Mechanical arm joint mechanism, mechanical arm and robot
By designing a power transmission method of parallelogram structure in the robotic arm joint mechanism, the problem of excessive volume and weight of the existing robotic arm joint mechanism is solved, and a lightweight design and higher safety and reliability are achieved.
Patent Information
- Application Number
- CN202421440072.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-21
- Publication Date
- 2025-03-21
- Estimated Expiration
- 2034-06-21
AI Technical Summary
The existing robotic arm joint mechanism needs to stack multiple drive modules, which increases in volume and weight, and easily causes motor damage and has a high failure rate.
By designing a robotic arm joint mechanism including a first drive module, a second drive module and a connecting assembly, the parallelogram structure realizes power transmission, so that the first axis and the second axis are perpendicularly intersect, thereby reducing the volume and weight of the joint mechanism.
It effectively reduces the volume and weight of the joint mechanism of the robotic arm, realizes a lightweight design, reduces the risk of motor overload and burns, and improves the safety and reliability of the robotic arm.
Smart Images
Figure CN222644640U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm joint mechanism, a robotic arm, and a robot. Background Art
[0002] In order to achieve driving requirements in multiple directions, the robot arm joint mechanism provided by the prior art usually needs to stack multiple drive modules, which leads to an increase in volume and weight at the joint, and is prone to damage to the motor, resulting in a high failure rate of the robot arm. Utility Model Content
[0003] The purpose of the present application is to provide a robotic arm joint mechanism, a robotic arm and a robot, which can effectively reduce the volume and weight of the robotic arm joint mechanism and achieve a lightweight design.
[0004] The embodiment of the present application is implemented as follows:
[0005] In a first aspect, an embodiment of the present application provides a mechanical arm joint mechanism, including a first driving module, a second driving module and a connecting component;
[0006] The first driving module is provided with a driving end turntable, and the driving end turntable is provided with a first hinge; the second driving module is provided with a second hinge and a third hinge arranged at intervals;
[0007] The connection assembly includes a first connection structure and a second connection structure; one end of the first connection structure is connected to the first driving module, and the other end is connected to the third hinge; one end of the second connection structure is connected to the first hinge, and the other end is connected to the second hinge;
[0008] The first hinge, the second hinge, the third hinge and the rotation center of the drive-end turntable are connected in sequence to form a parallelogram structure, so that the first drive module drives the second drive module to rotate around the first axis through the parallelogram structure; the drive end of the second drive module can rotate around the second axis, and the first axis intersects the second axis perpendicularly.
[0009] As an optional implementation, the first axis is the rotation axis of the third hinge.
[0010] As an optional embodiment, the second hinge and the third hinge are arranged at intervals along the second axis on the second drive module; the second hinge is far away from the drive end of the second drive module, and the third hinge is close to the drive end of the second drive module.
[0011] As an optional embodiment, the line connecting the first hinge and the rotation center of the driving end turntable constitutes the first side of the parallelogram structure; the line connecting the second hinge and the third hinge constitutes the second side of the parallelogram structure; the line connecting the rotation center of the driving end turntable and the third hinge constitutes the third side of the parallelogram structure; the line connecting the first hinge and the second hinge constitutes the fourth side of the parallelogram structure.
[0012] As an optional embodiment, a limiting portion is provided on the first connecting structure, and two adjacent sides of the parallelogram structure are driven to move to a preset angle, and the limiting portion abuts against the second connecting structure to form a force to block the second connecting structure.
[0013] As an optional implementation, the first connecting structure is symmetrically arranged about the second axis.
[0014] As an optional implementation, the second connecting structure is arranged on one side or both sides of the second axis.
[0015] As an optional implementation, a gap is preset between the planes where the first connecting structure and the second connecting structure are located.
[0016] In a second aspect, an embodiment of the present application provides a robotic arm, comprising the above-mentioned robotic arm joint mechanism, wherein the robotic arm joint mechanism is arranged at the end of the robotic arm.
[0017] In a third aspect, an embodiment of the present application further provides a robot, comprising the above-mentioned robotic arm, wherein a robotic hand is connected to a second driving module of a robotic arm joint mechanism at the end of the robotic arm.
[0018] The beneficial effects of the embodiments of the present application include:
[0019] The embodiment of the present application provides a mechanical arm joint mechanism, including a first driving module, a second driving module and a connecting assembly; the first driving module of the embodiment of the present application is provided with a driving end turntable, and the driving end turntable is provided with a first hinge; the second driving module is provided with a second hinge and a third hinge arranged at intervals. The connecting assembly of the embodiment of the present application includes a first connecting structure and a second connecting structure; one end of the first connecting structure is connected to the first driving module, and the other end is connected to the third hinge. One end of the second connecting structure is connected to the first hinge, and the other end is connected to the second hinge. The first hinge, the second hinge, the third hinge and the rotation center of the driving end turntable are connected in sequence to form a parallelogram structure, so that the first driving module drives the second driving module to rotate around the first axis through the parallelogram structure, and the driving end of the second driving module can rotate around the second axis, and the first axis and the second axis intersect vertically. Compared with the prior art, the embodiment of the present application realizes power transmission through the parallelogram structure, so that the first axis and the second axis can be vertically intersected. Therefore, the embodiment of the present application can effectively reduce the volume and weight of the mechanical arm joint mechanism, which is conducive to the lightweight design of the mechanical arm.
[0020] The embodiment of the present application provides a robotic arm, including the above-mentioned robotic arm joint mechanism, which is arranged at the end of the robotic arm. The robotic arm provided by the embodiment of the present application adopts the above-mentioned robotic arm joint mechanism, which can be used as a connection structure of the wrist part. The embodiment of the present application can effectively reduce the volume and weight of the wrist part of the robotic arm, making the robotic arm closer to the human bionic arm. In addition, the lightweight design is achieved by reducing the weight, avoiding the overload and burning of the motor, and improving the safety and reliability of the robotic arm.
[0021] The embodiment of the present application also provides a robot, comprising the above-mentioned mechanical arm, wherein a mechanical hand is connected to the second driving module of the mechanical arm joint mechanism at the end of the mechanical arm. The robot provided by the embodiment of the present application adopts the above-mentioned mechanical arm, and has higher safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0023] Figure 1 This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present application;
[0024] Figure 2 This is one of the structural schematic diagrams of the mechanical arm joint mechanism of the embodiment of the present application;
[0025] Figure 3 This is the second structural diagram of the joint mechanism of the robot arm according to the embodiment of the present application;
[0026] Figure 4 This is the third structural diagram of the joint mechanism of the robot arm according to the embodiment of the present application;
[0027] Figure 5 This is the fourth structural schematic diagram of the robotic arm joint mechanism of the embodiment of the present application.
[0028] Icon: 100-first drive module; 101-second drive module; 102-connecting assembly; 103-first side; 104-second side; 105-first axis; 106-second axis; 107-drive end turntable; 108-first hinge; 109-second hinge; 110-third hinge; 111-first connecting structure; 112-third side; 113-second connecting structure; 114-fourth side; 115-limiting part. DETAILED DESCRIPTION
[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.
[0030] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.
[0031] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.
[0032] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0033] The embodiments of the present application provide a robotic arm joint mechanism, a robotic arm, and a robot.
[0034] Reference Figure 1 , Figure 2 As shown, the embodiment of the present application provides a mechanical arm joint mechanism, including a first driving module 100, a second driving module 101 and a connecting component 102;
[0035] The first driving module 100 is provided with a driving end rotating disk 107, and the driving end rotating disk 107 is provided with a first hinge 108; the second driving module 101 is provided with a second hinge 109 and a third hinge 110 arranged at intervals;
[0036] The connecting assembly 102 includes a first connecting structure 111 and a second connecting structure 113; one end of the first connecting structure 111 is connected to the first driving module 100, and the other end is connected to the third hinge 110; one end of the second connecting structure 113 is connected to the first hinge 108, and the other end is connected to the second hinge 109;
[0037] The first hinge 108, the second hinge 109, the third hinge 110 and the rotation center of the driving end turntable 107 are connected in sequence to form a parallelogram structure, so that the first driving module 100 drives the second driving module 101 to rotate around the first axis 105 through the parallelogram structure; the driving end of the second driving module 101 can rotate around the second axis 106, and the first axis 105 intersects the second axis 106 vertically.
[0038] It should be noted that the various joints of the conventional robotic arm are directly connected through connecting structural parts, and the driving requirements of the joints in multiple directions are achieved by stacking multiple servo drive modules in close proximity, rather than using a transmission structure to achieve the driving requirements of the joints.
[0039] The embodiment of the present application uses the first driving module 100, the second driving module 101 and the connecting assembly 102 to achieve the perpendicular intersection of the two driving axes.
[0040] It should be noted that the first driving module 100 and the second driving module 101 of the embodiment of the present application both use servo motors, or other types of driving modules, which those skilled in the art can select according to their needs.
[0041] It should be noted that a mounting structure may be mounted outside the second driving module 101 .
[0042] Exemplarily, the second drive module 101 is provided with a connecting sleeve, the central axis of the connecting sleeve coincides with the second drive module 101, and the second drive module 101 is installed in the connecting sleeve. The connecting sleeve is provided with a second hinge 109 and a third hinge 110 arranged at intervals along the second axis 106.
[0043] It should be noted that technicians in this field can also directly set the second hinge 109 and the third hinge 110 on the shell of the second driving module 101 as needed, which can avoid the need to set external connecting parts, help improve the integration of the component structure, and facilitate quick assembly.
[0044] It should be noted that the four connection points of the parallelogram structure formed in the embodiment of the present application are all rotatably connected, so that the distance between the two corresponding sides of the parallelogram structure can be adjusted.
[0045] Reference Figure 3 As shown, the line connecting the first hinge 108 and the rotation center of the driving end turntable 107 constitutes the first side 103 of the parallelogram structure; the line connecting the second hinge 109 and the third hinge 110 constitutes the second side 104 of the parallelogram structure; the line connecting the rotation center of the driving end turntable 107 and the third hinge 110 constitutes the third side 112 of the parallelogram structure; the line connecting the first hinge 108 and the second hinge 109 constitutes the fourth side 114 of the parallelogram structure.
[0046] Reference Figure 3 As shown, the four rotation center lines are respectively the rotation axis of the first hinge 108 , the rotation axis of the second hinge 109 , the rotation axis of the third hinge 110 , and the rotation axis of the driving end turntable 107 of the first driving module 100 .
[0047] It should be noted that one end of the first connecting structure 111 can be fixed on the first driving module 100, and the other end is connected to the third hinge 110, and the first connecting structure 111 can be fixedly arranged. In other words, the third side 112 of the parallelogram structure formed by the rotation center of the driving end turntable 107 and the third hinge 110 is used as a fixed side.
[0048] It should be noted that the specific structures of the first connecting structure 111 and the second connecting structure 113 can be set by those skilled in the art as needed. The second connecting structure 113 can be a connecting rod structure, and the two ends of the connecting rod structure are respectively connected to the first hinge 108 and the second hinge 109.
[0049] The first driving module 100 of the embodiment of the present application rotates the first hinge 108 by rotating the driving end rotating disk 107. Since one end of the connecting rod structure is connected to the first hinge 108, the connecting rod structure can be driven to swing and drive the second driving module 101 provided with the second hinge 109 and the third hinge 110 to move. Specifically, the connecting rod structure pushes and pulls the second hinge 109, so that the second driving module can rotate around the rotation axis of the third hinge 110.
[0050] Reference Figure 2 As shown, the rotation axis of the third hinge 110 is the first axis 105 .
[0051] The first axis 105 intersects the second axis 106 on the second driving module 101 perpendicularly, so that the structural components installed on the second driving module 101 can flexibly move around the first axis 105 and the second axis 106 to achieve the joint connection function.
[0052] Compared with the prior art, the embodiment of the present application realizes power transmission through a parallelogram structure, so that the first axis 105 and the second axis 106 can be perpendicularly intersected. Therefore, the embodiment of the present application can effectively reduce the volume and weight of the joint mechanism of the robot arm, which is conducive to the lightweight design of the robot arm.
[0053] Better, refer to Figure 2 As shown, the second hinge 109 and the third hinge 110 are arranged at intervals along the second axis 106 on the second driving module 101; the second hinge 109 is far away from the driving end of the second driving module 101, and the third hinge 110 is close to the driving end of the second driving module 101.
[0054] In the embodiment of the present application, the second hinge 109 is arranged away from the driving end of the second driving module 101, and the third hinge 110 is arranged close to the driving end of the second driving module 101, so that the spatial vertical intersection of the first axis 105 and the second axis 106 can be as close to the driving end of the second driving module 101 as possible, which is conducive to further improving the coordination and flexibility of the joint movements of the robotic arm.
[0055] Reference Figure 4 as well as Figure 5As shown, as an optional embodiment, a limiting portion 115 is provided on the first connecting structure 111, and two adjacent sides of the parallelogram structure are driven to move to a preset angle, and the limiting portion 115 abuts against the second connecting structure 113 to form a force to block the second connecting structure 113.
[0056] Reference Figure 4 as well as Figure 5 As shown, further, the third side 112 and the fourth side 114 move to a preset distance, and the limiting portion 115 abuts against the second connecting structure 113 to form a force to block the second connecting structure 113 .
[0057] It should be noted that the embodiment of the present application can prevent the parallelogram structure from entering an abnormal shape through the provision of the limiting portion 115, thereby ensuring that the parallelogram structure can be used as a stable and reliable guiding mechanism to achieve the transmission of driving force.
[0058] Furthermore, a preset distance is provided between the planes where the first connecting structure 111 and the second connecting structure 113 are located. Figure 3 As shown, the first connecting structure 111 and the second connecting structure 113 of the embodiment of the present application are not coplanar. Through the above arrangement, the connecting component 102 can have a larger rotation adjustment angle.
[0059] As an optional implementation, the first connecting structure 111 is symmetrically arranged about the second axis 106 .
[0060] The second connecting structure 113 is disposed on one side or both sides of the second axis 106 .
[0061] It should be noted that the first connecting structure 111 is arranged on both sides of the second axis 106 to reliably fix the second driving module 101. The second connecting structure 113 of the embodiment of the present application is arranged on one side of the second axis 106, that is, a parallelogram structure is formed on one side of the second driving module 101. Those skilled in the art can arrange parallelogram structures on both sides of the second driving module 101 as needed.
[0062] In the embodiment of the present application, the first driving module 100 and the second driving module 101 are connected via a parallelogram structure, that is, the first driving module 100 can control the rotation of the second driving module 101 via the parallelogram structure.
[0063] An embodiment of the present application provides a robotic arm, comprising the above-mentioned robotic arm joint mechanism, wherein the robotic arm joint mechanism is arranged at the end of the robotic arm.
[0064] The robot arm provided in the embodiment of the present application adopts the above-mentioned robot arm joint mechanism, which can be used as the connection structure of the wrist part. The embodiment of the present application can effectively reduce the volume and weight of the wrist part of the robot arm, making the robot arm closer to the human bionic arm. In addition, the lightweight design is achieved by reducing the weight, avoiding the motor from being overloaded and burned, and improving the safety and reliability of the robot arm.
[0065] The embodiment of the present application further provides a robot, comprising the above-mentioned robotic arm, wherein a robotic hand is connected to the second driving module 101 of the robotic arm joint mechanism at the end of the robotic arm.
[0066] The robot provided in the embodiment of the present application adopts the above-mentioned mechanical arm, which has higher safety and reliability.
[0067] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A mechanical arm joint mechanism, characterized in that: It comprises a first driving module (100), a second driving module (101) and a connecting component (102); The first driving module (100) is provided with a driving end rotating disk (107), and the driving end rotating disk (107) is provided with a first hinge (108); the second driving module (101) is provided with a second hinge (109) and a third hinge (110) arranged at intervals; The connection assembly (102) comprises a first connection structure (111) and a second connection structure (113); one end of the first connection structure (111) is connected to the first drive module (100), and the other end is connected to the third hinge (110); one end of the second connection structure (113) is connected to the first hinge (108), and the other end is connected to the second hinge (109); The first hinge (108), the second hinge (109), the third hinge (110) and the rotation center of the driving end turntable (107) are connected in sequence to form a parallelogram structure, so that the first driving module (100) drives the second driving module (101) to rotate around a first axis (105) through the parallelogram structure; the driving end of the second driving module (101) can rotate around a second axis (106), and the first axis (105) and the second axis (106) intersect vertically.
2. The mechanical arm joint mechanism according to claim 1, characterized in that: The first axis (105) is the rotation axis of the third hinge (110).
3. The mechanical arm joint mechanism according to claim 1, characterized in that: The second hinge (109) and the third hinge (110) are arranged at intervals along the second axis (106) on the second drive module (101); the second hinge (109) is far away from the drive end of the second drive module (101), and the third hinge (110) is close to the drive end of the second drive module (101).
4. The mechanical arm joint mechanism according to claim 1, characterized in that: The line connecting the first hinge (108) and the rotation center of the driving end turntable (107) constitutes a first side (103) of the parallelogram structure; the line connecting the second hinge (109) and the third hinge (110) constitutes a second side (104) of the parallelogram structure; the line connecting the rotation center of the driving end turntable (107) and the third hinge (110) constitutes a third side (112) of the parallelogram structure; and the line connecting the first hinge (108) and the second hinge (109) constitutes a fourth side (114) of the parallelogram structure.
5. The mechanical arm joint mechanism according to claim 1, characterized in that: The first connecting structure (111) is provided with a limiting portion (115), and two adjacent sides of the parallelogram structure are driven to move to a preset angle, and the limiting portion (115) abuts against the second connecting structure (113), thereby forming a force that blocks the second connecting structure (113).
6. The mechanical arm joint mechanism according to any one of claims 1 to 5, characterized in that: The first connecting structure (111) is symmetrically arranged about the second axis (106).
7. The mechanical arm joint mechanism according to any one of claims 1 to 5, characterized in that: The second connecting structure (113) is arranged on one side or both sides of the second axis (106).
8. The mechanical arm joint mechanism according to any one of claims 1 to 5, characterized in that: A gap is preset between the planes where the first connecting structure (111) and the second connecting structure (113) are located.
9. A robotic arm, characterized in that: It comprises the robotic arm joint mechanism according to any one of claims 1 to 8, wherein the robotic arm joint mechanism is arranged at the end of the robotic arm.
10. A robot, characterized in that: The invention comprises the robotic arm as claimed in claim 9, wherein a second driving module (101) of a robotic arm joint mechanism at the end of the robotic arm is connected to a robotic hand.