Small arm assembly of mechanical arm

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By designing a forearm assembly including rotating motors and linear motors, the problem that the existing robot arm forearm structure can only drive the palm in one direction is solved, and the freedom of the palm movement is achieved is achieved, and the control complexity and cost are reduced. .

CN222430782UActive Publication Date: 2025-02-07KEPLER ROBOT CO LTD

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Patent Information

Application Number: CN202323497786.6
Authority / Receiving Office: CN · China
Patent Type: Utility models(China)
Current Assignee / Owner
Filing Date: 2023-12-20
Publication Date: 2025-02-07
Estimated Expiration: 2033-12-20

AI Technical Summary

Technical Problem

The forearm structure of existing robotic arms can only drive the palm to swing in one direction, and the structure is complex and costly.

Method used

A forearm assembly of a mechanical arm is designed, including a forearm body, a rotating motor, a first linear motor, a second linear motor and a palm connecting seat, and the forearm body is driven to rotate by a rotating motor, the first linear motor and the first linear motor and the second linear motor. The second linear motor drives the palms to perform pitch and side swing movements.

Benefits of technology

It realizes free movement of the palm in multiple directions, has multiple degrees of freedom, is simple in structure, and is difficult to control, reducing the control complexity of the robot arm.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses a forearm assembly of a mechanical arm, which comprises a forearm body, a rotating motor, a first linear motor, a second linear motor and a palm connecting seat used for connecting a palm, and the forearm body is connected with the output end of the rotating motor. The tail of the first linear motor and the tail of the second linear motor are rotationally connected to the two sides of the upper end of the small arm body correspondingly, and the output end of the first linear motor and the output end of the second linear motor are rotationally connected to the palm connecting base correspondingly. The lower end of the small arm body is hinged to the palm connecting base in a cross mode, the rotating motor can drive the small arm body to rotate, and the first linear motor and the second linear motor can drive the palm to do pitching motion and side-sway motion. The forearm assembly is simple in structure, low in control difficulty and capable of driving the palm to move in different directions.

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Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a forearm component of a mechanical arm. Background Art

[0002] With the progress of society, industrial production activities are becoming more and more complex and precise, which has prompted the production tools to develop towards intelligence and refinement. At present, a large number of robotic arms are used to simulate human body movements by setting servo actuators at the joints of the robot. Although this method can achieve multi-joint movement, it is costly and the robot's motion control algorithm is relatively complex. The existing robot arm structure is driven by the arm actuator to swing the upper arm, and the forearm is provided with a palm transmission mechanism. The palm transmission mechanism transmits the power of the arm actuator to the palm to make the palm swing. It can only drive the palm to swing in one direction, and the structure is complex and costly. Utility Model Content

[0003] The utility model aims to provide a forearm assembly of a robot arm, so as to solve the technical problem that the forearm structure of the robot in the prior art can only drive the palm to swing in one direction.

[0004] The utility model provides a forearm assembly of a mechanical arm, comprising a forearm body, a rotating motor, a first linear motor, a second linear motor and a palm connecting seat for connecting a palm, wherein the forearm body is connected to the output end of the rotating motor, the tail of the first linear motor and the tail of the second linear motor are respectively rotatably connected to the two sides of the upper end of the forearm body, the output end of the first linear motor and the output end of the second linear motor are respectively rotatably connected to the palm connecting seat, the lower end of the forearm body is cross-hinged with the palm connecting seat, the rotating motor can drive the forearm body to perform rotational motion, and the first linear motor and the second linear motor can drive the palm to perform pitching motion and lateral swinging motion.

[0005] The forearm assembly of the robotic arm as described above, the forearm assembly also includes a cross connecting piece, the cross connecting piece has a transverse connecting part and a longitudinal connecting part, the forearm body is rotatably connected to the transverse connecting part, and the palm connecting seat is rotatably connected to the longitudinal connecting part.

[0006] As for the forearm assembly of the robotic arm as described above, a third rotating shaft is provided on the transverse connecting part, both ends of the third rotating shaft pass through the transverse connecting part, a first avoidance groove is provided on the forearm body, the transverse connecting part is located in the first avoidance groove, and the two side groove walls of the first avoidance groove are respectively rotatably connected to the two ends of the third rotating shaft.

[0007] As for the forearm assembly of the robotic arm as described above, a fourth rotating shaft is provided on the longitudinal connecting part, both ends of the fourth rotating shaft pass through the longitudinal connecting part, a second avoidance groove is provided on the palm connecting seat, the longitudinal connecting part is located in the second avoidance groove, and the groove walls on both sides of the second avoidance groove are respectively rotatably connected to the two ends of the fourth rotating shaft.

[0008] As for the forearm assembly of the robotic arm as described above, a first rotating shaft is provided at the upper end of the forearm body, and both ends of the first rotating shaft extend from the left and right sides of the forearm body respectively, one end of the first rotating shaft is rotatably connected to the tail of the first linear motor, and the other end of the first rotating shaft is rotatably connected to the tail of the second linear motor.

[0009] As for the forearm assembly of the robotic arm as described above, a first fisheye bearing is provided at the tail of the first linear motor, and a second fisheye bearing is provided at the tail of the second linear motor. The first fisheye bearing is sleeved on one end of the first rotating shaft, and the second fisheye bearing is sleeved on the other end of the first rotating shaft.

[0010] As for the forearm assembly of the robotic arm as described above, a second rotating shaft is provided on the palm connecting seat, and both ends of the second rotating shaft extend from the left and right sides of the palm connecting seat respectively, one end of the second rotating shaft is rotatably connected to the output end of the first linear motor, and the other end of the second rotating shaft is rotatably connected to the output end of the second linear motor.

[0011] As for the forearm assembly of the robotic arm as described above, a third fisheye bearing is provided at the output end of the first linear motor, a fourth fisheye bearing is provided at the output end of the second linear motor, the third fisheye bearing is sleeved on one end of the second rotating shaft, and the fourth fisheye bearing is sleeved on the other end of the second rotating shaft.

[0012] In the forearm assembly of the robotic arm as described above, the first linear motor and the second linear motor are symmetrically arranged on the forearm body. When the first linear motor and the second linear motor are extended and retracted synchronously, the first linear motor and the second linear motor drive the palm to perform pitch motion; when the first linear motor and the second linear motor are extended and retracted asynchronously, the first linear motor and the second linear motor drive the palm to perform side swing motion.

[0013] In the forearm assembly of the robotic arm as described above, the rotating motor is provided with an output shaft, the top wall of the forearm body is provided with an assembly hole, and the output shaft is cooperatively connected with the assembly hole.

[0014] Implementing the embodiments of the present utility model will have the following beneficial effects:

[0015] In the utility model, a rotating motor, a first linear motor and a second linear motor are provided to drive the palm to move, so that the forearm can drive the palm to move in multiple directions, has multiple degrees of freedom, and has a simple structure. The control difficulty of the rotating motor and the linear motor is low, thereby reducing the control difficulty of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] in:

[0018] Figure 1 This is a schematic structural diagram of the forearm assembly shown in an embodiment of the utility model after the rotating motor is removed;

[0019] Figure 2 This is a structural schematic diagram of another perspective of the forearm assembly after removing the rotating motor shown in an embodiment of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of a robotic arm shown in an embodiment of the utility model.

[0021] Among them: 1. forearm body; 11. first rotating shaft; 12. first avoidance groove; 13. assembly hole; 2. first linear motor; 21. first fisheye bearing; 22. third fisheye bearing; 3. second linear motor; 31. second fisheye bearing; 32. fourth fisheye bearing; 4. palm connecting seat; 41. second rotating shaft; 42. second avoidance groove; 5. cross connecting piece; 51. transverse connecting part; 52. longitudinal connecting part; 53. third rotating shaft; 54. fourth rotating shaft; 6. rotating motor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] In the description of the present invention, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] See also Figure 1-Figure 3 An embodiment of the utility model discloses a forearm assembly of a robotic arm, comprising a forearm body 1, a rotating motor 6, a first linear motor 2, a second linear motor 3 and a palm connecting seat 4 for connecting a palm, wherein the forearm body 1 is connected to the output end of the rotating motor 6, the tail of the first linear motor 2 and the tail of the second linear motor 3 are respectively rotatably connected to the two sides of the upper end of the forearm body 1, the output end of the first linear motor 2 and the output end of the second linear motor 3 are respectively rotatably connected to the palm connecting seat 4, the lower end of the forearm body 1 is cross-hinged with the palm connecting seat 4, the rotating motor 6 can drive the forearm body 1 and the palm to perform rotational motion, and the first linear motor 2 and the second linear motor 3 can drive the palm to perform pitching motion and lateral swinging motion. A rotating motor 6 is provided to drive the forearm body 1 and the palm to rotate in the horizontal direction, so that the palm and the forearm body 1 can rotate together. The first linear motor 2 and the second linear motor 3 cooperate to drive the palm to perform pitch motion and side swing motion, so that the forearm assembly can drive the palm to move in multiple directions, so that it has multiple degrees of freedom and a simple structure. The control difficulty of the rotating motor 6, the first linear motor and the second linear motor 3 is relatively low, which can reduce the control difficulty of the robot arm.

[0026] Furthermore, the forearm assembly also includes a cross connecting member 5, which has a transverse connecting portion 51 and a longitudinal connecting portion 52. The forearm body 1 is rotatably connected to the transverse connecting portion 51, and the palm connecting seat 4 is rotatably connected to the longitudinal connecting portion 52.

[0027] Furthermore, a third rotating shaft 53 is provided on the transverse connecting portion 51, and both ends of the third rotating shaft 53 pass through the transverse connecting portion 51. A first avoidance groove 12 is provided on the forearm body 1, and the transverse connecting portion 51 is located in the first avoidance groove 12, and the two side groove walls of the first avoidance groove 12 are rotatably connected to the two ends of the third rotating shaft 53 respectively.

[0028] Furthermore, a fourth rotating shaft 54 is provided on the longitudinal connecting portion 52, and both ends of the fourth rotating shaft 54 pass through the longitudinal connecting portion 52. A second avoidance groove 42 is provided on the palm connecting seat 4, and the longitudinal connecting portion 52 is located in the second avoidance groove 42, and the groove walls on both sides of the second avoidance groove 42 are rotatably connected to the two ends of the fourth rotating shaft 54 respectively.

[0029] It can be understood that the first linear motor 2, the forearm body 1 and the palm connecting seat 4 form a set of three-link swing guide rod mechanism, the second linear motor 3, the forearm body 1 and the palm connecting seat 4 form another set of three-link swing guide rod mechanism, and the first linear motor 2 and the second linear motor 3 are distributed on both sides of the forearm body 1, so that the two sets of swing guide rod mechanisms together form a spatial multi-link coupling mechanism, that is, the first linear motor 2 and the second linear motor 3 are used to couple and control the two degrees of freedom of the palm ankle rotation joint, the fourth rotating shaft 54 is the central axis of the lateral swing degree of freedom of the palm ankle rotation joint, and the third rotating shaft 53 is the central axis of the pitch degree of freedom of the ankle rotation joint. The structure of the coupling mechanism is more compact, making the robot joints closer to humans, and the coupling control of the two motors can reduce the power demand of a single motor, that is, reduce the volume and weight of the motor, and improve the posture operation space of the robot arm.

[0030] Furthermore, a first rotating shaft 11 is provided at the upper end of the forearm body 1, and both ends of the first rotating shaft 11 extend from the left and right sides of the forearm body 1 respectively, one end of the first rotating shaft 11 is rotatably connected to the tail of the first linear motor 2, and the other end of the first rotating shaft 11 is rotatably connected to the tail of the second linear motor 3.

[0031] Furthermore, a first fisheye bearing 21 is provided at the tail of the first linear motor 2, and a second fisheye bearing 31 is provided at the tail of the second linear motor 3. The first fisheye bearing 21 is sleeved on one end of the first rotating shaft 11, and the second fisheye bearing 31 is sleeved on the other end of the first rotating shaft 11.

[0032] Furthermore, a second rotating shaft 41 is provided on the palm connecting seat 4, and both ends of the second rotating shaft 41 extend from the left and right sides of the palm connecting seat 4 respectively, one end of the second rotating shaft 41 is rotatably connected to the output end of the first linear motor 2, and the other end of the second rotating shaft 41 is rotatably connected to the output end of the second linear motor 3.

[0033] Furthermore, a third fisheye bearing 22 is provided at the output end of the first linear motor 2, and a fourth fisheye bearing 32 is provided at the output end of the second linear motor 3. The third fisheye bearing 22 is sleeved on one end of the second rotating shaft 41, and the fourth fisheye bearing 32 is sleeved on the other end of the second rotating shaft 41.

[0034] Furthermore, the first linear motor 2 and the second linear motor 3 are symmetrically arranged on the forearm body 1. When the first linear motor 2 and the second linear motor 3 are synchronously extended and retracted, the first linear motor 2 and the second linear motor 3 drive the palm to do a pitching motion; when the first linear motor 2 and the second linear motor 3 are asynchronously extended and retracted, the first linear motor 2 and the second linear motor 3 drive the palm to do a sideways swinging motion. When the first linear motor 2 and the second linear motor 3 move in the same direction, the palm end actuator is driven to rotate around the third rotating shaft 53; when the first linear motor 2 and the second linear motor 3 move in opposite directions, the end actuator is driven to rotate around the fourth rotating shaft 54.

[0035] Furthermore, the rotary motor 6 is provided with an output shaft, and a mounting hole 13 is opened on the top wall of the forearm body 1 , and the output shaft is matched and connected with the mounting hole 13 .

[0036] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit the protection scope of the utility model. Obviously, the described embodiments are only some embodiments of the utility model, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the utility model according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the utility model in essence, and these technical solutions also belong to the scope of protection of the utility model.

Claims

1. A forearm assembly of a robotic arm, characterized in that: The invention comprises a forearm body (1), a rotating motor (6), a first linear motor (2), a second linear motor (3) and a palm connecting seat (4) for connecting a palm, wherein the forearm body (1) is connected to the output end of the rotating motor (6), the tail of the first linear motor (2) and the tail of the second linear motor (3) are respectively rotatably connected to the two sides of the upper end of the forearm body (1), the output end of the first linear motor (2) and the output end of the second linear motor (3) are respectively rotatably connected to the palm connecting seat (4), the lower end of the forearm body (1) is cross-hinged with the palm connecting seat (4), the rotating motor (6) can drive the forearm body (1) to perform rotational motion, and the first linear motor (2) and the second linear motor (3) can drive the palm to perform pitching motion and lateral swinging motion.

2. The forearm assembly of the robot arm according to claim 1, characterized in that: The forearm assembly further comprises a cross connecting member (5), the cross connecting member (5) having a transverse connecting portion (51) and a longitudinal connecting portion (52), the forearm body (1) being rotatably connected to the transverse connecting portion (51), and the palm connecting seat (4) being rotatably connected to the longitudinal connecting portion (52).

3. The forearm assembly of the robot arm according to claim 2, characterized in that: A third rotating shaft (53) is provided on the transverse connecting portion (51), and both ends of the third rotating shaft (53) pass through the transverse connecting portion (51). A first avoiding groove (12) is provided on the forearm body (1), and the transverse connecting portion (51) is located in the first avoiding groove (12), and the groove walls on both sides of the first avoiding groove (12) are rotatably connected to both ends of the third rotating shaft (53) respectively.

4. The forearm assembly of the robot arm according to claim 3, characterized in that: A fourth rotating shaft (54) is provided on the longitudinal connecting portion (52), and both ends of the fourth rotating shaft (54) pass through the longitudinal connecting portion (52). A second avoiding groove (42) is provided on the palm connecting seat (4), and the longitudinal connecting portion (52) is located in the second avoiding groove (42), and the groove walls on both sides of the second avoiding groove (42) are respectively rotatably connected to the two ends of the fourth rotating shaft (54).

5. The forearm assembly of the robot arm according to claim 1, characterized in that: A first rotating shaft (11) is provided at the upper end of the forearm body (1), and two ends of the first rotating shaft (11) extend from the left and right sides of the forearm body (1) respectively, one end of the first rotating shaft (11) is rotatably connected to the tail of the first linear motor (2), and the other end of the first rotating shaft (11) is rotatably connected to the tail of the second linear motor (3).

6. The forearm assembly of the robot arm according to claim 5, characterized in that: A first fisheye bearing (21) is provided at the tail of the first linear motor (2), and a second fisheye bearing (31) is provided at the tail of the second linear motor (3); the first fisheye bearing (21) is sleeved on one end of the first rotating shaft (11), and the second fisheye bearing (31) is sleeved on the other end of the first rotating shaft (11).

7. The forearm assembly of the robot arm according to claim 6, characterized in that: A second rotating shaft (41) is provided on the palm connecting seat (4), and two ends of the second rotating shaft (41) extend from the left and right sides of the palm connecting seat (4) respectively; one end of the second rotating shaft (41) is rotationally connected to the output end of the first linear motor (2), and the other end of the second rotating shaft (41) is rotationally connected to the output end of the second linear motor (3).

8. The forearm assembly of the robot arm according to claim 7, characterized in that: A third fisheye bearing (22) is provided at the output end of the first linear motor (2), a fourth fisheye bearing (32) is provided at the output end of the second linear motor (3), the third fisheye bearing (22) is sleeved on one end of the second rotating shaft (41), and the fourth fisheye bearing (32) is sleeved on the other end of the second rotating shaft (41).

9. The forearm assembly of the robot arm according to claim 8, characterized in that: The first linear motor (2) and the second linear motor (3) are symmetrically arranged on the forearm body (1); when the first linear motor (2) and the second linear motor (3) are synchronously extended and retracted, the first linear motor (2) and the second linear motor (3) drive the palm to perform a pitching movement; when the first linear motor (2) and the second linear motor (3) are asynchronously extended and retracted, the first linear motor (2) and the second linear motor (3) drive the palm to perform a sideways swinging movement.

10. The forearm assembly of the robot arm according to claim 1, characterized in that: The rotating motor (6) is provided with an output shaft, and the top wall of the arm body (1) is provided with an assembly hole (13), and the output shaft is matched and connected with the assembly hole (13).