Bionic humanoid robot arm

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a bionic humanoid robot arm, which can adjust the length of the arm within a certain range, enhances the use flexibility of a robot, and is convenient for the robot to finish some long-distance work. Comprising a connecting mechanism; the robot further comprises a large arm mechanism, an adjusting mechanism and a small arm mechanism, the large arm mechanism is installed on the connecting mechanism and drives the adjusting mechanism and the small arm mechanism to rotate, the adjusting mechanism is installed on the large arm mechanism and adjusts the length of the small arm mechanism, and the small arm mechanism is installed on the adjusting mechanism and connected with a palm of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, in particular to a bionic humanoid robot arm. Background Art

[0002] With the development of science, the mechanical age has gradually replaced the manual age. For high-risk jobs, people often use robots to replace them. Robots are a kind of high-tech machines that simulate humans. They are composed of several major parts, such as various movable joints, drive motors and control terminals.

[0003] An existing humanoid robot arm, such as a humanoid robot arm disclosed in the utility model patent with application number 202310982241.X, has a main structure including a mounting base, a mounting plate fixedly connected to the top of the mounting base, a first motor fixedly connected in the mounting plate, an output end of the first motor passes through the mounting plate, a rotating plate fixedly connected to the output end of the first motor, a first mounting ring fixedly connected to the rotating plate, a plurality of connecting ropes fixedly connected to the first mounting ring, and a plurality of second mounting rings fixedly connected to the connecting rope; during installation, the device is first installed to the desired position, and the entire device is conveniently rotated by arranging components such as the mounting plate, the first motor and the rotating plate. At the same time, the first mounting ring, the connecting rope and the second mounting ring are matched with components such as the first mounting ring, the connecting rope and the second mounting ring, so as to facilitate the installation of the device, and the first mounting sleeve, the second mounting sleeve and the first fixed sleeve are conveniently installed by arranging the connecting bolts and the fixing bolts, and the tool is conveniently installed on the connecting ball for fixing by arranging the clamping plate and the converging sleeve.

[0004] However, most of the existing robot arms cannot adjust their length as needed, and thus cannot perform some long-distance work. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a bionic humanoid robot arm which can adjust the arm length within a certain range, thereby enhancing the flexibility of the robot and facilitating the robot to complete some long-distance work.

[0006] The utility model discloses a bionic humanoid robot arm, comprising a connecting mechanism; a large arm mechanism, an adjusting mechanism and a small arm mechanism, wherein the large arm mechanism is installed on the connecting mechanism and drives the adjusting mechanism and the small arm mechanism to rotate, the adjusting mechanism is installed on the large arm mechanism and adjusts the length of the small arm mechanism, and the small arm mechanism is installed on the adjusting mechanism and connected to the palm of the robot; the connecting mechanism is connected to the shoulder of the bionic humanoid robot, the arm can be swung through the connecting mechanism and the large arm mechanism, and the arm length can be adjusted through the adjusting mechanism to meet different needs, and the small arm mechanism is connected to the palm of the robot and can drive the palm to rotate.

[0007] Preferably, the connecting mechanism includes a ring, a protective sleeve, a rotating shaft, a damper and a gear. The ring is installed on the shoulder of the robot, the protective sleeve is rotatably installed on the ring, a cavity is provided inside the protective sleeve, the rotating shaft is rotatably installed on the protective sleeve, the damper is installed on the rotating shaft, and the gear is installed on the rotating shaft. The staff uses bolts to fix the ring on the shoulder of the robot. When the robot needs to rotate its arm, the robot drives the gear to rotate, and the gear drives the rotating shaft and the protective sleeve to rotate. By setting the damper, only the rotating shaft is rotated when swinging in a small range, thereby reducing the friction between the protective sleeve and the ring.

[0008] Preferably, the upper arm mechanism includes a connecting shaft, a reinforcing rod, a gasket and a connecting seat, the connecting shaft is installed on the rotating shaft, the top end of the reinforcing rod is connected to the bottom end of the connecting shaft, the gasket is installed on the reinforcing rod, and the connecting seat is installed on the reinforcing rod; the rotating shaft drives the connecting shaft and the reinforcing rod to rotate, so that the robot's arm swings, which is convenient for the robot to pick up various objects, and the gasket is provided to prevent the adjusting mechanism from hitting the reinforcing rod when it contracts.

[0009] Preferably, the reinforcing rod is provided with a groove, and the reinforcing rod is a carbon fiber composite material; by providing the groove on the reinforcing rod, the excess part can be contained when the adjustment mechanism is contracted, and the carbon fiber composite material has significant light weight and high strength characteristics, and its strength can reach or even exceed that of certain metal materials. In addition, carbon fiber also has the characteristics of corrosion resistance, fatigue resistance, wear resistance, etc., which can extend the service life.

[0010] Preferably, the adjustment mechanism includes a servo motor, a rotating shaft, a block, a sliding rod, a transmission shaft, a second gear and a rack. The servo motor is installed on a connecting seat, the rotating shaft is rotatably installed on the connecting seat, a sliding groove is opened on the rotating shaft, the block is installed in the sliding groove of the rotating shaft, the sliding rod is rotatably installed on the rotating shaft, the transmission shaft is installed on the sliding rod, the second gear is slidably installed in the sliding groove of the rotating shaft, and the rack is installed on the second gear. When the forearm mechanism is rotated, the servo motor is started, the servo motor drives the rotating shaft to rotate, and the rotating shaft drives the second gear and the forearm mechanism to rotate through the block. When the arm length needs to be adjusted, the motor built into the rotating shaft drives the sliding rod and the transmission shaft to rotate, and the transmission shaft drives the rack and the second gear to slide in the sliding groove of the rotating shaft, so as to facilitate the adjustment of the arm length.

[0011] Preferably, the forearm mechanism includes a sleeve, a second rotating shaft and a connecting platform, the top of the sleeve is connected to the bottom end of the second gear, the sleeve has a built-in motor, the second rotating shaft is rotatably installed in the sleeve, and the connecting platform is installed on the second rotating shaft; the staff installs the robot palm on the connecting platform, and when the palm needs to be rotated, the built-in motor in the sleeve drives the second rotating shaft and the connecting platform to rotate, which facilitates the rotation of the palm.

[0012] Preferably, the outer side of the sleeve is wrapped with a flexible elastic hydrogel; the flexible elastic hydrogel can give the robot arm a tactile perception ability similar to that of human skin, allowing the robot to interact with the environment more intelligently, while also having a certain self-repair ability, thereby extending its service life. The sleeve is closest to the palm, making it convenient to sense the material that needs to be picked up.

[0013] Compared with the prior art, the utility model has the following beneficial effects: the connecting mechanism is connected to the shoulder of the bionic humanoid robot, the arm can be swung through the connecting mechanism and the big arm mechanism, and the arm length can be adjusted through the adjusting mechanism to meet different needs; the small arm mechanism is connected to the palm of the robot and can drive the palm to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the axonometric structure of the utility model;

[0015] Figure 2 It is a partially enlarged cross-sectional axonometric structural schematic diagram of the connection mechanism of the utility model;

[0016] Figure 3 It is a front view structural diagram of the upper arm mechanism and the lower arm mechanism of the utility model;

[0017] Figure 4 It is a schematic diagram of the cross-section axonometric structure of the regulating mechanism of the utility model.

[0018] Markings in the attached drawings: 01, connecting mechanism; 11, collar; 12, protective cover; 13, rotating shaft; 14, damper; 15, gear one; 02, big arm mechanism; 21, connecting shaft; 22, reinforcing rod; 23, gasket; 24, connecting seat; 03, adjusting mechanism; 31, servo motor; 32, rotating shaft one; 33, block; 34, sliding rod; 35, transmission shaft; 36, gear two; 37, rack; 04, small arm mechanism; 41, sleeve; 42, rotating shaft two; 43, connecting platform. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0020] Example 1

[0021] The utility model discloses a bionic humanoid robot arm, comprising a connecting mechanism 01; further comprising an arm mechanism 02, an adjusting mechanism 03 and an arm mechanism 04, wherein the arm mechanism 02 is mounted on the connecting mechanism 01 and drives the adjusting mechanism 03 and the arm mechanism 04 to rotate, the adjusting mechanism 03 is mounted on the arm mechanism 02 and adjusts the length of the arm mechanism 04, the arm mechanism 04 is mounted on the adjusting mechanism 03 and connected to the palm of the robot; the connecting mechanism 01 comprises a collar 11, a protective sleeve 12, a rotating shaft 13, a damper 14 and a gear 15, the collar 11 is mounted on the shoulder of the robot, the protective sleeve 12 is rotatably mounted on the collar 11, a cavity is arranged inside the protective sleeve 12, the rotating shaft 13 is rotatably mounted on the protective sleeve 12, the damper 14 is mounted on the rotating shaft 13, and the gear 15 is mounted on the rotating shaft 13; the arm mechanism 02 comprises a connecting shaft 21, a reinforcing rod 22, The gasket 23 and the connecting seat 24, the connecting shaft 21 is installed on the rotating shaft 13, the top end of the reinforcing rod 22 is connected to the bottom end of the connecting shaft 21, the gasket 23 is installed on the reinforcing rod 22, and the connecting seat 24 is installed on the reinforcing rod 22; it also includes a groove on the reinforcing rod 22, and the reinforcing rod 22 is made of carbon fiber composite material; the adjustment mechanism 03 includes a servo motor 31, a rotating shaft 1 32, a block 33, a sliding rod 34, a transmission shaft 35, a gear 2 36 and a rack 37, the servo motor 31 is installed on the connecting seat 24, the rotating shaft 1 32 is rotatably installed on the connecting seat 24, the rotating shaft 1 32 is provided with a sliding groove, the block 33 is installed in the sliding groove of the rotating shaft 1 32, the sliding rod 34 is rotatably installed on the rotating shaft 1 32, the transmission shaft 35 is installed on the sliding rod 34, the gear 2 36 is slidably installed in the sliding groove of the rotating shaft 1 32, and the rack 37 is installed on the gear 2 36;When the robot is working, first, the staff uses bolts to fix the collar 11 on the shoulder of the robot. When the robot needs to turn its arm, the robot drives the gear 15 to rotate, and the gear 15 drives the rotating shaft 13 and the protective sleeve 12 to rotate. By setting the damper 14, it is convenient to rotate only the rotating shaft 13 during a small range of swing, thereby reducing the friction between the protective sleeve 12 and the collar 11. The rotating shaft 13 drives the connecting shaft 21 and the reinforcing rod 22 to rotate, so that the robot's arm swings, which is convenient for the robot to pick up various objects. By setting the gasket 23, it is prevented from hitting the reinforcing rod 22 when the adjusting mechanism 03 is contracted. By providing a groove on the reinforcing rod 22, it is convenient for the adjusting mechanism 03 to be able to accommodate objects when it is contracted. The redundant parts are put away, and the carbon fiber composite material has the remarkable characteristics of light weight and high strength, and its strength can reach or even exceed that of some metal materials. In addition, carbon fiber also has the characteristics of corrosion resistance, fatigue resistance, wear resistance, etc., which can prolong the service life. When the small arm mechanism 04 is rotated, the servo motor 31 is started, and the servo motor 31 drives the rotating shaft 1 32 to rotate. The rotating shaft 1 32 drives the gear 2 36 and the small arm mechanism 04 to rotate through the block 33. When the arm length needs to be adjusted, the motor built into the rotating shaft 1 32 drives the sliding rod 34 and the transmission shaft 35 to rotate, and the transmission shaft 35 drives the rack 37 and the gear 2 36 to slide in the sliding groove of the rotating shaft 1 32, so as to facilitate the adjustment of the arm length. ;

[0022] Example 2

[0023] like Figures 1 to 4As shown, a bionic humanoid robot arm of the utility model is based on Example 1; the arm mechanism 04 includes a sleeve 41, a second shaft 42 and a connecting platform 43, the top of the sleeve 41 is connected to the bottom of the second gear 36, the sleeve 41 has a built-in motor, the second shaft 42 is rotatably installed in the sleeve 41, and the connecting platform 43 is installed on the second shaft 42; it also includes a sleeve 41 The outer side is wrapped with a flexible elastic hydrogel; when it is working, first, the staff uses bolts to fix the collar 11 on the shoulder of the robot, and when the robot needs to rotate the arm The robot drives gear 15 to rotate, and gear 15 drives the rotating shaft 13 and the protective sleeve 12 to rotate. By setting the damper 14, it is convenient to rotate only the rotating shaft 13 when swinging in a small range, reducing the friction between the protective sleeve 12 and the ring 11. The rotating shaft 13 drives the connecting shaft 21 and the reinforcing rod 22 to rotate, so that the robot's arm swings, which is convenient for the robot to pick up various objects. By setting the gasket 23, it is prevented from hitting the reinforcing rod 22 when the adjustment mechanism 03 is contracted. By opening a groove on the reinforcing rod 22, it is convenient to hold the excess part when the adjustment mechanism 03 is contracted. , and carbon fiber composite materials have significant light weight and high strength characteristics, and their strength can reach or even exceed that of some metal materials. In addition, carbon fiber also has the characteristics of corrosion resistance, fatigue resistance, and wear resistance, which can extend the service life. When the small arm mechanism 04 is rotated, the servo motor 31 is started, and the servo motor 31 drives the rotating shaft 1 32 to rotate. The rotating shaft 1 32 drives the gear 2 36 and the small arm mechanism 04 to rotate through the block 33. When the arm length needs to be adjusted, the motor built into the rotating shaft 1 32 drives the sliding rod 34 and the transmission shaft 35 to rotate, and the transmission shaft 35 drives the gear The strip 37 and the gear 2 36 slide in the sliding groove of the shaft 1 32 to facilitate the adjustment of the arm length. The staff installs the robot palm on the connecting platform 43. When the palm needs to be rotated, the built-in motor of the sleeve 41 drives the shaft 2 42 and the connecting platform 43 to rotate, which is convenient for the palm to rotate. The flexible elastic hydrogel can give the robot arm tactile perception ability similar to human skin, allowing the robot to interact with the environment more intelligently. At the same time, it has a certain self-repair ability to extend its service life. The sleeve 41 is closest to the palm, which is convenient for sensing the materials that need to be picked up.

[0024] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A bionic humanoid robot arm, comprising a connecting mechanism (01); characterized in that: The robot also includes a large arm mechanism (02), an adjusting mechanism (03) and a small arm mechanism (04); the large arm mechanism (02) is mounted on the connecting mechanism (01) and drives the adjusting mechanism (03) and the small arm mechanism (04) to rotate; the adjusting mechanism (03) is mounted on the large arm mechanism (02) and adjusts the length of the small arm mechanism (04); and the small arm mechanism (04) is mounted on the adjusting mechanism (03) and connected to the palm of the robot.

2. A bionic humanoid robot arm as claimed in claim 1, characterized in that: The connection mechanism (01) comprises a collar (11), a protective sleeve (12), a rotating shaft (13), a damper (14) and a gear (15); the collar (11) is mounted on the shoulder of the robot; the protective sleeve (12) is rotatably mounted on the collar (11); a cavity is arranged inside the protective sleeve (12); the rotating shaft (13) is rotatably mounted on the protective sleeve (12); the damper (14) is mounted on the rotating shaft (13); and the gear (15) is mounted on the rotating shaft (13).

3. A bionic humanoid robot arm as claimed in claim 2, characterized in that: The large arm mechanism (02) comprises a connecting shaft (21), a reinforcing rod (22), a gasket (23) and a connecting seat (24), wherein the connecting shaft (21) is mounted on the rotating shaft (13), the top end of the reinforcing rod (22) is connected to the bottom end of the connecting shaft (21), the gasket (23) is mounted on the reinforcing rod (22), and the connecting seat (24) is mounted on the reinforcing rod (22).

4. A bionic humanoid robot arm as claimed in claim 3, characterized in that: The invention also comprises a reinforcing rod (22) having a groove thereon, and the reinforcing rod (22) is made of a carbon fiber composite material.

5. A bionic humanoid robot arm as claimed in claim 3, characterized in that: The adjusting mechanism (03) comprises a servo motor (31), a rotating shaft (32), a clamping block (33), a sliding rod (34), a transmission shaft (35), a second gear (36) and a rack (37). The servo motor (31) is mounted on a connecting seat (24), the rotating shaft (32) is rotatably mounted on the connecting seat (24), a sliding groove is provided on the rotating shaft (32), the clamping block (33) is mounted in the sliding groove of the rotating shaft (32), the sliding rod (34) is rotatably mounted on the rotating shaft (32), the transmission shaft (35) is mounted on the sliding rod (34), the second gear (36) is slidably mounted in the sliding groove of the rotating shaft (32), and the rack (37) is mounted on the second gear (36).

6. A bionic humanoid robot arm as claimed in claim 5, characterized in that: The small arm mechanism (04) comprises a sleeve (41), a second rotating shaft (42) and a connecting platform (43). The top end of the sleeve (41) is connected to the bottom end of the second gear (36). The sleeve (41) has a built-in motor. The second rotating shaft (42) is rotatably mounted in the sleeve (41). The connecting platform (43) is mounted on the second rotating shaft (42).

7. A bionic humanoid robot arm as claimed in claim 6, characterized in that: The outer side of the sleeve (41) is also wrapped with a flexible elastic hydrogel.

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