robotic arms and robots

Abstract

The present application relates to the field of robot technology, and specifically discloses a robot arm and a robot, including a robot arm end drive module, a connector, a data acquisition board, and a sensor; the connector includes a first bearing surface for connecting the robot arm end drive module and a second bearing surface for connecting the robot hand, and the first bearing surface and the second bearing surface are perpendicular to each other; the data acquisition board and the sensor are both arranged on the first bearing surface. The present application can reduce the extension length of the connector, enhance the coordination of the wrist part at the end of the robot arm, and improve flexibility by optimizing the connection structure.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm and a robot. Background Art

[0002] The wrist part at the end of the robot arm is usually equipped with a data acquisition module for collecting data such as force and speed. The prior art usually uses an extension bracket to install the data acquisition board and sensor. Since one end of the extension bracket is connected to the driving end of the driving module, in order to avoid motion interference and realize the installation of the data acquisition module, the other end needs to extend away from the driving end, which leads to the increase in the length of the wrist part at the end of the robot arm. Under the same arm length, a longer wrist will not only lead to uncoordinated movements of the robot arm, but also reduce flexibility. Utility Model Content

[0003] The purpose of the present application is to provide a robotic arm and a robot, which can reduce the extension length of the connecting parts by optimizing the connection structure, enhance the coordination of the wrist part at the end of the robotic arm, and improve flexibility.

[0004] The embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application is a robotic arm, comprising a robotic arm end drive module, a connector, a data acquisition board and a sensor; the connector comprises a first bearing surface for connecting the robotic arm end drive module and a second bearing surface for connecting a manipulator, the first bearing surface and the second bearing surface being perpendicular to each other; the data acquisition board and the sensor are both arranged on the first bearing surface.

[0006] As an optional implementation, the data acquisition board and the sensor are respectively arranged on two sides of the first bearing surface.

[0007] As an optional implementation, the data acquisition board is arranged on a side of the first bearing surface away from the end driving module; and the sensor is arranged between the first bearing surface and the end driving module.

[0008] As an optional implementation, the end drive module is provided with a flange connection plate perpendicular to the rotation axis; the sensor is sandwiched between the flange connection plate and the first bearing surface.

[0009] As an optional implementation, the connecting member is an L-shaped structural member, and the first bearing surface and the second bearing surface are formed on the L-shaped structural member; the second bearing surface on the L-shaped structural member is parallel to the rotation axis of the end drive module.

[0010] As an optional implementation, the L-shaped structural member has a first cavity for installing the data acquisition board; and / or the L-shaped structural member has a second cavity for installing the sensor.

[0011] As an optional implementation, it further includes a first driving module and a connecting component;

[0012] The first driving module is provided with a driving end turntable, and the driving end turntable is provided with a first hinge; the terminal driving module is provided with a second hinge and a third hinge arranged at intervals;

[0013] 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;

[0014] 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 terminal driving module to rotate around the first axis through the parallelogram structure; the driving end of the terminal driving module can rotate around the second axis, and the first axis intersects the second axis at right angles.

[0015] As an optional embodiment, the second hinge and the third hinge are arranged at intervals along the second axis on the terminal drive module; the second hinge is far away from the driving end of the terminal drive module, and the third hinge is close to the driving end of the terminal drive module; the first axis is the rotation axis of the third hinge.

[0016] 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.

[0017] In a second aspect, an embodiment of the present application provides a robot, comprising the above-mentioned robotic arm and robotic arm, wherein the robotic arm is mounted on a second bearing surface.

[0018] The beneficial effects of the embodiments of the present application include:

[0019] The embodiment of the present application is a robotic arm, including a robotic arm end drive module, a connector, a data acquisition board and a sensor; the connector includes a first bearing surface for connecting the robotic arm end drive module and a second bearing surface for connecting the manipulator, and the first bearing surface and the second bearing surface are perpendicular to each other; the data acquisition board and the sensor are both arranged on the first bearing surface. The embodiment of the present application arranges the data acquisition board and the sensor on the first bearing surface, wherein the extension direction of the first bearing surface is consistent with the extension direction of the central axis of the robotic arm, so that the data acquisition board and the sensor are integrated in the extension direction of the connector along the arm length of the robotic arm. Compared with the prior art, the data acquisition board and the sensor of the embodiment of the present application no longer increase the length of the entire data acquisition module on the central axis. Therefore, the embodiment of the present application can reduce the extension length of the connector to a certain extent, enhance the coordination of the wrist part at the end of the robotic arm, and improve flexibility.

[0020] The embodiment of the present application provides a robot, comprising the above-mentioned mechanical arm and mechanical hand, wherein the mechanical hand is mounted on the second bearing surface. The robot of the embodiment of the present application adopts the above-mentioned mechanical arm, and compared with the prior art, under the same arm length, the hand movements of the robot of the embodiment of the present application have better coordination and flexibility, and can make the movements made by the mechanical hand closer to the real hand movements of the human body, effectively improving the bionic degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present application;

[0023] Figure 2 This is one of the structural schematic diagrams of the mechanical arm connecting member of the embodiment of the present application;

[0024] Figure 3 This is the second structural schematic diagram of the mechanical arm connecting member of the embodiment of the present application;

[0025] Figure 4 This is the third structural diagram of the mechanical arm connecting member of the embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of the structure of the robot according to the embodiment of the present application;

[0027] Figure 6 This is one of the structural schematic diagrams of the robot connection assembly of the embodiment of the present application;

[0028] Figure 7 This is the second structural diagram of the robot connection assembly of the embodiment of the present application;

[0029] Figure 8 This is the third structural diagram of the robot connection assembly of the embodiment of the present application;

[0030] Fig. 9 This is the fourth structural schematic diagram of the robot connection component of the embodiment of the present application.

[0031] Icons: 101-data acquisition board; 102-sensor; 103-connecting part; 104-first bearing surface; 105-second bearing surface; 106-central axis; 107-L-shaped structural part; 108-end drive module; 109-first chamber; 110-second chamber; 112-first drive module; 113-connecting assembly; 114-drive end turntable; 115-first hinge; 116-second hinge; 117-third hinge; 118-first connecting structural part; 119-second connecting structural part; 120-first axis; 121-second axis; 122-manipulator; 123-first side; 124-second side; 125-third side; 126-fourth side; 127-limiting part. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] The wrist part at the end of the robot arm is usually provided with a data acquisition module for collecting data such as force and speed. The prior art usually uses an extension bracket to install the data acquisition board 101 and the sensor 102. Since one end of the extension bracket is connected to the driving end of the end driving module 108, in order to avoid motion interference and realize the loading of the data acquisition module, the other end needs to extend away from the driving end, thereby increasing the length of the wrist part at the end of the robot arm. Under the same arm length, a longer wrist will not only lead to uncoordinated movements of the robot arm, but also reduce flexibility.

[0037] In order to solve the above technical problems, an embodiment of the present application provides a robotic arm and a robot.

[0038] Reference Figure 1 As shown, a robot arm according to an embodiment of the present application includes a robot arm end drive module 108, a connector 103, a data acquisition board 101 and a sensor 102; the connector 103 includes a first bearing surface 104 for connecting the robot arm end drive module 108 and a second bearing surface 105 for connecting the manipulator 122, and the first bearing surface 104 and the second bearing surface 105 are perpendicular to each other; the data acquisition board 101 and the sensor 102 are both arranged on the first bearing surface 104.

[0039] It should be noted that the data acquisition board 101 and the sensor 102 provided in the embodiment of the present application constitute a data acquisition module, wherein the data acquisition board 101 is arranged on the first bearing surface 104, and the sensor 102 is arranged on the first bearing surface 104. In other words, the two components of the data acquisition module in the embodiment of the present application are both on the first bearing surface 104, and the first bearing surface 104 is parallel to the central axis 106 of the robotic arm, that is, the data acquisition board 101 and the sensor 102 are arranged on one side of the central axis 106, so as to avoid that the length of the central axis 106 of the wrist portion is increased by this part of the structure.

[0040] It should be noted that the geometric center of the second bearing surface 105 is located on the central axis 106 of the robot arm.

[0041] Furthermore, in the embodiment of the present application, the geometric center of the second bearing surface 105 is located on the central axis 106 of the robot arm, so that the sensor 102 can be arranged on the central axis 106 of the robot arm. More preferably, the geometric center of the sensor 102 is located on the central axis 106 of the robot arm, that is, the geometric center of the sensor 102 coincides with the central axis 106 of the robot arm.

[0042] The connecting member 103 is a connecting structural member, and its specific structure can be set by those skilled in the art as required, and is not particularly limited here.

[0043] For example, refer to Figure 2 and Figure 3 As shown, the connecting member 103 is an L-shaped structural member 107 , and a first bearing surface 104 and a second bearing surface 105 are formed on the L-shaped structural member 107 ; the second bearing surface 105 on the L-shaped structural member 107 is parallel to the rotation axis of the end drive module 108 .

[0044] The L-shaped structure 107 is connected to the end drive module 108 of the robot arm; the first bearing surface 104 is arranged on the side of the L-shaped structure 107 away from the end drive module 108, and the first bearing surface 104 is perpendicular to the driving axis of the end drive module 108.

[0045] The second bearing surface 105 is disposed at the bottom of the L-shaped structural member 107 , and the second bearing surface 105 is parallel to the driving axis of the end driving module 108 .

[0046] Furthermore, the connecting member 103 of the embodiment of the present application is an L-shaped structural member 107 , and the robot arm end driving module 108 can drive the robot 122 to rotate around the wrist part through the connecting member 103 .

[0047] It should be noted that the embodiment of the present application avoids setting the data acquisition board 101 and the sensor 102 at the end of the connector 103 close to the manipulator 122 at the same time, so as to avoid extending the length of the wrist. In particular, the embodiment of the present application arranges the data acquisition board 101 and the sensor 102 on the side of the connector 103, which effectively reduces the length of the wrist and increases the flexibility of the wrist.

[0048] The embodiment of the present application is a robot arm, comprising a robot arm end driving module 108, a connector 103, a data acquisition board 101 and a sensor 102; the connector 103 comprises a first bearing surface 104 for connecting the robot arm end driving module 108 and a second bearing surface 105 for connecting the robot hand 122, the first bearing surface 104 and the second bearing surface 105 being perpendicular to each other; the data acquisition board 101 and the sensor 102 are both arranged on the first bearing surface 104. The embodiment of the present application arranges the data acquisition board 101 and the sensor 102 on the first bearing surface 104, wherein the extension direction of the first bearing surface 104 is consistent with the extension direction of the central axis 106 of the robot arm, so that the data acquisition board 101 and the sensor 102 are both integrated in the extension direction of the connector 103 along the arm length of the robot arm. Compared with the prior art, the data acquisition board 101 and the sensor 102 in the embodiment of the present application no longer increase the length of the entire data acquisition module on the central axis 106. Therefore, the embodiment of the present application can reduce the extension length of the connecting member 103 to a certain extent, enhance the coordination of the wrist part at the end of the robotic arm, and improve flexibility.

[0049] Reference Figure 1 As shown, as an optional implementation, the data acquisition board 101 and the sensor 102 are respectively arranged on both sides of the first bearing surface 104 .

[0050] Specifically, refer to Figure 2 As shown, the data acquisition board 101 is arranged on the side of the first bearing surface 104 away from the end driving module 108 ; the sensor 102 is arranged between the first bearing surface 104 and the end driving module 108 .

[0051] The end driving module 108 is provided with a flange connection plate which is perpendicular to the rotation axis; the sensor 102 is sandwiched between the flange connection plate and the first bearing surface 104 .

[0052] Reference Figure 4 As shown, as an optional embodiment, the L-shaped structure 107 has a first chamber 109 for installing the data acquisition board 101; and / or, the L-shaped structure 107 has a second chamber 110 for installing the sensor 102.

[0053] Exemplarily, two recessed platforms are provided on the L-shaped structural member 107 to form a first cavity 109 for installing the data acquisition board 101 and a second cavity 110 for installing the sensor 102 .

[0054] For example, refer to Figure 4 As shown, two shells are disposed on the L-shaped structural member 107 , namely, a data acquisition board shell for installing the data acquisition board 101 , and a sensor shell for installing the sensor 102 .

[0055] Reference Figure 5 , Figure 6 As shown, as an optional implementation, it also includes a first driving module 112 and a connecting component 113;

[0056] The first driving module 112 is provided with a driving end turntable 114, and the driving end turntable 114 is provided with a first hinge 115; the terminal driving module 108 is provided with a second hinge 116 and a third hinge 117 arranged at intervals;

[0057] The connecting assembly 113 includes a first connecting structure 118 and a second connecting structure 119; one end of the first connecting structure 118 is connected to the first driving module 112, and the other end is connected to the third hinge 117; one end of the second connecting structure 119 is connected to the first hinge 115, and the other end is connected to the second hinge 116;

[0058] The first hinge 115, the second hinge 116, the third hinge 117 and the rotation center of the driving end turntable 114 are connected in sequence to form a parallelogram structure, so that the first driving module 112 drives the end driving module 108 to rotate around the first axis 120 through the parallelogram structure; the driving end of the end driving module 108 can rotate around the second axis 121, and the first axis 120 intersects the second axis 121 vertically.

[0059] Among them, the second hinge 116 and the third hinge 117 are arranged at intervals along the second axis 121 on the terminal drive module 108; the second hinge 116 is far away from the driving end of the terminal drive module 108, and the third hinge 117 is close to the driving end of the terminal drive module 108; the first axis 120 is the rotation axis of the third hinge 117.

[0060] Reference Figure 7 As shown, the line connecting the first hinge 115 and the rotation center of the driving end turntable 114 constitutes the first side 123 of the parallelogram structure; the line connecting the second hinge 116 and the third hinge 117 constitutes the second side 124 of the parallelogram structure; the line connecting the rotation center of the driving end turntable 114 and the third hinge 117 constitutes the third side 125 of the parallelogram structure; the line connecting the first hinge 115 and the second hinge 116 constitutes the fourth side 126 of the parallelogram structure.

[0061] The four rotation center lines are respectively the rotation axis of the first hinge 115 , the rotation axis of the second hinge 116 , the rotation axis of the third hinge 117 , and the rotation axis of the driving end turntable 114 of the first driving module 112 .

[0062] It should be noted that one end of the first connecting structure 118 can be fixed on the first driving module 112, and the other end is connected to the third hinge 117, and the first connecting structure 118 can be fixedly arranged. In other words, the third side 125 of the parallelogram structure formed by the rotation center of the driving end turntable 114 and the third hinge 117 is used as a fixed side.

[0063] It should be noted that the specific structures of the first connecting structure 118 and the second connecting structure 119 can be set by those skilled in the art as needed. Among them, the second connecting structure 119 can adopt a connecting rod structure, and the two ends of the connecting rod structure are respectively connected to the first hinge 115 and the second hinge 116.

[0064] 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] Reference Figure 8 , Fig. 9 As shown, as an optional embodiment, a limiting portion 127 is provided on the first connecting structure 118, and two adjacent sides of the parallelogram structure are driven to move to a preset angle, and the limiting portion 127 abuts against the second connecting structure 119 to form a force to block the second connecting structure 119.

[0066] 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 127, thereby ensuring that the parallelogram structure can be used as a stable and reliable guiding mechanism to achieve the transmission of driving force.

[0067] Furthermore, a preset distance is provided between the planes where the first connecting structure 118 and the second connecting structure 119 are located. That is, the first connecting structure 118 and the second connecting structure 119 of the embodiment of the present application are not coplanar, and the above arrangement enables the connecting assembly 113 to have a larger rotation adjustment angle.

[0068] Reference Figure 5 As shown, an embodiment of the present application provides a robot, including the above-mentioned robotic arm and robotic arm 122 , and the robotic arm 122 is installed on the second bearing surface 105 .

[0069] The robot of the embodiment of the present application adopts the above-mentioned robotic arm. Compared with the prior art, at the same arm length, the hand movements of the robot of the embodiment of the present application have better coordination and flexibility, which can make the movements made by the robotic arm 122 closer to the real hand movements of the human body, effectively improving the degree of bionics.

[0070] 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 robotic arm, characterized in that: The invention comprises a robot end drive module (108), a connecting member (103), a data acquisition board (101) and a sensor (102); the connecting member (103) comprises a first bearing surface (104) for connecting the robot end drive module (108) and a second bearing surface (105) for connecting a robot arm (122); the first bearing surface (104) and the second bearing surface (105) are perpendicular to each other; the data acquisition board (101) and the sensor (102) are both arranged on the first bearing surface (104).

2. The robotic arm according to claim 1, characterized in that: The data acquisition board (101) and the sensor (102) are respectively arranged on two sides of the first bearing surface (104).

3. The robotic arm according to claim 2, characterized in that: The data acquisition board (101) is arranged on a side of the first bearing surface (104) away from the end driving module (108); and the sensor (102) is arranged between the first bearing surface (104) and the end driving module (108).

4. The robotic arm according to claim 1, characterized in that: The end drive module (108) is provided with a flange connection plate perpendicular to the rotation axis; the sensor (102) is sandwiched between the flange connection plate and the first bearing surface (104).

5. The robotic arm according to claim 1, characterized in that: The connecting member (103) is an L-shaped structural member (107), and the first bearing surface (104) and the second bearing surface (105) are formed on the L-shaped structural member (107); the second bearing surface (105) on the L-shaped structural member (107) is parallel to the rotation axis of the end drive module (108).

6. The robotic arm according to claim 5, characterized in that: The L-shaped structural member (107) has a first chamber (109) for installing the data acquisition board (101); and / or the L-shaped structural member (107) has a second chamber (110) for installing the sensor (102).

7. The robotic arm according to any one of claims 1 to 6, characterized in that: The invention also comprises a first driving module (112) and a connecting assembly (113); the first driving module (112) is provided with a driving end turntable (114), and the driving end turntable (114) is provided with a first hinge (115); the terminal driving module (108) is provided with a second hinge (116) and a third hinge (117) arranged at intervals; the connecting assembly (113) comprises a first connecting structure (118) and a second connecting structure (119); one end of the first connecting structure (118) is connected to the first driving module (112), and the other end is connected to the third hinge (117); the second connecting structure (119) One end of the first hinge (119) is connected to the first hinge (115), and the other end is connected to the second hinge (116); the first hinge (115), the second hinge (116), the third hinge (117) and the rotation center of the driving end turntable (114) are connected in sequence to form a parallelogram structure, so that the first driving module (112) drives the terminal driving module (108) to rotate around a first axis (120) through the parallelogram structure; the driving end of the terminal driving module (108) can rotate around a second axis (121), and the first axis (120) and the second axis (121) are perpendicular to each other.

8. The robot arm according to claim 7, characterized in that: The second hinge (116) and the third hinge (117) are arranged at intervals along the second axis (121) on the terminal drive module (108); the second hinge (116) is far away from the driving end of the terminal drive module (108), and the third hinge (117) is close to the driving end of the terminal drive module (108); the first axis (120) is the rotation axis of the third hinge (117).

9. The robot arm according to claim 7, characterized in that: The first connecting structure (118) is provided with a limiting portion, 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 (119), thereby forming a force that blocks the second connecting structure (119).

10. A robot, characterized in that: It comprises the robot arm and robot hand (122) as described in any one of claims 1 to 9, and the robot hand (122) is installed on the second bearing surface (105).

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