Robot upper limb structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot upper limb structure and a robot, the robot upper limb structure is provided with a shoulder joint mechanism and an elbow joint mechanism, four-axis movement is achieved, specifically, the shoulder joint mechanism is driven by a first driving module and a second driving module, and twisting and up-down swinging of a shoulder joint of the robot are achieved; the elbow joint mechanism is driven by a third driving module and a fourth driving module to realize rotation of the arm and the elbow of the robot; the flexibility is high, and complex use requirements are met; and a motor and connecting rod movement mechanism is adopted, the occupied space of the upper limbs can be reduced, and miniaturization is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot upper limb structure and a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control. With the development of research and development of robots, humanoid robots have begun to appear in recent years.

[0003] The upper limb structures of existing robots have complex structures and wiring, which leads to limited freedom of movement and heavy weight of the robots, making it difficult to adapt to complex operational requirements. Utility Model Content

[0004] Based on this, the purpose of the utility model is to provide a robot upper limb structure and a robot.

[0005] The utility model adopts the following technical solutions:

[0006] A robot upper limb structure, characterized by comprising:

[0007] A shoulder joint mechanism, the shoulder joint mechanism comprising a first driving module, a first connecting rod drivingly connected to the first driving module, a second driving module mounted on one end of the first connecting rod, and a second connecting rod fixed to the second driving module; the first driving module drives the first connecting rod to rotate around the axis of the first driving module; the second driving module drives the second connecting rod to rotate around the axis of the second driving module; the axis of the first driving module and the axis of the second driving module are perpendicular to each other; the first connecting rod and the second connecting rod are parallel to each other;

[0008] An elbow joint mechanism, the elbow joint mechanism includes a third driving module, a third connecting rod, a fourth driving module, and a mechanical arm; the third driving module is assembled and connected to the second connecting rod; the third connecting rod is assembled at the transmission end of the third driving module, the third driving module drives the third connecting rod to rotate around the axis of the third driving module, and one end of the third connecting rod away from the third driving module is fixedly connected to the outer wall of the fourth driving module; the mechanical arm is connected to the transmission end of the fourth driving module; the fourth driving module drives the mechanical arm to rotate around the axis of the fourth driving module; the axis of the fourth driving module and the axis of the third driving module are perpendicular to each other.

[0009] Preferably, a connecting arm is provided at one end of the first connecting rod facing the first driving module, and the connecting arm is connected to the transmission end of the first driving module via bolts.

[0010] Preferably, a connecting hole is formed at one end of the first connecting rod facing the second driving module, and the second driving module is assembled in the connecting hole.

[0011] Preferably, a plurality of assembly holes are formed at one end of the second connecting rod facing the second driving module, and the second connecting rod is assembled and connected to the second driving module through the assembly holes.

[0012] Preferably, an end of the second connecting rod facing away from the second driving module is provided with a mounting seat arranged perpendicularly thereto, and the third driving module is assembled in the mounting seat.

[0013] Preferably, the second connecting rod is provided with a plurality of through holes; the through holes are distributed in parallel along the length direction of the second connecting rod.

[0014] Preferably, the third connecting rod includes a connecting ring sleeved on the outside of the fourth driving module, and a mounting block provided on the side wall of the connecting ring; the mounting block is assembled and connected to the transmission end of the third driving module by bolts.

[0015] Preferably, an air avoidance groove is provided at one end of the robotic arm close to the fourth driving module; and the fourth driving module is arranged in the air avoidance groove.

[0016] Preferably, a connecting portion is provided at the bottom of the air avoidance groove; and the transmission end of the fourth driving module is connected to the connecting portion by bolts.

[0017] A robot comprises the above-mentioned robot upper limb structure.

[0018] The beneficial effects of the utility model are:

[0019] The robot upper limb structure and the robot involved in the utility model are provided with a shoulder joint mechanism and an elbow joint mechanism to realize four-axis motion. Specifically, the shoulder joint mechanism is driven by a first drive module and a second drive module to realize the twisting and up and down swinging of the robot shoulder joint; and the elbow joint mechanism is driven by a third drive module and a fourth drive module to realize the rotation of the robot arm and the rotation of the elbow; it has high flexibility and meets complex usage requirements; and the use of a motion mechanism of a motor and a connecting rod can reduce the space occupied by the upper limbs and realize miniaturization. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the robot of the present utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the robot upper limb structure of the utility model;

[0022] Figure 3 for Figure 2A schematic diagram of the structure of the robot's upper limb from another angle;

[0023] Figure 4 for Figure 2 The front view of the robot upper limb structure;

[0024] Figure 5 for Figure 2 A side view of the robot's upper limb structure;

[0025] Figure 6 for Figure 2 Schematic diagram of the structural explosion of the robot's upper limb structure;

[0026] Numbers in the figure:

[0027] 100-shoulder joint mechanism;

[0028] 11- first driving module;

[0029] 12-first connecting rod; 121-connecting arm; 122-connecting hole; 123-limiting part;

[0030] 13- second driving module;

[0031] 14-second connecting rod; 141-assembly hole; 142-mounting seat; 143-through hole;

[0032] 200-Elbow joint mechanism;

[0033] 21- third drive module;

[0034] 22-third connecting rod; 221-connecting ring; 222-mounting block;

[0035] 23- fourth driving module;

[0036] 24-mechanical arm; 241-avoidance groove; 242-connecting part. DETAILED DESCRIPTION

[0037] 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 in 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.

[0038] In the description of the present invention, it should be noted that the terms "vertical direction", "upper", "lower", "horizontal" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0039] In the description of the present invention, it is also necessary to explain 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, a mechanical connection, an electrical connection, a direct connection, or a connection through an intermediate medium, or 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.

[0040] like Figure 1 As shown in FIG. 1 , a robot of the present utility model is shown. Figures 2 to 6 As shown, the robot upper limb structure of the present invention includes a shoulder joint mechanism 100 for realizing shoulder joint movement and an elbow joint mechanism 200 for realizing elbow joint movement.

[0041] Among them, the shoulder joint mechanism 100 includes a first driving module 11, a first connecting rod 12 drivingly connected to the first driving module 11, a second driving module 13 assembled on one end of the first connecting rod 12, and a second connecting rod 14 fixed on the second driving module 13; the axis of the first driving module 11 and the axis of the second driving module 13 are perpendicular to each other; the first connecting rod 12 and the second connecting rod 14 are parallel to each other.

[0042] In the working state, the first driving module 11 drives the first connecting rod 12 to rotate around the axis of the first driving module 11 ( Figure 4 The second drive module 13 drives the second connecting rod 14 around the axis of the second drive module 13 ( Figure 5 The first driving module 11 and the second driving module 13 work together to drive the two-axis movement of the shoulder joint to achieve the twisting and up and down swinging of the robot shoulder.

[0043] Among them, the elbow joint mechanism 200 includes a third driving module 21, a third connecting rod 22, a fourth driving module 23, and a mechanical arm 24; the third driving module 21 is assembled and connected with the second connecting rod 14; the third connecting rod 22 is assembled at the transmission end of the third driving module 21, and the end of the third connecting rod 22 away from the third driving module 21 is fixedly connected to the outer wall of the fourth driving module 23; the mechanical arm 24 is connected to the transmission end of the fourth driving module 23; the axis of the fourth driving module 23 is perpendicular to the axis of the third driving module 21.

[0044] In the working state, the third driving module 21 drives the third connecting rod 22 to rotate around the axis of the third driving module 21 ( Figure 4 The fourth drive module 23 drives the robot arm 24 around the axis of the fourth drive module 23 ( Figure 4 The third driving module 21 and the fourth driving module 23 work together to drive the two-axis movement of the elbow joint to achieve the rotation of the robot's arm and the elbow.

[0045] In this embodiment, the first drive module 11, the second drive module 13, the third drive module 21 and the fourth drive module 23 are all motors. The above transmission structure can realize multi-angle movement of the robot's upper limbs, complete a variety of preset actions, and meet a variety of usage scenarios. At the same time, the transmission method of the motor and the connecting rod is adopted, which makes the structure compact and the layout and routing reasonable, which helps to realize the miniaturization of the robot.

[0046] See also Figure 2 and Figure 6 The first connecting rod 12 is provided with a connecting arm 121 at one end facing the first driving module 11, and the connecting arm 121 is connected to the transmission end of the first driving module 11 by bolts, thereby realizing the transmission between the first driving module 11 and the first connecting rod 12. The first connecting rod 12 is provided with a connecting hole 122 at one end facing the second driving module 13, and the second driving module 13 is assembled in the connecting hole 122; further, an annular limiting portion 123 is provided at one end inside the connecting hole 122, and when the second driving module 13 is assembled in the connecting hole 122, the bottom of the second driving module 13 abuts against the limiting portion 123, and the bottom of the second driving module 13 is connected to the limiting portion 123 by bolts, thereby completing the connection between the second driving module 13 and the first connecting rod 12.

[0047] See also Figure 3 and Figure 6The second connecting rod 14 has a plurality of assembly holes 141 at one end facing the second driving module 13, and bolts are inserted into the assembly holes 141 of the second connecting rod 14 to assemble the second connecting rod 14 with the second driving module 13. The second connecting rod 14 has a mounting seat 142 disposed perpendicularly thereto at one end facing away from the second driving module 13, and the third driving module 21 is assembled in the mounting seat 142; specifically, a through hole is formed at the bottom of the mounting seat 142, and the transmission end of the third driving module 21 passes through the through hole and is connected to the fourth driving module 23.

[0048] See also Figure 3 The second connecting rod 14 is provided with a plurality of through holes 143; the through holes 143 are distributed in parallel along the length direction of the second connecting rod 14; the provision of the through holes 143 can reduce the weight of the second connecting rod 14 and realize lightweight upper limbs; at the same time, the through holes 143 can form an air duct, increase the air circulation during operation, and improve the heat dissipation performance.

[0049] See also Figure 6 The third connecting rod 22 includes a connecting ring 221 sleeved on the outside of the fourth driving module 23 and a mounting block 222 arranged on the side wall of the connecting ring 221; the mounting block 222 is assembled and connected to the transmission end of the third driving module 21 by bolts.

[0050] See also Figure 6 The end of the mechanical arm 24 close to the fourth driving module 23 is provided with an air-avoiding groove 241; the fourth driving module 23 is arranged in the air-avoiding groove 241; a connecting portion 242 is provided at the bottom of the air-avoiding groove 241; the transmission end of the fourth driving module 23 is connected to the connecting portion 242 by bolts. The air-avoiding groove 241 is provided to accommodate the fourth driving module 23, save elbow space, increase elbow bending and turning space, and make the layout more reasonable.

[0051] like Figure 1 As shown, the robot of the present utility model includes the above-mentioned robot upper limb structure, which can realize the movement of the shoulder joint and the elbow joint, and then realize the multi-angle work of the upper limbs to meet the use requirements of the robot.

[0052] Compared with the prior art, the robot upper limb structure and the robot involved in the utility model are provided with a shoulder joint mechanism 100 and an elbow joint mechanism 200 to realize four-axis motion. Specifically, the shoulder joint mechanism 100 is driven by the first drive module 11 and the second drive module 13 to realize the twisting and up and down swinging of the robot shoulder joint; and the elbow joint mechanism 200 is driven by the third drive module 21 and the fourth drive module 23 to realize the rotation of the robot arm and the rotation of the elbow; it has high flexibility and meets complex usage requirements; and the use of a motion mechanism of a motor and a connecting rod can reduce the space occupied by the upper limbs and realize miniaturization.

[0053] The above only expresses the preferred technical solution of the utility model, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and the utility model is also intended to include these modifications and modifications.

Claims

1. A robot upper limb structure, characterized in that: include: A shoulder joint mechanism, the shoulder joint mechanism comprising a first driving module, a first connecting rod drivingly connected to the first driving module, a second driving module mounted on one end of the first connecting rod, and a second connecting rod fixed to the second driving module; the first driving module drives the first connecting rod to rotate around the axis of the first driving module; the second driving module drives the second connecting rod to rotate around the axis of the second driving module; the axis of the first driving module and the axis of the second driving module are perpendicular to each other; the first connecting rod and the second connecting rod are parallel to each other; An elbow joint mechanism, the elbow joint mechanism comprising a third driving module, a third connecting rod, a fourth driving module, and a mechanical arm; the third driving module is assembled and connected with the second connecting rod; The third connecting rod is assembled on the transmission end of the third driving module, and the third driving module drives the third connecting rod to rotate around the axis of the third driving module. One end of the third connecting rod away from the third driving module is fixedly connected to the outer wall of the fourth driving module; the mechanical arm is connected to the transmission end of the fourth driving module; the fourth driving module drives the mechanical arm to rotate around the axis of the fourth driving module; the axis of the fourth driving module is perpendicular to the axis of the third driving module.

2. The robot upper limb structure according to claim 1, characterized in that: A connecting arm is provided at one end of the first connecting rod facing the first driving module, and the connecting arm is connected to the transmission end of the first driving module through a bolt.

3. The robot upper limb structure according to claim 1, characterized in that: A connecting hole is formed at one end of the first connecting rod facing the second driving module, and the second driving module is assembled in the connecting hole.

4. The robot upper limb structure according to claim 1, characterized in that: A plurality of assembly holes are formed on one end of the second connecting rod facing the second driving module, and the second connecting rod is assembled and connected with the second driving module through the assembly holes.

5. The robot upper limb structure according to claim 1, characterized in that: An end of the second connecting rod away from the second driving module is provided with a mounting seat vertically arranged therewith, and the third driving module is assembled in the mounting seat.

6. The robot upper limb structure according to claim 1, characterized in that: The second connecting rod is provided with a plurality of through holes; the through holes are distributed in parallel along the length direction of the second connecting rod.

7. The robot upper limb structure according to claim 1, characterized in that: The third connecting rod includes a connecting ring sleeved on the outer side of the fourth driving module, and a mounting block arranged on the side wall of the connecting ring; the mounting block is assembled and connected to the transmission end of the third driving module through bolts.

8. The robot upper limb structure according to claim 1, characterized in that: An air-avoiding groove is provided at one end of the mechanical arm close to the fourth driving module; the fourth driving module is arranged in the air-avoiding groove.

9. The robot upper limb structure according to claim 8, characterized in that: A connecting portion is provided at the bottom of the air avoidance groove; a transmission end of the fourth driving module is connected to the connecting portion via bolts.

10. A robot, characterized in that: The robot upper limb structure comprises any one of claims 1-9.

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