatably connected to the main frame 131 and the docking member 132, and the adapter assembly 133 includes a plurality of adapters that are rotatably connected in sequence and whose rotation axes form an angle; the linear drive member 134 is rotatably connected to the adapter assembly 133, so that the linear drive member 134 is connected to the docking member 132 through the adapter assembly 133, so that various flipping actions of the docking member 132 can be driven, and due to the relative rotation setting mode between the adapters of the adapter assembly 133, the linear drive member 134 can achieve the effect of driving the docking member 132 to flip in different directions by different coordinated actions such as synchronization or asynchronous.

[0040] All adapters of this embodiment include a first adapter, a second adapter and a third adapter, wherein the first adapter is columnar and rotatably inserted into the main frame 131, a first mounting hole is radially opened on the first adapter, and the second adapter has a convex column, which is rotatably inserted into the first adapter, so that the second adapter can rotate relative to the first adapter, and considering the rotation direction of the final docking member 132, this embodiment adopts a rotation axis between the first adapter and the main frame 131 that is perpendicular to the rotation axis between the second adapter and the first adapter, so that the second adapter can rotate in two directions, and the second adapter is connected to the docking member 132, so that the second adapter can drive the docking part to flip along the axis of the first adapter and the axis of the first mounting hole in two directions, thereby realizing rotation with two degrees of freedom and achieving the effect of simulating a human wrist joint.

[0041] At the same time, in order to ensure that the linear drive member 134 drives the docking member 132, a second mounting hole is opened on the second adapter in this embodiment, and the number of the second mounting holes matches the number of the linear drive members 134. Similarly, one end of the third adapter is rotatably connected to the second mounting hole, and the other end is rotatably connected to the linear drive member 134, and the two ends of the third adapter are perpendicular to the rotation axis of the components respectively connected, that is, the third adapter is rotatably connected to the second adapter and the linear drive member 134, and the rotation axis between the third adapter and the second adapter is perpendicular to the rotation axis between the linear drive member 134 and the second adapter. In this way, the linear drive member 134, the third adapter, the second adapter, and the first adapter are rotatably connected in sequence as a whole, and the rotation axes therebetween are perpendicular in sequence along the connection sequence, so that the rotation axis between the first adapter and the main frame 131, the rotation axis between the third adapter and the linear drive member 134 are parallel, the rotation axis between the second adapter and the first adapter, and the rotation axis between the second adapter and the third adapter are parallel, and the above two groups of rotation axes are perpendicular to each other, so that when the linear drive member 134 is driven, the adapter assembly 133 can be used to realize the flipping of the docking member 132 in different directions.

[0042] In addition to the above-mentioned setting of the adapter component 133, for the linear drive member 134, this embodiment is provided with two linear drive members 134, and the two linear drive members 134 are arranged in parallel, and the moving trajectory lines of the output shafts of the two linear drive members 134 are arranged in parallel, and two third adapters are arranged in coordination with each other. The two third adapters are both connected to the second adapter, and the two rotation connection points are respectively located on the opposite sides of the second adapter relative to the rotation axis of the first adapter, and the two third adapters are respectively coordinated with the two linear drive members 134. In this way, when the two linear drive members 134 act synchronously, they simultaneously drive the second adapter to move away from the linear drive member 134. At this time, the two third adapters will hardly rotate relative to the second adapter, and the second adapter and the first adapter will hardly rotate relative to each other. However, there will be a small rotation between the linear drive member 134 and the third adapter, and a large rotation between the first adapter and the main frame 131, so that the docking member 132 rotates around the axis of the first adapter, and the docking member 132 flips in one direction. When the two linear drive members 134 act asynchronously, they drive the second adapter through the third adapter respectively. Due to the asynchronous movement of the linear drive member 134, the movement of the third adapter is also asynchronous, so that the second adapter and the third adapter rotate relative to each other, and the second adapter also rotates relative to the first adapter, so that the docking member 132 flips in another direction. The flipping directions of the above two aspects are perpendicular to each other, so the flipping of the docking member 132 can be achieved by coordinating the actions of the two linear driving members 134, thereby achieving the effect of simulating a human wrist joint.

[0043] It should be noted that the shoulder joint structure 11, elbow joint structure 12 and wrist joint structure 13 of the first mechanical arm 10 of the present embodiment can be adjusted in structural form as needed, and are not limited to the above-mentioned setting method of the present embodiment. However, no matter how the specific structure of the first mechanical arm 10 is adjusted, based on the basic structural characteristics of the shoulder joint structure 11, elbow joint structure 12 and wrist joint structure 13, its flexibility and degree of freedom are lower than those of the second mechanical arm 20 formed by the joint structure 21, while its load-bearing and force-applying properties are better than those of the second mechanical arm 20, so that the two mechanical arms each have their own action functions that they are good at, and thus fully adapt to different needs and meet actual usage scenarios.

[0044] It should be noted that, the multiple in the above embodiments refers to at least two.

[0045] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0046] 1. Solved the problem that the robot in the prior art cannot match the working conditions with different movements of the two arms;

[0047] 2. The first mechanical arm and the second mechanical arm cooperate with each other, the first mechanical arm is biased towards load-bearing capacity, and the second mechanical arm is biased towards flexibility, so that the two mechanical arms can adapt to different usage conditions respectively, and then the mechanical arm double-arm structure can better perform various tasks with different double-arm movements, thereby improving the adaptability to different working conditions;

[0048] 3. When programming the robotic arm, the programming difficulty is reduced to a certain extent because the robotic arm has a high adaptability to its movements, thereby reducing the difficulty of design and use.

[0049] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0052] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A dual-arm structure of a robotic arm, characterized in that: include: A first mechanical arm (10), the first mechanical arm (10) comprising a shoulder joint structure (11), an elbow joint structure (12) and a wrist joint structure (13) connected in sequence; A second robotic arm (20), the second robotic arm (20) comprises a plurality of joint structures (21) connected in series, and the joint structure (21) comprises a main body (211), a connecting part (212) and a plurality of connecting rod assemblies (213) located between the main body (211) and the connecting part (212), the connecting rod assembly (213) comprises a plurality of sub-connecting rods connected in series and rotatably, the connecting rod assembly (213) and the main body (211) and the connecting part (212) are rotatably connected, the rotation axis between the connecting rod assembly (213) and the main body (211), the rotation axis between the connecting rod assembly (213) and the connecting part (212), and the rotation axis between the sub-connecting rods intersect at one point, so that the flexibility of the second robotic arm (20) is higher than the flexibility of the first robotic arm (10).

2. The dual-arm structure of the robot arm according to claim 1, characterized in that: The rotation axis between each connecting rod assembly (213) and the main body (211) is arranged to coincide with each other. The joint structure (21) also includes a driving member, which is located in the main body (211) and is drivingly connected to all the connecting rod assemblies (213). The driving member drives each connecting rod assembly (213) to move, so as to drive the connecting part (212) to rotate.

3. The dual-arm structure of the robot arm according to claim 1, characterized in that: The connection points between each of the connecting rod assemblies (213) and the connecting portion (212) are arranged at intervals along the circumference of the connecting portion (212), and the rotation axis between each of the connecting rod assemblies (213) and the connecting portion (212) extends along the radial direction of the connecting portion (212); and / or The rotation axis between the sub-connecting rods is arranged obliquely relative to the geometric axis of the main body (211).

4. The dual-arm structure of the robot arm according to claim 1, characterized in that: The shoulder joint structure (11) comprises: A mounting frame (111); an output frame (112), the output frame (112) being movably arranged relative to the mounting frame (111), and the output frame (112) being connected to the elbow joint structure (12); A self-rotating driving member (113), the self-rotating driving member (113) being drivingly connected to the output frame (112) and driving the output frame (112) to self-rotate along a length extension direction of the first mechanical arm (10); A first swing driving member (114); A second swing drive member (115), the output ends of the first swing drive member (114) and the second swing drive member (115) both have a first transmission structure, the output frame (112) has a second transmission structure, and the two first transmission structures are simultaneously in transmission cooperation with the second transmission structure, the first swing drive member (114) and the second swing drive member (115) move in the same direction or in opposite directions and drive the output frame (112) to swing.

5. The dual-arm structure of the robot arm according to claim 4, characterized in that: The self-rotation driving member (113), the first swing driving member (114) and the second swing driving member (115) are all arranged on the mounting frame (111); the first transmission structure and the second transmission structure are bevel gears; when the output frame (112) swings, it swings around the rotation axis of the second transmission structure; the output end of the self-rotation driving member (113) is rotatably connected to the output frame (112); the rotation axis between the two is parallel to the rotation axis of the swinging output frame (112) and forms an angle with the rotation axis of the self-rotating output frame (112).

6. The dual-arm structure of the robot arm according to claim 1, characterized in that: The elbow joint structure (12) comprises: A first connecting arm (121), the first connecting arm (121) being connected to the shoulder joint structure (11) and moving under the drive of the shoulder joint structure (11); a second connecting arm (122), the second connecting arm (122) being movably arranged relative to the first connecting arm (121); A connecting rod (123), two ends of which are rotatably connected to the first connecting arm (121) and the second connecting arm (122) respectively; An eccentric connecting rod (124), wherein two ends of the eccentric connecting rod (124) are rotatably connected to the first connecting arm (121) and the second connecting arm (122), respectively, and a connection point between the eccentric connecting rod (124) and the first connecting arm (121) is eccentrically arranged relative to a connection point between the connecting rod (123) and the first connecting arm (121); A linear drive mechanism (125), wherein the linear drive mechanism (125) is rotatably connected to the first connecting arm (121) and the second connecting arm (122), and drives the relative movement of the first connecting arm (121) and the second connecting arm (122).

7. The dual-arm structure of the robot arm according to claim 6, characterized in that: The first connecting arm (121) and the second connecting arm (122) have arc-shaped ends, the connecting rod (123) and the eccentric connecting rod (124) are both located at the arc-shaped ends and at two opposite side surfaces of the arc-shaped ends, the two connection points of the connecting rod (123) and the first connecting arm (121) and the second connecting arm (122) are located at the arc center of the arc-shaped ends, the connection point of the eccentric connecting rod (124) and the first connecting arm (121) is located at the arc edge of the arc-shaped end, and the connection point of the eccentric connecting rod (124) and the second connecting arm (122) is located at the arc center of the arc-shaped end.

8. The dual-arm structure of the robot arm according to claim 1, characterized in that: The wrist joint structure (13) comprises: A main frame (131), the main frame (131) is connected to the elbow joint structure (12) and moves under the drive of the elbow joint structure (12); A docking member (132), wherein the docking member (132) is movably arranged relative to the main frame (131); An adapter component (133), the adapter component (133) is rotatably connected to the main frame (131) and the docking member (132), and the adapter component (133) comprises a plurality of adapter components that are rotatably connected in sequence and whose rotation axes form an angle; At least two linear drive members (134), the linear drive members (134) being rotatably connected to the adapter assembly (133), the linear drive members (134) acting synchronously or asynchronously and driving the docking member (132) to flip in different directions.

9. The dual-arm structure of the robot arm according to claim 8, characterized in that: All of the adapters described include: A first adapter, the first adapter being rotatably disposed on the main frame (131); a second adapter, the second adapter is rotatably arranged on the first adapter, and the rotation axis between the first adapter and the main frame (131) is perpendicular to the rotation axis between the second adapter and the first adapter, and the second adapter is connected to the docking member (132); A third adapter member is rotatably connected to the second adapter member and the linear drive member (134), and a rotation axis between the third adapter member and the second adapter member is perpendicular to a rotation axis between the linear drive member (134) and the second adapter member.

10. A robot, characterized in that: A robotic arm dual-arm structure comprising any one of claims 1 to 9.

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